CN107059577A - Road road conditions fast investigation device - Google Patents
Road road conditions fast investigation device Download PDFInfo
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- CN107059577A CN107059577A CN201611087038.2A CN201611087038A CN107059577A CN 107059577 A CN107059577 A CN 107059577A CN 201611087038 A CN201611087038 A CN 201611087038A CN 107059577 A CN107059577 A CN 107059577A
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
Abstract
The invention discloses a kind of road road conditions fast investigation device, including acquisition monitoring computer, network memory and the data acquisition center being connected with each other by interchanger, also include battery component, photoelectric encoder, satellite positioning device, flash lamp module, the data acquisition center is integrated integral structure, for gathering road road surface and road landscape image information, the flatness information on road surface.And also disclose a kind of road road conditions fast investigation car with this device.Device overall volume is small, load-carrying is light, low cost, adapt to complicated road road conditions.
Description
Technical field
The present invention relates to road detection and area of maintenance, filled in particular to a kind of road road conditions fast investigation
Put.
Technical background
With the increase of China's urban and rural highway mileage, while construction of rural highway energetically, the management and maintenance of road
Also it is more and more important.Rural highway has route short, and scattered distribution, industrial grade is low, the features such as pavement quality is poor.Existing public affairs
Car is detected on road, and it is generally transformed chassis and roof, installs the sensing dress such as camera, laser of detection index of correlation
Put, but this kind of detection car involves great expense, bulky, be not particularly suited for that maintenance of surface technical standard is low, track is narrow, limit for tonnage limit
High rural highway.
The content of the invention
The present invention aiming at the deficiencies in the prior art there is provided a kind of small volume, load-carrying light, low cost, adapt to it is multiple
The road road conditions fast investigation device of miscellaneous road road conditions.
To achieve these goals, the road road conditions fast investigation device designed by the present invention, its special character exists
In：Including acquisition monitoring computer, network memory and the data acquisition center being connected with each other by interchanger, in addition to battery pack
Part, photoelectric encoder, satellite positioning device, flash lamp module, the data acquisition center are integrated integral structure,
The acquisition monitoring computer be used for for data acquisition center set acquisition parameter, and handle, display data collection
The traffic information that center is transmitted；
The data acquisition center is used to gather road surface and road landscape image information, the flatness information on road surface, and will
Collection information conveyance gives acquisition monitoring cyber-net memory；
The network memory is used for the data for storing acquisition monitoring computer and data acquisition center input；
The photoelectric encoder is connected with data acquisition center, is taken pictures trigger signal and surface evenness for providing camera
Sampling of data signal；The satellite positioning device is connected with data acquisition center, and number is respectively gathered for synchronous data collection center
According to, and acquisition device current location；Flash lamp module is connected with data acquisition center described in satellite positioning device, is adopted for data
Illumination is provided during collection central data pavement image information；
The battery component is connected with data acquisition center, is powered for device.
Further, the data acquisition center is integrated with laser range sensor, acceleration transducer, Synchronization Control
Plate, A/D module, black and white area array cameras, colored area array cameras, embedded computer, power supply and control module, the embedded meter
Point counting is not connected with interchanger, black and white area array cameras, colored area array cameras, A/D module, satellite positioning device and Synchronization Control plate；
The Synchronization Control plate and satellite positioning device, laser range sensor, accelerometer, photoelectric encoder, black and white area array cameras,
Colored area array cameras, power supply and control module are connected；The flash lamp module is connected with power supply with control module.Employ insertion
Formula computer embedded OS, realizing out electricity can work, and power-off can shut down, and improve the stability of system.
Further, the surface evenness information in the acquisition monitoring computer disposal traffic information includes following step
Suddenly：
1) original laser ranging magnitude of voltage and original acceleration magnitude of voltage are demarcated as actual range and actual acceleration；
2) random error in laser ranging data is removed using Gaussian filter；
3) the low frequency trend term in acceleration is removed using FIR high-pass filters, is integrated into speed, reuses FIR high
Bandpass filter removes the low frequency trend term in speed, finally obtains carrier loader platform vibration displacement value to rate integrating.
