A road construction process flatness online detection method and system

Abstract

The application discloses a kind of road construction process flatness online detection method and system, comprising: the first road surface information of the advancing direction of paving machine is obtained by the first multi-line laser radar being arranged at the both sides of paving machine;The first position information of paving machine is obtained by the first positioning device being arranged at the both sides of paving machine;Based on the first road surface information and the first position information, the flatness information of the grid to be paved pavement is displayed, to carry out reverse paving leveling to paving pavement;The second road surface information of the front and rear direction of road roller is obtained by the second multi-line laser radar being arranged at the both ends of road roller;The second position information of road roller is obtained by the second positioning device being arranged at the both sides of road roller;Based on the second road surface information and the second position information, the flatness information of the grid to be rolled pavement is displayed, to adjust the rolling of pavement.The application is favorable to improve the efficiency and construction quality of road construction, realize intelligent control.

Description

Technical Field

[0001] This invention relates to the field of road construction inspection technology, and in particular to an online method and system for detecting the smoothness of road construction processes. Background Technology

[0002] During the paving stage of road construction, common road paving and leveling techniques mainly employ two methods: manual benchmarks and virtual benchmarks. Manual benchmarks are established by setting up steel wire ropes, and then paving is performed by moving a balance beam along the steel wire ropes. Virtual benchmarks, on the other hand, use millimeter-wave radar to measure the average elevation of three locations and use it as the paving benchmark. However, both methods can only ensure the smoothness of the paved road surface, but cannot guarantee the smoothness of the compacted road surface, which can easily lead to failure to pass the road smoothness acceptance test.

[0003] Furthermore, road unevenness during the final compaction stage is mainly caused by road surface bulges. During the day, workers usually rely on their eyes to identify road unevenness, but it is often difficult to detect during nighttime construction due to poor visibility. Currently, the asphalt and water-stabilized base road compaction process uses a method of compaction followed by testing for leveling. Once the road surface smoothness test fails, as construction time progresses and the temperature drops, the road roller will find it difficult to smooth the uneven road surface. Therefore, online detection of road smoothness is particularly important for road surface finishing work. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an online detection method for road surface smoothness during the construction process. This method solves the problem that current paving technology only focuses on paving smoothness while ignoring compaction smoothness, as well as the technical problems of not being able to detect road surface smoothness during compaction and blind compaction by operators.

[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides an online method for detecting the smoothness of road surfaces during construction, the method comprising:

[0007] The first road surface information in the direction of the paver's movement is obtained by first multi-line lidar installed on both sides of the paver.

[0008] The first positioning device installed on both sides of the screed of the paver is used to obtain the first position information of the paver;

[0009] Based on the first road surface information and the first location information, the flatness information of the road surface to be paved is gridded and displayed to perform reverse paving and leveling of the road surface.

[0010] Second road surface information in the forward and backward directions of the road roller is obtained by second multi-line lidars installed at both ends of the road roller.

[0011] The second positioning device installed on both sides of the road roller is used to obtain the second position information of the road roller;

[0012] Based on the second road surface information and the second location information, the flatness information of the road surface to be compacted is gridded and displayed, thereby adjusting the compaction of the road surface.

[0013] In conjunction with the first aspect, optionally, the step of gridding and displaying the smoothness information of the road surface to be paved based on the first road surface information and the first location information, in order to perform reverse paving and leveling of the road surface, includes:

[0014] Based on the undulation of the road surface to be paved as scanned by the first multi-line lidar, the road surface is gridded.

[0015] Each grid arranged sequentially in the direction of road extension forms a column, and the elevation data of each column of road surface in the direction of paver movement are determined;

[0016] By combining the installation location of the first positioning device, the installation location of the first multi-line lidar, and the distance information from the laser to the scanned road surface, the position information of the center point of each road grid is determined;

[0017] Based on the elevation data of each road surface and the position information of each grid, the height of the screed is automatically adjusted to pave the corresponding road surface in reverse phase, so as to complete the automatic leveling of the paved road surface.

[0018] In conjunction with the first aspect, optionally, the elevation data of each row of road surface includes the elevation of all grids in each row of road surface, and the elevation of each grid is the average of the elevation data of all laser points within the grid.

