Pavement construction flatness detection method

Abstract

The invention discloses a pavement construction flatness detection method, which is realized through a detection vehicle with a positioning system and a flatness detection system, the positioning system is composed of a positioning GPS, a total station and a prism arranged on the detection vehicle, and the detection method comprises the following steps: S1, determining a to-be-detected route, placing the detection vehicle in place, erecting the total station at the starting point of the route, and detecting the flatness of the to-be-detected route; the total station is provided with an automatic sighting prism for measurement; s2, the detection vehicle advances along a set route, and a flatness detection system collects and obtains pavement flatness change data; s3, after driving of the detection vehicle is completed, data collected by the total station and the flatness detection system are exported, and road surface flatness detection data are obtained through calculation. The three-dimensional data of each point can be accurately, comprehensively and accurately recorded, the pavement surface morphology is completely restored, and a sufficient basis is provided for subsequent pavement finishing and improvement.

Description

Technical Field

[0001] The present invention relates to the technical field of automated intelligent road surface detection, and in particular to a road surface construction flatness detection method. Background Art

[0002] Road surface flatness is an indicator that reflects the overall flatness of the road surface. The road surface flatness is related to driving safety and comfort, and also affects the service life of the road surface. An uneven surface will increase driving resistance and cause vehicles to produce additional vibration impacts on the road surface. Flatness detection is an important inspection item in road construction inspection and acceptance in road projects.

[0003] When the longitudinal section curve of the road surface is relatively smooth, it means that the road surface flatness is good, otherwise it means that the flatness is poor. The current specifications have put forward high requirements for the flatness index after road construction. The key to road surface flatness detection is to obtain the relative elevation data of the road surface, form a longitudinal section curve or surface network that corresponds to the actual road surface one by one, and calculate and evaluate the flatness index. Obviously, the more data points there are, the more accurate the evaluation is.

[0004] The existing detection device requires workers to conduct on-site detection along the designated route, which has low detection efficiency, few measuring points and low accuracy, and cannot intuitively understand the flatness of the road surface. For example, for the patent with application number 202410208557.8, it is necessary to manually push the equipment for detection, which is not conducive to precise control along the detection route. At the same time, the detection component of the patent measures the height of the current measuring point of the measuring rod relative to the entire device. Due to the unevenness of the road surface, the device itself is not always on an absolutely straight height line during the forward process, resulting in the device detection result cannot truly reflect the flatness of the current position

[0005] To this end, this application specifically proposes a road surface construction flatness detection method to solve the above technical problems. Summary of the invention

[0006] The main purpose of the present invention is to provide a method for detecting the flatness of a road surface during construction, so as to realize automatic detection of the flatness of the construction road surface throughout the entire process, improve the detection accuracy and detection efficiency, and solve the above-mentioned technical problems.

[0007] The present invention adopts the following technical solutions to solve the above technical problems:

[0008] A road construction flatness detection method is implemented by a detection vehicle with a positioning system and a flatness detection system, including vehicle-mounted GPS positioning, a total station for road construction measurement, and a matching positioning prism fixed behind the vehicle, which is used to accurately locate the vehicle's plane position. The detection method includes:

[0009] S1. Determine the route to be measured, set up a total station at the starting point of the route, set the total station to automatically collimate the prism to measure, and collect the road elevation change data;

[0010] S2. The inspection vehicle moves along the set route, and the flatness inspection system collects and obtains the road surface flatness change data;

[0011] S3. After the inspection vehicle has completed its journey, the collected data of the total station and the flatness inspection system are exported, and the road surface flatness inspection data is calculated.

[0012] Preferably, the specific calculation method of the flatness data in step S3 includes:

[0013] S31. At time T1, the flatness detection system collects the displacement h of the road surface elevation change of the detection vehicle. r1 At the same time, the total station collects the elevation data h1 and plane coordinates (x1, y1) of the corresponding inspection vehicle through the prism, so H1 = h r1 +h1 is the absolute elevation data of the road surface point relative to the fixed total station base point at time T1. Similarly, at T2, T3…T n Get a series of road elevation data H1, H2...H at all times n , and the plane coordinates (x1,y1), (x2,y2)…(x n ,y n ), forming a data set Q:

[0014] Q=(X,Y,H)={(,y,h)|=x(t),y=y(),h=h(t)}

[0015] That is, Q = {(x1, y1, h1), (x2, y2, h2), … (x n ,y n ,h n )};

[0016] S32. Group the point data according to the size of the plane coordinates to perform classification statistics of the detection data. For the elements in the data set Q, determine the longitudinal interval length a0 and the transverse interval length b0, and divide the data set into several finite subsets:

[0017] Q={Q1,Q2,…Q i ,…Q n}

[0018] in,

[0019] The above sub-dataset Q i Corresponding to the road detection plane, it is the data reflecting the detection area;

[0020] S33. Based on the dataset Q i , calculate the range R, variance S 2 As statistical data, it is used to calculate the flatness value.