4) laser ranging value is subtracted into carrier loader platform vibration displacement value, obtains profile of road relative elevation
Data；
5) encoder pulse is sampled as sampled signal in its rising edge to altitude data, by constant duration
The profile of road relative elevation data of sampling such as are converted at the sampling of space interval.
The trend term in acceleration information is removed using FIR high-pass filters, the vibration displacement of carrier loader platform is measured, to swashing
Ligh-ranging value is compensated, so as to calculate surface evenness.This kind of flatness detection algorithm uses the sensor of lower accuracy, i.e.,
The requirement of Country Road Maintenance technical standard can be met, system cost is reduced.
Yet further, the interchanger, black and white area array cameras and colored area array cameras pass through kilomega network and insertion respectively
Formula computer is connected；The acquisition monitoring computer is connected also by kilomega network with interchanger.The photoelectric encoder, satellite
Position device, flash lamp module, battery component are connected by coaxial cable with data acquisition center, and kilomega network improves work effect
Rate, coaxial cable antijamming capability is good, transmits data stabilization.
Yet further, the flash lamp module is glistened in turn by power supply with control module control.Multiple flash lamp rotations
Work, reduces single flash fire frequency, increases the service life.
Yet further, the flash lamp is high frequency flashing light lamp, and the flash lamp afterbody is equipped with high-power heat-dissipation fan.Adopt
High-frequency digital flash lamp is used, instant discharge power reaches multikilowatt, coordinates technical grade CCD area array cameras, can be mended under sunshine
Image is mottled unintelligible caused by light, reduction tree shade.High-power heat-dissipation fan, whole flash lamp afterbody are installed in flash lamp afterbody
Shell hermetic design, only has perforate in bulb part, and fan is dried to bulb, and air-flow can only be entered by the perforate of bulb part
The space for entering reflection shield and cloche is flowed out, and the heat on bulb is taken away, so as to flash bulb forced heat radiation, extension is used
Life-span.
Yet further, in addition to 4G modules, the 4G modules are connected by USB interface with acquisition monitoring computer, are used
Connected in providing internet for acquisition monitoring computer.Using Online Map, there is provided more accurate in acquisition monitoring module
Position navigation Service, is easy to route collection scheduling.
Road is provided with a kind of road road conditions fast investigation car, including carrier vehicle body, the carrier vehicle body
Road conditions fast investigation device, the road road conditions fast investigation device has the feature described in any of the above-described.
Yet further, the acquisition monitoring computer, battery component, interchanger, network memory are arranged on carrier vehicle sheet
Internal portion, the photoelectric encoder is arranged in carrier vehicle body right side rear wheel, and data acquisition center and the flash lamp group is installed
On carrier vehicle body upper frame.
The advantage of the invention is that：Data acquisition center, by the unified box for being arranged on a cuboid of main sensors
Inside, the structure-integrated design of formation, internal sensor device height integral instrument, without being reequiped to carrier vehicle, detachably, just
In Fast Installation.Employ high-speed local area network, by data monitoring, collection, distributed storage be laid out, improve storage medium can
Replaceability, is easy to data management, reduces copy, improves operating efficiency.
Brief description of the drawings
Fig. 1 is road fast investigation apparatus structure block diagram of the present invention.
Fig. 2 is data acquisition center composition frame chart.
Fig. 3 is road road conditions fast investigation device overall appearance figure.
Fig. 4 is data acquisition center structure arrangement schematic diagram.
Fig. 5 is flash lamp composition.
Fig. 6 is field data collection composition frame chart.
Fig. 7 is interior industry data analysis flowcharts.
Fig. 8 flatness detection algorithm flow charts.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
As shown in figure 1, the road road conditions fast investigation device designed by the present invention, including be connected with each other by interchanger
Acquisition monitoring computer, network memory and data acquisition center, in addition to battery component, photoelectric encoder, satellite fix
Device, flash lamp module.