[0019] In conjunction with the first aspect, optionally, the calculation formula for determining the position information of the center point of each road surface grid is as follows:

[0020]

[0021]

[0022] In the formula, (N) x N y) represents the coordinates of the center point of the Nth road grid; A(x0,y0) and B(x1,y1) represent the position coordinates of the two first positioning devices respectively; l1 represents the vertical distance from the first multi-line lidar to the line connecting the two first positioning devices; a1 represents the horizontal distance between the first positioning device and the first multi-line lidar on the same side; b1 represents the laser distance from the first multi-line lidar to the center point of the Nth road grid; δ1 is the scattering angle of the first multi-line lidar; and α1 represents the angle between the laser corresponding to the center point of the grid and the horizontal.

[0023] In conjunction with the first aspect, optionally, the paving thickness of the reverse-phase paving is calculated using the following formula:

[0024] h tp =h0+(h set -h0)·k sp

[0025] In the formula, h tp h0 represents the paving thickness of the road surface to be paved; h0 represents the height of the original road surface relative to the reference plane, which is the plane where the paver tracks are located; h set This is the preset thickness for compaction; k sp This is the loose paving coefficient.

[0026] In conjunction with the first aspect, optionally, the step of gridding and displaying the smoothness information of the road surface to be compacted based on the second road surface information and the second location information, thereby adjusting the compaction of the road surface, includes:

[0027] The road surface is gridded based on the undulations of the road surface to be compacted as scanned by the second multi-line lidar installed at the front end.

[0028] By combining the installation positions of the second positioning device, the second multi-line lidar, and the distance information from the laser to the scanned road surface, the position information and flatness of the center point of each road grid are determined.

[0029] Based on the different flatness of each grid, the road roller adjusts the rolling pressure to flatten the corresponding road surface;

[0030] After the roller passes over an uneven road surface, a second multi-line lidar installed at the rear end scans the compacted road surface to provide feedback on the finishing effect.

[0031] In conjunction with the first aspect, optionally, the calculation formula for determining the position information of the center point of each road surface grid is as follows:

[0032]

[0033]

[0034] In the formula, (M x M y ) represents the coordinates of the center point of the Mth road grid; C(x2,y2) and D(x3,y3) represent the position coordinates of the two second positioning devices respectively; l2 represents the vertical distance of the second multi-line lidar to the line connecting the two first positioning devices; b2 represents the laser distance of the second multi-line lidar to the center point of the Mth road grid; δ2 is the scattering angle of the second multi-line lidar; and α2 represents the angle between the laser corresponding to the center point of the grid and the horizontal.

[0035] In conjunction with the first aspect, optionally, the calculation formula for determining the smoothness of each road surface grid is as follows:

[0036]

[0037] In the formula, σ represents the smoothness of the road surface grid currently being calculated, and x i is the elevation of the i-th laser point in the currently calculated road grid, μ is the average elevation of all laser points in the currently calculated road grid, and K is the number of laser points in the currently calculated road grid.

[0038] In a second aspect, the present invention also provides an online detection system for road construction smoothness, the system comprising a first multi-line lidar, a first positioning device, a second multi-line lidar, a second positioning device, and a data processing and display unit;

[0039] The data processing and display unit is electrically connected to the first multi-line lidar, the first positioning device, the second multi-line lidar, and the second positioning device, respectively, and is used to execute the online detection method for road construction process smoothness as described in any of the first aspects.

[0040] In conjunction with the second aspect, optionally, two first multi-line lidars are provided, which are respectively installed on both sides of the front end of the paver to obtain the first road surface information in the direction of the paver's movement;

[0041] Two first positioning devices are provided, which are respectively installed on both sides of the screed of the paver to obtain the first position information of the paver;

[0042] The second multi-line lidar is provided in two units, which are installed at the front and rear ends of the road roller respectively, and are used to obtain the second road surface information in the front and rear directions of the road roller;

[0043] Two second positioning devices are provided, installed on both sides of the road roller respectively, to obtain the second position information of the road roller.

[0044] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0045] This invention uses a first multi-line lidar and a first positioning device to accurately measure road surface information. Based on the gridded road surface smoothness information, it performs reverse paving to achieve a smooth final road surface after compaction. During the final compaction process, a second multi-line lidar and a second positioning device are used to further accurately measure the undulation and smoothness of the road surface and display relevant information in real time. This facilitates the operation of the roller by the operator, improves the efficiency and quality of road construction, reduces the difficulty and labor intensity of the operator, and realizes intelligent and automated control. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of reverse paving for an online method for detecting the smoothness of road construction processes provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of road surface grating provided in an embodiment of the present invention;

[0048] Figure 3 This is a left view of the installation position and ranging of the first multi-line lidar on the paver provided in an embodiment of the present invention;

[0049] Figure 4 This is a top view of the installation position and ranging of the first multi-line lidar on the paver provided in an embodiment of the present invention;