[0021] Preferably, the specific operation process of step S33 includes:

[0022] L1. Preset the ideal plane Z, Z = Ax + By + C, where A, B, C are the plane constants to be determined;

[0023] L2. According to Chebyshev minimum distance plane method, according to the data set Q i The point cloud data in is recorded in the matrix:

[0024]

[0025] in

[0026]

[0027] Then the eigenvector P corresponding to the minimum eigenvalue of the matrix M is as follows, which contains the plane parameters A and B to be solved:

[0028]

[0029] Then the constant C is given by the data set Q i The center of mass can be calculated on the ideal plane area:

[0030]

[0031] Therefore, the corrected relative elevation data is:

[0032] h′ ij =h ij -z ij ,z ij =Ax ij +By ij +C

[0033] That is, the new data set used to calculate flatness is:

[0034] Q i ={(x i1 ,y i1 ,h′ i1 ),(x i2 ,y i2 ,h′ i2 ),…(x in ,y in ,h′ in )};

[0035] L3. Calculate the mean Range R, variance S2 ,have:

[0036]

[0037] R = max{h′ i1 ,h′ i2 ,…h′ in}-in{h′ i1 ,h′ i2 ,…h′ in}

[0038]

[0039] L4. Through the mean Range R, variance S 2 Perform the detection and determination of the flatness value, preset the calculation function f(x, y, z) of the flatness value R, and have the flatness value

[0040] Preferably, the inspection vehicle is configured as a group of small electric four-wheeled vehicles with a bottom plate installed at the bottom, and the flatness inspection system is arranged on the bottom.

[0041] Preferably, the flatness detection system comprises a sleeve vertically inserted into the bottom plate of the detection vehicle, a measuring rod slidably arranged in the sleeve, and a displacement sensor arranged on the detection vehicle;

[0042] The lower end of the measuring rod passes through the casing and is provided with a roller in contact with the road surface, and the upper end of the measuring rod passes through the casing and is provided with an external rack;

[0043] The displacement sensor is provided with a gear meshing with the external rack, and the displacement sensor converts the displacement of the measuring rod into a displacement electrical signal through the gear.

[0044] Preferably, the flatness detection system further comprises:

[0045] The central control system installed on the inspection vehicle is used to control the vehicle to automatically move along the set route in cooperation with the positioning system after the route coordinate information is input in advance;

[0046] The data acquisition and calculation system stores the displacement electrical signal data detected by the displacement sensor and the original data of the vehicle positioning information and elevation information at the corresponding time, which is used to form a CSV file for external reading, so as to calculate the road surface flatness in conjunction with the plane and elevation information data and elevation change data obtained by the total station;

[0047] The data acquisition and calculation system detection vehicle adjusts the acquisition frequency and reduces the walking speed according to the change rate of the acquired displacement electrical signal data when the vehicle is moving forward.

[0048] Preferably, the specific adjustment steps of the data acquisition and calculation system to adjust the acquisition frequency and reduce the walking speed include:

[0049] The data acquisition and calculation system monitors the change amplitude A and change rate V of the electrical signal u of the displacement sensor in real time, and presets the change amplitude condition U0 and the rate change condition V0. At this time, the following control conditions exist:

[0050]

[0051] Check2: A=u1-u2>U0

[0052] Among them, t1 and t2 are any adjacent sampling moments, and u1 and u2 are the voltage signals at the corresponding moments;

[0053] When the data satisfies the Check1 expression or Check2 expression twice in a row, it is determined that the inspection vehicle has entered an uneven area. The sampling frequency of the inspection will be increased and the vehicle speed will be reduced to ensure that enough data is obtained at the key points and improve the local inspection accuracy.