Acquisition monitoring computer be used for for data acquisition center set acquisition parameter, and handle, display data collection center
The traffic information transmitted, is additionally operable to show map, mileage and pile No. information；
Data acquisition center generally integrated integral structure, for gathering road surface and road landscape image information, road
The flatness information in face, and give acquisition monitoring cyber-net memory by collection information conveyance；
Network memory is used for the data for storing acquisition monitoring computer and data acquisition center input；
Photoelectric encoder, which is used to provide for data acquisition center, to be gathered mileage information and is taken pictures trigger signal and road there is provided camera
Surface evenness sampling of data signal；
Satellite positioning device is connected with data acquisition center, for being synchronized to each gathered data of data acquisition center,
And obtain present apparatus current location；
Flash lamp module is connected with data acquisition center, and photograph is provided when gathering pavement image information for data acquisition center
It is bright；
Battery component is connected with data acquisition center, for being powered for the present apparatus.
Wherein, as shown in Fig. 2 the data acquisition center is integrated with laser range sensor, acceleration transducer, synchronization
Control panel, A/D module, black and white area array cameras, colored area array cameras, embedded computer, power supply and control module, the insertion
Formula calculate respectively with interchanger, black and white area array cameras, colored area array cameras, A/D module, satellite positioning device and Synchronization Control plate
Connection；The Synchronization Control plate and satellite positioning device, laser range sensor, accelerometer, photoelectric encoder, black and white face battle array
Camera, colored area array cameras, power supply and control module are connected；The flash lamp module is connected with power supply with control module.Data
The component that collection center is included is monolithically integrated in a rectangular box, and the present apparatus uses embedded computer and embedding
Enter formula operating system, realizing out electricity can work, and power-off can shut down, and improve the stability of system.Wherein black and white face battle array
Camera uses high-resolution color CCD area array cameras using high-resolution black-white CCD area array cameras, colored area array cameras.Satellite
Positioner uses GNSS receiver.
In order to improve operating efficiency, wherein interchanger, black and white area array cameras and colored area array cameras passes through kilomega network respectively
It is connected with embedded computer；Acquisition monitoring computer is connected also by kilomega network with interchanger.Photoelectric encoder, GNSS days
Line, flash lamp module and battery component are connected by coaxial cable with data acquisition center, and coaxial cable antijamming capability is good, are passed
Transmission of data is stable.
Surface evenness information in acquisition monitoring computer disposal traffic information comprises the following steps：
1) original laser ranging magnitude of voltage and original acceleration magnitude of voltage are demarcated as actual range and actual acceleration；
2) random error in laser ranging data is removed using Gaussian filter；
3) FIR high-pass filters are utilized, weaken the trend term during acceleration information is calculated, it is final to obtain carrier loader platform vibration
Shift value.
3) FIR high-pass filters are utilized, weaken the trend term during acceleration information is calculated, it is final to obtain carrier loader platform vibration
Shift value.
4) laser ranging value is subtracted into carrier loader platform vibration displacement value, obtains profile of road relative elevation
Data；
5) altitude data is sampled using encoder pulse, the profile of road that constant duration is sampled is relatively high
Number of passes is according to the sampling for the space interval such as being converted to.
6) surface evenness numerical value is calculated according to flatness defined formula.
The trend term in acceleration information is removed using FIR high-pass filters, the vibration displacement of carrier loader platform is measured, to swashing
Ligh-ranging value is compensated, so as to calculate surface evenness.This kind of flatness detection algorithm uses the sensor of lower accuracy, i.e.,
The requirement of Country Road Maintenance technical standard can be met, system cost is reduced again.
In order to reduce single flash fire frequency, increase the service life.The flash lamp module of the present apparatus includes flash lamp
Group, power supply and control module, power supply are connected with control module with Synchronization Control plate, for being controlled after receiving the instruction of Synchronization Control plate
Flash lamp group is glistened in turn.Flash lamp is high frequency flashing light lamp, and flash lamp afterbody is equipped with high-power heat-dissipation fan.Using high-frequency digital
Flash lamp, instant discharge power reaches multikilowatt, coordinates technical grade CCD area array cameras, can reduce tree shade in light filling under sunshine
Caused image is mottled unintelligible.High-power heat-dissipation fan is installed in flash lamp afterbody, whole flash lamp afterbody shell is closed to be set
Meter, only has perforate, fan is dried to bulb in bulb part, air-flow can only by the perforate of bulb part, into reflection shield with
The space outflow of cloche, takes away the heat on bulb, so as to flash bulb forced heat radiation, increase the service life.