[0050] Figure 5 This is a left view of the installation position of the second multi-line lidar on the road roller provided in an embodiment of the present invention;

[0051] Figure 6 This is a top view of the installation position of the second multi-line lidar on the road roller provided in an embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram of the UI interface of the compaction test display screen provided in an embodiment of the present invention; Detailed Implementation

[0053] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0054] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] This invention provides an online method for detecting the smoothness of roads during construction, which includes the following steps:

[0057] Step 1: Obtain the first road surface information in the direction of the paver's movement by using the first multi-line lidar 1 set on both sides of the paver;

[0058] Step 2: Obtain the first position information of the paver using the first positioning device 2 installed on both sides of the screed of the paver;

[0059] Step 3: Based on the first road surface information and the first location information, the flatness information of the road surface to be paved is gridded and displayed to perform reverse paving and leveling of the road surface;

[0060] Step 4: Obtain the second road surface information in the forward and backward directions of the road roller by using the second multi-line lidar 3 installed at both ends of the road roller;

[0061] Step 5: Use the second positioning devices installed on both sides of the road roller to obtain the second position information of the road roller;

[0062] Step 6: Based on the second road surface information and the second location information, the flatness information of the road surface to be compacted is gridded and displayed, thereby adjusting the compaction of the road surface.

[0063] It should be noted that in step 3, the height of each column of grid cells is compared, and the average value of that column is used as the actual height data of the road surface in that column, thereby describing the undulation of the road surface relative to the reference plane; step 3 specifically includes:

[0064] Step 3.1: Based on the undulation of the road surface to be paved as scanned by the first multi-line lidar 1, the road surface is rasterized.

[0065] Reference Figure 2 The area scanned by multi-line laser is rasterized, that is, the road surface is divided into small areas of a certain size, and each small area is called a grid.

[0066] Step 3.2: Arrange the grids sequentially in the direction of road extension into a column, and determine the elevation data of each column of road surface in the direction of paver movement;

[0067] The elevation data for each road surface includes the elevation of all grids in each road surface, and the elevation of each grid is the average of the elevation data of all laser points within the grid.

[0068] Step 3.3: Combine the installation positions of the first positioning device 2, the first multi-line lidar 1, and the distance information from the laser to the scanned road surface to determine the position information of the center point of each road grid.

[0069] Reference Figure 3 and Figure 4 In this embodiment, the calculation formula for determining the position information of the center point of each road grid is as follows:

[0070]

[0071]

[0072] In the formula, (N) x N y ) represents the coordinates of the center point of the Nth road grid; A(x0,y0) and B(x1,y1) represent the position coordinates of the two first positioning devices 2 respectively; l1 represents the vertical distance from the first multi-line lidar 1 to the line connecting the two first positioning devices 2; a1 represents the horizontal distance between the first positioning device 2 and the first multi-line lidar 1 on the same side; b1 represents the laser distance from the first multi-line lidar 1 to the center point of the Nth road grid; δ1 is the scattering angle of the first multi-line lidar 1; and α1 represents the angle between the laser corresponding to the center point of the grid and the horizontal.

[0073] Step 3.4: Based on the elevation data of each road surface and the position information of each grid, automatically adjust the height of the screed to pave the corresponding road surface in reverse phase, so as to complete the automatic leveling of the paved road surface.

[0074] It should be noted that the location of the screed can be obtained based on the positioning data and the paver's body structure. When the screed reaches the designated grid position, its height is adjusted to achieve a reverse paving state. This reverse paving state takes into account the loose paving coefficient during the paving process, applying different thicknesses of pavement material to address varying degrees of unevenness in the original road surface; that is, more material is paved in areas with lower elevations and less in areas with higher elevations. Furthermore, the paving thickness for reverse paving in this embodiment is calculated using the following formula:

[0075] h tp =h0+(h set -h0)·k sp

[0076] In the formula, h tp h0 represents the paving thickness of the road surface to be paved; h0 represents the height of the original road surface relative to the reference plane, which is the plane where the paver tracks are located; h set This is the preset thickness for compaction; k sp This is the loose paving coefficient.

[0077] As an embodiment of the present invention, step 6, which involves gridding and displaying the smoothness information of the road surface to be compacted based on the second road surface information and the second location information, thereby adjusting the compaction of the road surface, includes:

[0078] Step 6.1: Based on the undulation of the road surface to be compacted as scanned by the second multi-line lidar 3 installed at the front end, the road surface is rasterized.

[0079] Step 6.2: Based on the installation position of the second positioning device, the installation position of the second multi-line lidar 3, and the distance information from the laser to the scanned road surface, determine the position information and flatness of the center point of each road grid.