[0054] Preferably, the displacement of the measuring rod will drive the rack to move accordingly, thereby changing the position of the brush on the resistance wire and controlling the output electrical signal u to change. At this time, the displacement h of the limit slider moving up and down in the plane limit sleeve is m Set to the height change of the road surface relative to the vehicle h r ,exist:

[0055] h r =h m

[0056] And the electrical signal u and the displacement h m There is the following functional relationship:

[0057]

[0058] x=C0h m

[0059] in:

[0060] x refers to the displacement of the rack relative to the initial position, x max The maximum displacement of the rack measured by the potentiometer displacement sensor;

[0061] R x is the resistance value of the resistance wire when the rack displacement is x, R max is the maximum resistance value of the resistance wire, U x is the electrical signal when the rack displacement is x, U max is the maximum value of the electrical signal;

[0062] C0 is the sensitivity coefficient of the displacement sensor, which is a constant;

[0063] The electrical signal u is stored and recorded by the data acquisition and calculation system, thereby indirectly realizing the displacement h m Detection, thereby collecting and obtaining elevation data.

[0064] Preferably, the measuring rod is provided with a limiting sliding block which is in contact with the inner wall of the sleeve and is used to limit the displacement of the measuring rod.

[0065] Preferably, the inspection vehicle is provided with a cleaning component, and the cleaning component includes a cleaning brush arranged at the front end of the inspection vehicle and in contact with the road surface, and a motor for driving the cleaning brush to rotate.

[0066] The present invention provides a method for detecting the flatness of road construction. Compared with the prior art, the present invention has the following beneficial effects:

[0067] 1. The present invention sets up a detection vehicle and adopts a measuring rod to directly contact the road surface mechanically, and selects a high-sensitivity small-displacement potentiometer displacement sensor. The detection method is simple, direct, reliable and stable, which can ensure the millimeter-level accuracy requirement and avoid the problem of inaccurate measurement caused by environmental factors in non-contact methods such as radar and infrared.

[0068] 2. The detection method of the present invention combines total station positioning with displacement detection of the detection vehicle, which can accurately, comprehensively and precisely record the three-dimensional data of each point, completely restore the surface morphology of the road surface, and provide sufficient basis for subsequent road surface repair and improvement.

[0069] 3. The inspection vehicle of the present invention can realize driving and inspection according to a preset path through the cooperation of the central control system and the positioning system, thereby reducing the manual labor of on-site inspection and improving the working environment of workers.

[0070] 4. The present invention improves detection efficiency by realizing continuous detection while the detection vehicle is running, and automatically adjusts the data sampling frequency and the vehicle driving speed through the rate of change of the electrical signal to ensure that sufficient sampling data is obtained at key positions. At the same time, the cleaning brush in front of the vehicle can clean stones and debris on the road, thereby improving the effectiveness of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0072] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the detection vehicle of the present invention during use;

[0073] Figure 2 It is a three-dimensional schematic diagram of the internal structure of the vehicle body of the detection vehicle of the present invention;

[0074] Figure 3 It is a three-dimensional schematic diagram of the structure connection of the potentiometer type displacement sensor of the present invention;

[0075] Figure 4 It is a three-dimensional schematic diagram of the structural connection of the vertical limit assembly of the present invention;

[0076] Figure 5 It is a schematic diagram of the data acquisition process of the detection method of the present invention;

[0077] Figure 6 It is a schematic diagram of the data processing flow of the detection method of the present invention;

[0078] Figure 7 It is a schematic diagram of the calculation principle of displacement detection in the detection method of the present invention;

[0079] Figure 8 A schematic diagram of the detection position on the road detection plane in the detection method of the present invention;

[0080] Fig. 9 It is a schematic diagram of an example of a point cloud morphology scatter diagram of the entire road surface in an embodiment of the present invention.

[0081] In the figure:

[0082] 1. Vehicle body; 11. Bottom plate; 2. Central control system; 3. Data acquisition and calculation system; 4. Positioning system; 41. Prism; 42. Total station; 5. Displacement detection device; 51. Displacement sensor; 511. Rack; 52. Vertical limit assembly; 521. Sleeve; 522. Limit slider; 523. Measuring rod; 524. Roller; 525. Vertical slide; 6. Cleaning component; 61. Cleaning brush. DETAILED DESCRIPTION

[0083] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0084] In the embodiment, see Figures 1 to 9 .