The present apparatus also includes 4G modules, and 4G modules are connected by USB interface with acquisition monitoring computer, for being supervised for collection
Control computer and internet connection is provided.Taken in acquisition monitoring module using Online Map there is provided the navigation of more accurate position
Business, is easy to route collection scheduling.
The agriculture with features above is provided with road road conditions fast investigation car, including carrier vehicle body, carrier vehicle body
Village's road conditions fast investigation device, wherein, acquisition monitoring computer, battery component, interchanger, network memory are arranged on load
Car body interior, photoelectric encoder is arranged in carrier vehicle body right side rear wheel, and data acquisition center and the flash lamp group is installed
On carrier vehicle body upper frame.
The concrete structure of the present invention is as follows：
As shown in figure 1, being road road conditions fast investigation apparatus structure block diagram.Include 1 photoelectric encoder, satellite
Positioner, flash lamp module, data acquisition center, acquisition monitoring computer, 4G modules, network memory, interchanger and electricity
Pond component.Interchanger is connected with data acquisition center, network memory, acquisition monitoring computer by kilomega network, photoelectric coding
Device, GNSS antenna, flash lamp module and battery component are connected by coaxial cable with data acquisition center.
Data acquisition center is as the core of rural area fast investigation device, and main sensors are fixedly arranged at one
Inside cuboid box, be integrated with 1 black and white area array cameras, 1 colored area array cameras, 1 laser range sensor, 1 plus
Speedometer, power supply and control module, AD acquisition modules, embedded computer and Synchronization Control plate.Black and white and colored area array cameras
It is connected with embedded computer by kilomega network, Synchronization Control plate is connected with embedded computer by RS-232 serial ports, and AD is adopted
Collection module is connected with embedded computer by USB interface, and data acquisition center composition is as shown in Figure 2.
The attachment structure and function of wherein each part are as follows：
Acquisition monitoring computer：Connect interchanger, for setting acquisition control parameter, and in real time show gather image,
Figure, mileage and pile No. information.
Embedded computer：Interchanger, camera, A/D module, GNSS receiver and synchronizer are connected, for parsing collection prison
The control instruction of computer is controlled, Synchronization Control plate device parameter setting instruction is forwarded, gathered data is stored.
Network memory：Interchanger is connected, for storing gathered data, carry is embedded computer and acquisition monitoring meter
The local disk of calculation machine, carries out data sharing.
4G modules：Acquisition monitoring computer is connected there is provided service on net, is shown for Online Map.
Synchronization Control plate：Embedded computer, GNSS receiver, laser range sensor, accelerometer, photoelectricity is connected to compile
Code device, flash lamp module, camera.For controlling camera to take pictures, sensor signal conversion is sent data to by RS232 serial ports
Embedded computer.
Black and white area array cameras：Embedded computer is connected by kilomega network, Synchronization Control plate sends Pulse Width Control camera and clapped
According to collection pavement image, for pavement disease identification.
Colored area array cameras：Embedded computer is connected by kilomega network, Synchronization Control plate sends Pulse Width Control camera and clapped
According to collection rear Land-scape picture, for roadside facility checkout.
GNSS receiver：Embedded computer and Synchronization Control plate are connected by RS232 serial ports, for obtaining time and position
Put.Time is used for synchronous images and flatness data, and position is used to be shown on the map of acquisition monitoring computer.
A/D module：Embedded computer is connected by USB interface, by the PPS pulse signals of GNSS receiver, laser ranging
Sensor signal, photoelectric encoder signal, accelerometer signal are converted from analog into data signal.
Acceleration transducer：The acceleration of vertical direction is measured, the vibration displacement value of equipment is obtained, for detecting that road surface is put down
Whole degree.
Laser range sensor：Obtain equipment from road surface with a distance from, for detecting surface evenness.
Photoelectric encoder：Synchronization Control plate is connected, vehicle distance travelled is obtained, for controlling camera to take pictures and evenness of road surface
Degrees of data sample calculation.
Power supply and control module：It is connected with Synchronization Control plate, flash lamp module, the power supply of battery component is assigned to each
It is powered in equipment, for example, provides suitable operating voltage to sensor device, control flash lamp takes turns to operate.