[0080] Specifically, refer to Figure 5 and Figure 6 In this embodiment, the calculation formula for determining the position information of the center point of each road grid is as follows:

[0081]

[0082]

[0083] In the formula, (M x M y) represents the coordinates of the center point of the Mth road grid; C(x2,y2) and D(x3,y3) represent the position coordinates of the two second positioning devices respectively; l2 represents the vertical distance from the second multi-line lidar 3 to the line connecting the two first positioning devices 2; b2 represents the laser distance from the second multi-line lidar 3 to the center point of the Mth road grid; δ2 is the scattering angle of the second multi-line lidar 3; and α2 represents the angle between the laser corresponding to the center point of the grid and the horizontal.

[0084] Furthermore, the calculation formula for determining the smoothness of each road surface grid in this embodiment is as follows:

[0085]

[0086] In the formula, σ represents the smoothness of the road surface grid currently being calculated, and x i is the elevation of the i-th laser point in the currently calculated road grid, μ is the average elevation of all laser points in the currently calculated road grid, and K is the number of laser points in the currently calculated road grid.

[0087] Step 6.3: Based on the different flatness of each grid, the road roller adjusts the rolling pressure to flatten the corresponding road surface;

[0088] Step 6.4: After the road roller passes over the uneven road surface, the second multi-line lidar 3 installed at the rear end is used to scan the compacted road surface to provide feedback on the surface finishing effect.

[0089] In other optional implementations, step 6 further includes: marking grid areas with different smoothness levels with different colors for differentiation, and displaying the data in the cab via a data processing and display unit to facilitate the operator's use of the roller for vibration testing on uneven surfaces. After the roller has passed over the uneven area, a multi-line laser mounted on the rear frame scans the road surface again following the same steps to provide feedback on the surface finishing effect.

[0090] This invention provides an online road construction process smoothness detection system, including a first multi-line lidar 1, a first positioning device 2, a second multi-line lidar 3, a second positioning device, and a data processing and display unit; wherein, the data processing and display unit is electrically connected to the first multi-line lidar 1, the first positioning device 2, the second multi-line lidar 3, and the second positioning device, respectively, and is used to execute the above-mentioned online road construction process smoothness detection method.

[0091] Specifically, supports are erected on the left and right sides of the front end of the paver's hopper, and a first multi-line lidar is installed on each of the two supports. With the plane where the paver's tracks are located as the reference plane, the first multi-line lidar can scan the undulation of the unpaved area in front of the paver relative to the reference plane. The two first multi-line lidars transmit data in the form of a bus, keeping the baud rate consistent. The other side of the bus is connected to the data processing and display unit.

[0092] Furthermore, two first positioning devices 2 are provided, respectively installed on both sides of the screed of the paver, for acquiring the first position information of the paver; two second positioning devices are also provided, respectively installed on both sides of the roller, for acquiring the second position information of the roller; the first positioning device 2 and the second positioning device are vehicle-mounted GPS devices, which can directly track the position and direction of the vehicle. In addition, two second multi-line lidar sensors 3 are provided, one installed at the center of the front side of the roller's front frame and the other installed at the center of the rear side of the rear frame, for scanning the road undulations in front of and behind the roller to acquire second road surface information in the forward and backward directions of the roller.

[0093] In this embodiment, the data processing and display unit is an electronic device with storage and processing capabilities. It can process data from various sensors of the paver and roller, install programs, process data, and display the input data. The compaction degree detection display screen's UI interface is as follows: Figure 7 As shown, the data processing and display unit also displays information such as the current vehicle position diagram, road smoothness diagram, current lane markings, distance detection of the next uneven road surface, and the smoothness of the compacted road surface. The operator can operate the machine according to the information on the display to make the road roller vibrate on the uneven road surface, thereby realizing intelligent and automated control by online detection of road smoothness.