[0085] The present invention provides a road surface construction flatness detection method, which is implemented based on a group of automatic detection vehicles, such as Figures 1 to 4As shown, the inspection vehicle is provided with a flatness detection system and a cleaning component 6. The flatness detection system includes a vehicle body 1, a data acquisition and calculation system 3, a central control system 2, a positioning system 4, and a displacement detection device 5 arranged in the middle of the vehicle, wherein:

[0086] (1) Car body 1, reference Figure 1 and Figure 2 It is configured as a small electric four-wheel vehicle with a bottom plate 11 installed at the bottom, and the data acquisition and calculation system 3 and the central control system 2 are both arranged inside the vehicle body 1.

[0087] (2) The central control system 2 is used to control the vehicle to automatically move along the set route in cooperation with the positioning system 4 after the route coordinate information is input in advance, so that the vehicle can travel along the road according to the predetermined route and automatically reduce the travel speed when the displacement electrical signal changes at a large speed.

[0088] (3) Data acquisition and calculation system 3, which is responsible for storing relevant raw data and calculating the flatness index. Specifically, it stores the raw data of the displacement sensor 51 data and the corresponding time vehicle positioning information and elevation information, which are used to form a CSV file for external reading, so as to carry out more accurate point cloud data analysis later.

[0089] Furthermore, the data acquisition and calculation system 3 is mainly composed of a signal sensing converter, a data reader and storage device, and a calculation software. The signal sensing converter is responsible for reading the displacement detection signal and converting it into storable data. The data reader and storage device stores the displacement data and the original data of the vehicle positioning information at the corresponding time. The calculation software calculates the preliminary flatness data according to the specified program and forms a CSV file for external reading, so as to carry out more accurate point cloud data analysis later.

[0090] (4) Positioning system 4, including vehicle-mounted GPS positioning, road construction measurement total station 42 and matching positioning prism 41 fixed to the rear of the vehicle, is responsible for accurately measuring vehicle coordinates and elevation data to achieve accurate positioning of the vehicle's planar position.

[0091] At this time, a total station 42 is set up at the road construction site as the positioning base station of the automatic inspection vehicle, and a matching positioning prism 41 is fixed at the rear of the car. By using the automatic aiming and measurement function of the total station 42, the total station 42 searches for the position return signal of the prism 41, which can realize the measurement of the coordinates and corresponding elevation data of the vehicle during driving.

[0092] Therefore, the automatic inspection vehicle can achieve driving and inspection according to a preset path through the cooperation of the central control system 2 and the positioning system 4, thereby reducing the manual labor of on-site inspection and improving the working environment of workers.

[0093] (5) A displacement detection device 5 is connected to the data acquisition and calculation system 3 and refers to Figure 3 and Figure 4 , including a displacement sensor 51 arranged in the vehicle body 1 and a vertical limit assembly 52 arranged on the bottom plate 11, which are used to detect the change in height of the road surface relative to the vehicle.

[0094] The vertical limit assembly 52 includes a sleeve 521 passing through the bottom plate 11 of the vehicle body 1, and a measuring rod 523 vertically slidably arranged in the sleeve 521. The lower end of the measuring rod 523 passes through the sleeve 521 and is provided with a roller 524 for contacting the road surface. The upper end of the measuring rod 523 passes through the sleeve 521 and is provided with an external rack 511. The displacement detection device 5 is provided with a gear meshing with the external rack 511. The displacement detection device 5 is configured as a displacement sensor 51, which is used to convert the vertical displacement of the measuring rod 523 into a displacement electrical signal.

[0095] Specifically, the displacement sensor 51 is a potentiometer displacement sensor connected to the data acquisition and calculation system 3. The potentiometer displacement sensor drives the gear to rotate by vertically moving the external rack 511 to change the position of the brush on the resistance wire, establishes the relationship between the displacement electrical signal and the displacement of the external rack 511, and refers to Figure 3 and Figure 4 , including a potentiometer displacement sensor arranged in the vehicle body 1 and a vertical limit assembly 52 arranged on the base plate 11, for detecting the height change of the road surface relative to the vehicle, wherein the potentiometer displacement sensor is measured by an external rack 511, and the external rack 511 is arranged on the vertical limit assembly 52.