Flash lamp module：Be connected with Synchronization Control plate, its trigger pulse is identical with black and white area array cameras, for for road surface it is black
Bai Xiangji takes pictures offer illumination.
Interchanger：Acquisition monitoring computer, network memory and embedded computer are connected, for acquisition monitoring computer
Communicated with embedded computer, data storage and data sharing.
Flash lamp group, power supply and control module are as shown in figure 5, flash lamp group is made up of multiple highlighted digital flash lamps.Electricity
Source is discharged with control module control flash lamp within the Microsecond grade time, to reach the instantaneous illumination power of multikilowatt, to sunshine
Pavement image is mottled unintelligible caused by carrying out light filling, reduction tree shade, improves pavement image quality.Install big in flash lamp afterbody
Power radiator fan, whole flash lamp afterbody shell hermetic design, only has perforate, fan is dried to bulb, gas in bulb part
Stream can only flow out by the perforate of bulb part, the heat on bulb taken away, so that right into the space of reflection shield and cloche
Flash bulb forced heat radiation, prolongs the life of lamps.There is flash lamp to take turns to operate control in power supply and control module indoor design
Circuit, controls multiple flash lamps to take turns to operate, and protects flash lamp.
Surface evenness, is realized by photoelectric encoder, laser range sensor and accelerometer and measured.Laser ranging is passed
Sensor measures roof distance from the ground.Accelerometer quadratic integral measures Vehicular vibration displacement, and laser ranging value is compensated
Realize flatness detection.
The workflow of road road conditions fast investigation device of the present invention is as follows：
1) acquisition monitoring computer installation acquisition parameter.Acquisition monitoring computer is sent out by interchanger to embedded computer
Send acquisition parameter that instruction is set, embedded computer sets camera to take pictures parameter, sets A/D module sampling parameter, synchronous control is set
Making sheet trigger pulse parameter.
2) collection is started, vehicle forward drives photoelectric encoder to rotate.
A, A/D module press preset sample frequency, and the PPS signal of GNSS receiver, laser ranging signal, accelerometer are believed
Number and encoder pulse signal from analog signal be converted to data signal, data above is stored in network and deposited by embedded computer
In reservoir.
B, GNSS receiver press default renewal frequency, detection car current time latitude and longitude coordinates and gps time are obtained, to same
Walk control panel time service, embedded computer by the GNSS receiver data storage received in network memory, and record most
New position.
C, encoder send the pulse to Synchronization Control plate, when step-by-step counting reaches setting numerical value, send and clap to relevant camera
According to trigger pulse, while sending triggering moment image information to embedded computer, embedded computer has detected camera bat
According to, will collection image and triggering moment image information be stored in network memory.
3) acquisition monitoring computer inquires about embedded computer acquisition state every prefixed time interval, shows newest deposit
Position on pavement image, Land-scape picture, collection mileage, pile No. and the map of storage.
A kind of road road conditions fast investigation car, is road road conditions fast investigation device as shown in Figure 3 and Figure 4
Scheme of installation.Including carrier vehicle body, carrier vehicle body is typically used as carrier vehicle body, photoelectric encoder using miniature cross-country car or pick up
On the back wheels of vehicle of right side, interchanger, battery component, acquisition monitoring computer, network memory are arranged in carrier vehicle body
Portion, data acquisition center box and flash lamp module are fixed on carrier vehicle body top holder by pedestal.Power input, flash lamp
Control and wheel encoder are connected with interchanger by air plug, and uniform pitch hangs on top holder end to flash lamp module side by side
End, illumination of taking pictures is provided for road surface camera, and black and white area array cameras is tilted in vertical direction with certain angle to be installed to obtain enough
Big visual field, colored area array cameras shoots Land-scape picture backward.
Road road conditions fast investigation device of the present invention separately handles field data collection and interior industry data analysis, outside
Industry data acquisition major function is collection data storage and monitoring collection state, and interior industry data analysis major function is pavement disease
Identification classification and surface evenness are calculated.
Wherein, field data is gathered, as shown in fig. 6, being road road conditions fast investigation device field data collection group
Into block diagram.Field data acquisition is made up of two parts of acquisition control computer and embedded computer, is divided into five modules：Collection
Monitoring module, acquisition control module, image capture module, Synchronization Control and locating module, surface evenness data acquisition module.