[0094] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0095] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for online detection of road smoothness during road construction, the method comprising: The first road surface information in the direction of the paver's movement is obtained by first multi-line lidar installed on both sides of the paver. The first positioning device installed on both sides of the screed of the paver is used to obtain the first position information of the paver; Based on the first road surface information and the first location information, the flatness information of the road surface to be paved is rasterized and displayed, so as to perform reverse paving and leveling of the road surface. Second road surface information in the forward and backward directions of the road roller is obtained by second multi-line lidars installed at both ends of the road roller. The second positioning device installed on both sides of the road roller is used to obtain the second position information of the road roller; Based on the second road surface information and the second location information, the smoothness information of the road surface to be compacted is rasterized and displayed, thereby adjusting the compaction of the road surface. The specific steps include: The road surface is gridded based on the undulations of the road surface to be compacted as scanned by the second multi-line lidar installed at the front end. By combining the installation positions of the second positioning device, the second multi-line lidar, and the distance information from the laser to the scanned road surface, the position information and flatness of the center point of each road grid are determined. Based on the different flatness of each grid, the road roller adjusts the rolling pressure to flatten each corresponding road surface; After the road roller travels over the uneven road surface, the second multi-line lidar installed at the rear end scans the compacted road surface to provide feedback on the finishing effect. The formula for calculating the location information of the center point of each road grid is as follows: ； ； In the formula, ( , ) indicates the first The coordinates of the center point of each road grid; These represent the position coordinates of the two second positioning devices; This indicates the perpendicular distance between the second multi-line laser radar and the line connecting the two second positioning devices; This indicates that the second multi-line laser radar is the first Laser distance at the center point of each road grid. The scattering angle of the second multi-line lidar. This indicates the angle between the laser beam at the center point of the grid and the horizontal plane. The formula for calculating the smoothness of each road surface grid is as follows: ； In the formula, This indicates the smoothness of the currently calculated road surface grid. It is the elevation of the i-th laser point within the currently calculated road surface grid. It is the average elevation of all laser points within the currently calculated road surface grid. This represents the number of laser points within the currently calculated road surface grid.

2. The method for online detection of road smoothness during construction as described in claim 1, characterized in that, The step of rasterizing and displaying the smoothness information of the road surface to be paved based on the first road surface information and the first location information, in order to perform reverse paving and leveling of the road surface, includes: Based on the undulation of the road surface to be paved as scanned by the first multi-line lidar, the road surface is gridded. The grids arranged sequentially along the road's direction of travel form a column, which determines the elevation data of each column of road surface in the paver's forward direction. By combining the installation location of the first positioning device, the installation location of the first multi-line lidar, and the distance information from the laser to the scanned road surface, the position information of the center point of each road grid is determined; Based on the elevation data of each road surface and the position information of each grid, the height of the screed is automatically adjusted to pave the corresponding road surface in reverse phase, so as to complete the automatic leveling of the paved road surface.

3. The method for online detection of road smoothness during construction as described in claim 2, characterized in that, The elevation data for each road surface includes the elevation of all grids in each road surface, and the elevation of each grid is the average of the elevation data of all laser points within that grid.

4. The method for online detection of road smoothness during construction as described in claim 2, characterized in that, The calculation formula for determining the position information of the center point of each road grid in the reverse phase paving and leveling step is as follows: ； In the formula, ( , ) indicates the first The coordinates of the center point of each road grid; These represent the position coordinates of the two first positioning devices; This indicates the perpendicular distance from the first multi-line laser radar to the line connecting the two first positioning devices; This indicates the horizontal distance between the first positioning device and the first multi-line lidar on the same side; This indicates that the first multi-line laser radar reaches the first Laser distance at the center point of each road grid. The scattering angle of the first multi-line lidar. This indicates the angle between the laser beam at the center point of the grid and the horizontal plane.

5. The online method for detecting road smoothness during construction according to any one of claims 1 to 4, characterized in that, The paving thickness of the reverse-phase paving is calculated using the following formula: ； In the formula, The paving thickness of the road surface to be paved; This is the height of the original road surface relative to the reference plane, which is the plane where the paver tracks are located; This is the preset thickness for the actual paving after compaction; This is the loose paving coefficient.

6. An online system for detecting the smoothness of road construction, characterized in that, The system includes a first multi-line lidar, a first positioning device, a second multi-line lidar, a second positioning device, and a data processing and display unit; The data processing and display unit is electrically connected to the first multi-line lidar, the first positioning device, the second multi-line lidar, and the second positioning device, respectively, and is used to execute the online detection method for road construction process smoothness as described in any one of claims 1 to 5.

7. The online road construction smoothness detection system according to claim 6, characterized in that, The first multi-line lidar is provided in two parts, which are installed on both sides of the front end of the paver to obtain the first road surface information in the direction of the paver's movement. Two first positioning devices are provided, which are respectively installed on both sides of the screed of the paver to obtain the first position information of the paver; The second multi-line lidar is provided in two units, which are installed at the front and rear ends of the road roller respectively, and are used to obtain the second road surface information in the front and rear directions of the road roller; Two second positioning devices are provided, installed on both sides of the road roller respectively, to obtain the second position information of the road roller.

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