[0096] Furthermore, the measuring rod 523 is provided with a limit slider 522 that fits the inner wall of the sleeve 521 to limit the displacement of the measuring rod 523, and at this time, a corresponding vertical slide groove can be opened on the inner wall of the sleeve 521 to further limit the vertical displacement of the limit slider 522.

[0097] Here, the measuring rod 523 is mechanically contacted with the road surface directly, and a highly sensitive small-displacement potentiometer displacement sensor is selected. The detection method is simple, direct, reliable and stable, which can ensure the millimeter-level accuracy requirement and avoid the problem of inaccurate measurement caused by environmental factors that are easily interfered by non-contact methods such as radar and infrared.

[0098] In addition, in a further specific embodiment, a button slot is provided on the sleeve 521, which is used to fix the measuring rod 523 and the roller 524 so as not to fall when not detecting, so as to realize rapid movement of the vehicle.

[0099] (6) The cleaning member 6 includes a cleaning brush 61 disposed on the bottom plate 11. The cleaning brush 61 is located in front of the travel path of the front wheels of the vehicle, and the bristles are in moderate contact with the ground. The cleaning brush 61 is used to clean the road surface by rotating the motor.

[0100] In the specific implementation process, with the forward direction of the detection vehicle as the front, the cleaning brush 61 is located at the frontmost part of the base plate 11. The cleaning brush 61 is in proper contact with the road surface and starts to rotate during the driving of the vehicle. The road surface to be detected can be cleaned in advance to remove stones and other debris, which is convenient for the displacement detection device 5 to work.

[0101] In summary, during the inspection process, the automatic inspection vehicle combines the total station 42 positioning and the automatic inspection vehicle measuring rod 523 displacement detection, which can accurately, comprehensively and precisely record the three-dimensional data of each point, completely restore the road surface morphology, and provide sufficient basis for subsequent road surface repair and improvement.

[0102] The automatic inspection vehicle can also automatically detect the smoothness of the construction road surface throughout the entire process, thereby improving the inspection accuracy and efficiency.

[0103] At the same time, continuous detection is achieved through automatic detection of vehicle driving to improve detection efficiency, and the data sampling frequency and vehicle driving speed are automatically adjusted through the rate of change of electrical signals to ensure that sufficient sampling data is obtained at key locations. At the same time, the cleaning brush 61 in front of the vehicle can clean stones and debris on the road, thereby improving the effectiveness of measurement.

[0104] Based on the above automatic detection vehicle, such as Figure 5 As shown, the road surface construction flatness detection method includes the following specific operation steps:

[0105] S1. Determine the route to be tested, import the designed route information into the central control system of the detection device, and automatically put the detection vehicle in place;

[0106] S2. Set up a construction total station at the starting point of the route and set up an automatic collimation measurement system to confirm the prism measurement results for collecting road elevation change data;

[0107] S3, turn on the cleaning brush 61, confirm that the measuring rod hangs vertically under the action of gravity, and the roller 524 is in good contact with the road surface;

[0108] S4, the automatic detection vehicle moves along the set route. As the road surface height changes, the measuring rod moves up and down, and the displacement sensor 51 obtains relevant data. The data acquisition and calculation system 3 collects data and automatically speeds up the acquisition frequency and reduces the walking speed according to the increase in the rate of change of the electrical signal.

[0109] At this time, the rate adjustment logic of the data acquisition and calculation system 3 includes:

[0110] S41. When the detection vehicle is moving forward, the displacement of the measuring rod 523 will drive the corresponding movement of the rack 511, thereby changing the position of the brush on the resistance wire and controlling the output electrical signal u to change, such as Figure 7As shown, at this time, the displacement h of the measuring rod 523 moving up and down in the sleeve 521 m Set to the height change of the road surface relative to the vehicle h r ,exist:

[0111] h r =h m

[0112] In order to automatically and accurately detect the displacement h m The rack 511, the measuring rod 523 and the limit slider 522 of the potentiometer displacement sensor 51 are fixedly connected as a whole. The displacement of the measuring rod 523 will drive the rack 511 to move up and down accordingly, thereby changing the position of the brush on the resistance wire, and the output electrical signal u will change accordingly, and the electrical signal u is related to the displacement h. m There is the following functional relationship:

[0113]

[0114] x=C0h m

[0115] in:

[0116] x refers to the displacement of the rack 511 relative to the initial position, max is the maximum displacement of the rack 511 measured by the potentiometer displacement sensor 51;