Store the network memory of gathered data, by interchanger, using kilomega network respectively with acquisition monitoring computer and
Embedded computer is connected, and carry is the local disk of the two respectively, carries out data sharing.Acquisition monitoring computer and embedded meter
By socket communication between calculation machine, acquisition monitoring computer is used as service end, collection prison as client, embedded computer
Control computer and actively send newest acquisition state inquiry request to embedded computer every Fixed Time Interval.Acquisition monitoring meter
Calculation machine runs Windows operating system, embedded computer operation Linux embedded OSs.
Acquisition monitoring module：Acquisition monitoring modular program is operated on acquisition monitoring computer, is designed with man-machine interaction circle
Face, for setting collection line information, setting sensor parameters, the current newest pavement image and landscape map preserved of display
Picture, and embedded in Online Map display detection car current geographic position.
Acquisition control module：Acquisition control module program is operated on embedded computer, detection area array cameras, AD moulds
The working condition of block, Synchronization Control plate and GNSS receiver, controls each data acquisition to enter according to the instruction of acquisition monitoring module
The working condition of journey.
Image capture module：Image capture module program is operated on embedded computer, is referred to according to acquisition monitoring module
Order sets the parameter of taking pictures of black and white area array cameras and colored area array cameras, stores the pavement image and Land-scape picture collected, to
The most freshly harvested image information of acquisition monitoring module feedback.
Synchronization Control and locating module：Synchronization Control and locating module program are operated on embedded computer, according to adopting
Collect monitoring module and instruct the synchronous trigger parameter that Synchronization Control plate is set, the camera that storage Synchronization Control plate is returned takes pictures triggering together
Information is walked, the position temporal information of satellite positioning device return is stored and parse, the position after being parsed to acquisition monitoring module feedback
Confidence ceases.
Surface evenness data acquisition module：Surface evenness data acquisition module program operates in embedded computer
On, the satellite positioning device after A/D module sample frequency, storage A/D module analog-to-digital conversion is set according to acquisition monitoring module instruction
PPS pulses, encoder pulse, laser range sensor and accelerometer signal data.
Interior industry data analysis, as shown in fig. 7, being industry data analysis flowcharts in road road conditions fast investigation device.
Interior industry data analysis flow is divided into pretreatment module, detection algorithm and result module.
Pretreatment module：Computer carries out distortion correction to the pavement image initial data collected and gone at the even light of shade
Reason, demarcation filtering process is carried out to laser initial data, and the demarcation filter integration processing of acceleration initial data is obtained into equipment shakes
Dynamic displacement, finally gives detection algorithm data.
Detection algorithm：For detecting the disease on pavement image and calculating surface evenness.With GPS in all data
Land-scape picture, pavement image and flatness data, as benchmark, are synchronized registration, finally give result data by the time
Module.
Result module：Linkage display pavement image, Land-scape picture and flatness data, for showing testing result,
Testing result pavement quality assessment report and form are ultimately produced, the foundation managed for Country Road Maintenance.
Flatness detection principle in the present invention, as shown in figure 8, the data that laser range sensor is gathered are arrived for roof
The distance detection on ground, the data that accelerometer is gathered are used for the measurement of carrier loader platform vibration displacement, laser ranging value are subtracted
Remove the carrier loader platform vibration displacement of integrated acceleration, you can acquisition can reflect the profile of road relative elevation of surface evenness
Data, calculate road evenness index on this basis.Flatness algorithm flow is as shown in the figure.
1) original laser ranging magnitude of voltage and original acceleration magnitude of voltage are demarcated as actual range and actual acceleration；
2) random error in laser ranging data is removed using Gaussian filter；
3) trend term is included in acceleration information, it is impossible to which direct integral is into displacement.The trend term form of expression is believed for low frequency
Number, therefore design FIR high-pass filters, influence of the reducing tendency to final result；To acceleration information successively filter integration,
It is final to obtain carrier loader platform vibration displacement value；
4) laser ranging value is subtracted into carrier loader platform vibration displacement, obtains profile of road relative elevation data；
5) altitude data is sampled using encoder pulse, the profile of road that constant duration is sampled is relatively high
Number of passes is according to the sampling for the space interval such as being converted to.