[0117] R x is the resistance value of the resistance wire when the displacement of the rack 511 is x, R max is the maximum resistance value of the resistance wire, U x is the electrical signal when the displacement of the rack 511 is x, U max is the maximum value of the electrical signal;

[0118] C0 is the sensitivity coefficient of the displacement sensor 51, which is a constant;

[0119] The electrical signal u is stored and recorded by the data acquisition and calculation system 3, thereby indirectly realizing the displacement h m Detection, so as to collect and obtain elevation data;

[0120] S42. The data acquisition and calculation system 3 monitors the change amplitude A and the change rate V of the electrical signal u of the potentiometer displacement sensor 51 in real time, and presets the change amplitude condition U0 and the rate change condition V0. At this time, the following control conditions exist:

[0121]

[0122] Check2: A=u1-u2>U0

[0123] Among them, t1 and t2 are any adjacent sampling moments, and u1 and u2 are the voltage signals at the corresponding moments;

[0124] S43. When the data satisfies the Ch1 expression or the Ch2 expression for two consecutive times, it is determined that the detection vehicle has entered an uneven area, and the sampling frequency of the detection will be increased and the vehicle speed will be reduced to ensure that enough data is obtained at the key point and improve the local detection accuracy;

[0125] S5. Export the plane and elevation information data of the automatic inspection vehicle measured by the total station, and export the relative height change data of the road surface measured by the automatic inspection vehicle with the inspection vehicle as a reference. The two are combined to eliminate the influence of the height difference change of the automatic inspection vehicle itself, and calculate the accurate road surface flatness data;

[0126] At this time Figure 6 As shown in Figure 2, the specific calculation method of road surface flatness data includes:

[0127] S51. At time T1, the data acquisition and calculation system 3 acquires the road elevation displacement h of the measuring rod 523 relative to the detection vehicle r1 At the same time, the corresponding automatic inspection vehicle elevation data h1 and plane coordinates xy1 are collected, then H1 = h r1 +h1 is the absolute elevation data of the road surface point relative to the fixed total station base point at time T1. Similarly, at T2, T3…T n Get a series of road elevation data H1, H2...H at all times n , and the plane coordinates xy1, xy2…xy corresponding to the above measurement point data n , forming a data set Q:

[0128] Q=(X,Y,H)={(x,y,h)|x=x(t),y=y(t),h=h(t)}

[0129] That is, Q = {(x1, y1, h1), (x2, y2, h2), … (x n ,y n ,h n )};

[0130] S52. Figure 8 As shown, the point data are grouped according to the size of the plane coordinates to perform classification statistics of the detection data. For the elements in the data set Q, the longitudinal interval length a0 and the horizontal interval length b0 are determined, and the data set can be divided into several finite subsets:

[0131] Q={Q1,Q2,…Q i ,…Q n}

[0132] in,

[0133] The above sub-dataset Q i Corresponding to the road detection plane, it is the data reflecting the detection area;

[0134] S53. The above sub-dataset Q i Corresponding to the road detection plane, it reflects Figure 8 The data of the detection area shown, so for the data set Q i Can calculate range R, variance S 2 As statistical data, it is used to further calculate the flatness value. The specific operation process includes:

[0135] L1. The flatness calculation value is the relative elevation difference evaluation on a certain area plane area. Since the road design line shape and section often have certain longitudinal and transverse slopes, the elevation data in Q is an absolute elevation and cannot be directly calculated for flatness. It is necessary to use the ideal plane of the road surface as a reference to obtain the relative value of the elevation. Therefore, the ideal plane Z is preset, and the plane Z is: Z = Ax + By + C, where A, B, and C are the plane constants to be calculated;

[0136] L2. According to Chebyshev minimum distance plane method, according to the data set Q i If the point cloud data in

[0137]

[0138] in

[0139]

[0140] Then the eigenvector P corresponding to the minimum eigenvalue of the matrix M is as follows, which contains the plane parameters A and B to be solved:

[0141]

[0142] Then the constant C is given by the data set Q i The center of mass can be calculated on the ideal plane area:

[0143]

[0144] Therefore, the corrected relative elevation data is:

[0145] h′ ij =h ij -z ij ,z ij =Ax ij +By ij +C

[0146] That is, the new data set used to calculate flatness is:

[0147] Q i ={(x i1 ,y i1 ,h′ i1 ),(x i2 ,y i2 ,h′ i2 ),…(x in ,y in ,h′ in )};

[0148] L3. Calculate the mean Range R, variance S 2 ,have:

[0149]

[0150] R = max{h i ′1,h i ′2,…h i ' n}-in{h i ′1,h i ′2,…h i ' n}

[0151]

[0152] L4. Through the mean Range R, variance S 2 Perform the detection and determination of the flatness value, preset the calculation function f(x, y, z) of the flatness value R, and have the flatness value The calculation function f(x, y, z) here is a parameter mapping function of three variables, and different mapping functions can be substituted into the calculation according to actual needs.

[0153] In addition, according to the detection point data set Q obtained in step S51, reference Fig. 9 Through computer point drawing software tools, a point cloud scatter diagram of the entire road surface can be formed to further reflect the road surface flatness.

[0154] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0155] In addition, it should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0156] In addition, the central control system 2, data acquisition and calculation system 3, positioning system 4 and other systems used in the embodiments of the present invention can be realized by performing calculations and processing through existing electronic devices. The electronic devices here include a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus.

[0157] Memory, used to store computer programs;

[0158] The processor is used to implement the above detection method when executing the program stored in the memory.

[0159] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc.

[0160] The communication interface is used for communication between the above electronic device and other devices.

[0161] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0162] It should also be noted that the above-mentioned electronic equipment also includes terminal equipment, which can also be called terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. The terminal equipment can be a mobile phone, a smart TV, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal equipment, an augmented reality (AR) terminal equipment, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal equipment.

[0163] In addition, the electronic detection equipment such as the potentiometer displacement sensor 51 used in the embodiment of the present invention all adopt the models disclosed in the prior art to perform corresponding processing operations or adopt equipment with equivalent technical effects for replacement, and should also have the same technical effects during actual use.

[0164] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that A and B meet at the same time. In addition, in the embodiments of the present invention, "multiple" refers to more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A method for detecting the flatness of road construction, characterized in that: The detection is achieved by a detection vehicle with a positioning system (4) and a flatness detection system. The positioning system (4) is composed of a positioning GPS, a total station (42) and a prism (41) arranged on the detection vehicle. The detection method comprises: S1, determine the route to be measured, set up a total station (42) at the starting point of the route, aim the total station (42) at the prism (41) to measure, and collect road surface elevation change data; S2, the inspection vehicle moves along the set route, and the flatness inspection system collects road surface flatness change data; S3, after the detection vehicle has completed its driving, the collected data of the total station (42) and the flatness detection system are exported, and the road surface flatness detection data is calculated.

2. The road surface construction flatness detection method according to claim 1, characterized in that: The specific calculation method of the flatness data in step S3 includes: S31. At time T1, the flatness detection system collects the displacement h of the road surface elevation change of the detection vehicle. r1 At the same time, the total station (42) collects the elevation data h1 and plane coordinates (x1, y1) of the corresponding detection vehicle through the prism (41), then H1 = h r1 +h1 is the absolute elevation data of the road surface point relative to the fixed total station (42) base point at time T1. Similarly, at T2, T3…T n Get a series of road elevation data H1, H2...H at all times n , and the plane coordinates (x1, y1), (x2, y2)…(x n ,y n ), forming a data set Q: Q=(X,Y,H)={(x,y,h)|x=x(t), y=y(t), h=h(t)} That is, Q = {(x1, y1, h1), (x2, y2, h2), ... (x n ,y n ,h n )}; S32. Group the point data according to the size of the plane coordinates to perform classification statistics of the detection data. For the elements in the data set Q, determine the longitudinal interval length a0 and the transverse interval length b0, and divide the data set into several finite subsets: Q={Q1,Q2,...Q i ,...Q n } in, The above sub-dataset Q i Corresponding to the road detection plane, it is the data reflecting the detection area; S33. Based on the dataset Q i , calculate the range R, variance S 2 As statistical data, it is used to calculate the flatness value.