Surface evenness numerical value is calculated according to flatness defined formula.
The advantage of road road conditions fast investigation device designed by the present invention is as follows:
1) by the unified cassette interior for being arranged on a cuboid of main sensors, structure-integrated design is formed, it is internal
The highly integrated instrumentation of sensor device, without being reequiped to carrier vehicle, detachably, is easy to Fast Installation.
2) employ high-speed local area network, by data monitoring, collection, distributed storage be laid out, improve storage medium can
Replaceability, is easy to data management, reduces copy, improves operating efficiency.
3) embedded computer and embedded OS are employed, realizing out electricity can work, and power-off can shut down,
Improve the stability of system.
4) it is illuminated using flash lamp, devises flash lamp and take turns to operate control circuit, multiple flash lamps can be controlled
Rotation work, reduces single flash fire frequency, increases the service life.And high-power heat-dissipation wind is installed in flash lamp afterbody
Fan, whole flash lamp afterbody shell hermetic design only has perforate, fan is dried to bulb, air-flow can only pass through in bulb part
The perforate of bulb part, flows out into the space of reflection shield and cloche, the heat on bulb is taken away, so as to flash bulb
Forced heat radiation, increases the service life.Using high-frequency digital flash lamp, instant discharge power reaches multikilowatt, coordinates technical grade CCD
Area array cameras, can be in light filling under sunshine, and image is mottled unintelligible caused by reducing tree shade.
5) 4G module function of surfing the Net is utilized, there is provided more accurate position using Online Map in acquisition monitoring module
Navigation Service, is easy to route collection scheduling.
6) trend term in acceleration information is removed using FIR high-pass filters, measures the vibration displacement of carrier loader platform, it is right
Laser ranging value is compensated, so as to calculate surface evenness.This kind of flatness detection algorithm uses the sensor of lower accuracy,
The requirement of Country Road Maintenance technical standard can be met, system cost is reduced.
It is 7) different from the traditional road detection car using the short distance laser measurement flatness being arranged on chassis crossbeam,
Road road conditions fast investigation device uses long range laser, is suitable for the rural area that pot hole jolts, environment is complicated public
Road.
Claims (9)
1. a kind of road road conditions fast investigation device, it is characterised in that：Including the acquisition monitoring being connected with each other by interchanger
Computer, network memory and data acquisition center, in addition to battery component, photoelectric encoder, satellite positioning device, flash lamp
Module, the data acquisition center is integrated integral structure,
The acquisition monitoring computer be used for for data acquisition center set acquisition parameter, and handle, display data collection center
The traffic information transmitted；
The data acquisition center is used to gather road surface and road landscape image information, the flatness information on road surface, and will collection
Information conveyance gives acquisition monitoring cyber-net memory；
The network memory is used for the data for storing acquisition monitoring computer and data acquisition center input；
The photoelectric encoder is connected with data acquisition center, is taken pictures trigger signal and evenness of road surface degrees of data for providing camera
Sampled signal；
The satellite positioning device is connected with data acquisition center, for each gathered data in synchronous data collection center, and is obtained
Device current location；
The flash lamp module is connected with data acquisition center, is provided during for gathering pavement image information for data acquisition center
Illumination；
The battery component is connected with data acquisition center, is powered for device.
2. road road conditions fast investigation device according to claim 1, it is characterised in that：The data acquisition center
It is integrated with laser range sensor, acceleration transducer, Synchronization Control plate, A/D module, black and white area array cameras, colour plane battle array phase
Machine, embedded computer, power supply and control module, the embedding assembly respectively with interchanger, black and white area array cameras, colour plane
Array camera, A/D module, satellite positioning device and the connection of Synchronization Control plate；The Synchronization Control plate and satellite positioning device, laser
Distance measuring sensor, accelerometer, photoelectric encoder, black and white area array cameras, colored area array cameras, power supply and control module are connected；
The flash lamp module is connected with power supply with control module.
3. road road conditions fast investigation device according to claim 2, it is characterised in that：The acquisition monitoring is calculated
The process of machine processing surface evenness information comprises the following steps：
1) original laser ranging magnitude of voltage and original acceleration magnitude of voltage are demarcated as actual range and actual acceleration；
2) random error in laser ranging data is removed using Gaussian filter；
3) the low frequency trend term in acceleration is removed using FIR high-pass filters, is integrated into speed, reuse the filter of FIR high passes
Ripple device removes the low frequency trend term in speed, finally obtains carrier loader platform vibration displacement value to rate integrating.
4) laser ranging value is subtracted into carrier loader platform vibration displacement value, obtains profile of road relative elevation data；
5) encoder pulse is sampled to altitude data in its rising edge as sampled signal, constant duration is sampled
Profile of road relative elevation data the sampling of space interval such as be converted to.
6) surface evenness numerical value is calculated according to flatness defined formula.
4. road road conditions fast investigation device according to claim 3, it is characterised in that：The interchanger, black and white
Area array cameras and colored area array cameras are connected by kilomega network with embedded computer respectively；The acquisition monitoring computer also leads to
Kilomega network is crossed to be connected with interchanger；The photoelectric encoder, satellite positioning device, flash lamp module and battery component pass through coaxial
Cable is connected with data acquisition center.
5. road road conditions fast investigation device according to claim 4, it is characterised in that：The flash lamp module by
Power supply glistens in turn with control module control.
6. road road conditions fast investigation device according to claim 5, it is characterised in that：The flash lamp is high frequency
Flash lamp, the flash lamp afterbody is equipped with high-power heat-dissipation fan.
7. road road conditions fast investigation device according to claim 6, it is characterised in that：Also include 4G modules, institute
4G modules are stated to be connected with acquisition monitoring computer by USB interface.
8. a kind of road road conditions fast investigation car, including carrier vehicle body, it is characterised in that：It is provided with the carrier vehicle body
Road road conditions fast investigation device, the road road conditions fast investigation device has any one of claim 1~7 institute
The feature stated.
9. road road conditions fast investigation car according to claim 8, it is characterised in that：The acquisition monitoring is calculated
Mechanical, electrical pond component, interchanger, network memory are arranged on carrier vehicle body interior, and the photoelectric encoder is arranged on carrier vehicle body
In right side rear wheel, data acquisition center and the flash lamp group is arranged on carrier vehicle body upper frame.
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| CN201611087038.2A CN107059577A (en) | 2016-12-01 | 2016-12-01 | Road road conditions fast investigation device |
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| CN201611087038.2A CN107059577A (en) | 2016-12-01 | 2016-12-01 | Road road conditions fast investigation device |
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| CN201611087038.2A Pending CN107059577A (en) | 2016-12-01 | 2016-12-01 | Road road conditions fast investigation device |
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| CN109827964A (en) * | 2019-03-08 | 2019-05-31 | 武汉夕睿光电技术有限公司 | Modular Intelligent road detection system and method |
| CN109946708A (en) * | 2017-12-21 | 2019-06-28 | 北京万集科技股份有限公司 | A kind of method for detecting lane lines and device based on laser radar scanning |
| CN110866080A (en) * | 2019-11-13 | 2020-03-06 | 江苏纬信工程咨询有限公司 | Rural highway basic information acquisition system and method |
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| CN112469863A (en) * | 2018-07-30 | 2021-03-09 | 株式会社理光 | Measuring device, mobile device, and vehicle |
| CN113776467A (en) * | 2021-09-13 | 2021-12-10 | 山东高速交通建设集团股份有限公司 | Highway ramp road surface technical condition detecting system based on unmanned aerial vehicle platform |
| CN114459429A (en) * | 2022-03-03 | 2022-05-10 | 中化学南方运营管理有限公司 | Flatness and elevation measuring device |
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| CN109946708B (en) * | 2017-12-21 | 2021-07-02 | 北京万集科技股份有限公司 | Lane line detection method and device based on laser radar scanning |
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| CN113776467A (en) * | 2021-09-13 | 2021-12-10 | 山东高速交通建设集团股份有限公司 | Highway ramp road surface technical condition detecting system based on unmanned aerial vehicle platform |
| CN114459429A (en) * | 2022-03-03 | 2022-05-10 | 中化学南方运营管理有限公司 | Flatness and elevation measuring device |
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