3. The road surface construction flatness detection method as claimed in claim 2, characterized in that: The specific operation process of step S33 includes: L1. Preset the ideal plane Z, Z = Ax + By + C, where A, B, C are the plane constants to be determined; L2. According to Chebyshev minimum distance plane method, according to the data set Q i The point cloud data in is recorded in the matrix: in Then the eigenvector P corresponding to the minimum eigenvalue of the matrix M is as follows, which contains the plane parameters A and B to be solved: Then the constant C is given by the data set Q i The center of mass can be calculated on the ideal plane area: Therefore, the corrected relative elevation data is: h ij =h ij -z ij ,z ij =Ax ij +By ij +C That is, the new data set used to calculate flatness is: Q i ={(x i1 ,y i1 ,h′ i1 ),(x i2 ,y i2 ,h′ i2 ),...(x in ,y in ,h′ in )}; L3. Calculate the mean Range R, variance S 2 ,have: R=max{h′ i1 ,h′ i2 ,...h′ in }-min{h′ i1 ,h′ i2 ,...h′ in } L4. Through the mean Range R, variance S 2 Perform the detection and determination of the flatness value, preset the calculation function f(x, y, z) of the flatness value R, and have the flatness value 4. The road surface construction flatness detection method according to claim 1, characterized in that: The flatness detection system comprises a sleeve (521) vertically inserted into the bottom plate of the detection vehicle, a measuring rod (523) slidably arranged in the sleeve (521), and a displacement sensor (51) arranged on the detection vehicle; The lower end of the measuring rod (523) passes through the sleeve (521) and is provided with a roller (524) that contacts the road surface, and the upper end of the measuring rod (523) passes through the sleeve (521) and is provided with an external rack (511); The displacement sensor (51) is provided with a gear meshing with the external rack (511), and the displacement sensor (51) converts the displacement of the measuring rod (523) into a displacement electrical signal through the gear.

5. The road surface construction flatness detection method according to claim 4, characterized in that: The flatness detection system also includes: A central control system (2) installed on the inspection vehicle; A data acquisition and calculation system (3) stores displacement electrical signal data detected by the displacement sensor (51) and original data of vehicle positioning information and elevation information at corresponding time; The data acquisition and calculation system (3) adjusts the acquisition frequency and reduces the travel speed according to the change rate of the acquired displacement electrical signal data during the forward movement of the detection vehicle.

6. The road surface construction flatness detection method according to claim 5, characterized in that: The specific adjustment steps of the data acquisition and calculation system (3) to adjust the acquisition frequency and reduce the walking speed include: The data acquisition and calculation system (3) monitors the change amplitude A and change rate V of the electrical signal u of the displacement sensor (51) in real time, and presets the change amplitude condition U0 and the rate change condition V0. At this time, the following control conditions exist: Check2: A=u1-u2>U0 Among them, t1 and t2 are any adjacent sampling moments, and u1 and u2 are the voltage signals at the corresponding moments; When the data satisfies the Check1 expression or Check2 expression twice in a row, it is determined that the inspection vehicle has entered an uneven area. The sampling frequency of the inspection will be increased and the vehicle speed will be reduced to ensure that enough data is obtained at the key points and improve the local inspection accuracy.

7. The road surface construction flatness detection method according to claim 5, characterized in that: The displacement of the measuring rod (523) will drive the rack (511) to move accordingly, thereby changing the position of the brush on the resistance wire, controlling the output electrical signal u to change, and at this time, the displacement h of the limit slider (522) moving up and down in the sleeve (521) is m Set to the height change of the road surface relative to the vehicle h r ,exist: h r =h m And the electrical signal u and the displacement h m There is the following functional relationship: x=C0h m in: x refers to the displacement of the rack (511) relative to the initial position, max The maximum displacement of the rack (511) measured by the potentiometer displacement sensor (51); R x is the resistance value of the resistance wire when the displacement of the rack (511) is x, R max is the maximum resistance value of the resistance wire, U x is the electrical signal when the displacement of the rack (511) is x, U max is the maximum value of the electrical signal; C0 is the sensitivity coefficient of the displacement sensor, which is a constant; The electrical signal u is stored and recorded by the data acquisition and calculation system (3), thereby indirectly realizing the displacement h m detection to collect and obtain elevation data.

8. The road surface construction flatness detection method according to claim 4, characterized in that: The measuring rod (523) is provided with a limiting sliding block (522) which is in contact with the inner wall of the sleeve (521).

9. The road surface construction flatness detection method according to claim 4, characterized in that: The detection vehicle is provided with a cleaning component (6), and the cleaning component (6) comprises a cleaning brush (61) arranged at the front end of the detection vehicle and in contact with the road surface, and a motor for driving the cleaning brush (61) to rotate.

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