Road subsidence measuring device and system

Abstract

The invention relates to the technical field of road quality measurement, in particular to a road subsidence measuring device and system.The device comprises a shell used for carrying a detection system, and a driving mechanism used for driving the shell to move is arranged below the shell; the driving mechanism comprises a plurality of supports, each support comprises a plurality of first electric push rods used for adjusting the lifting height, and walking wheels are arranged at the ends, away from the shell, of the supports. A laser transmitter and a laser receiver are fixedly connected to the support. A second electric push rod is fixedly connected to the center of the support, and an ultrasonic detection module is hinged to the output end of the second electric push rod; the detection system comprises a driving control module used for controlling the first electric push rod to be started and stopped, a route recording module used for inputting and storing route data of a road, and an ultrasonic processing module used for adding a pavement settlement mark based on ultrasonic data. The method is suitable for large-area road settlement measurement, manual measurement is reduced, and settlement measurement efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of highway quality measurement, and particularly relates to a highway subsidence measurement device and system. Background Art

[0002] During the long-term operation of highways, due to factors such as problems with foundation soil quality, construction and design factors, and long-term pressure from heavy-duty vehicles, highway subsidence phenomena will occur. Highway subsidence will cause large flexural tensile strains on the road surface, and the stress will be distributed along the settlement range, making the overall stress on the road surface uneven. The parts of the road surface that are under large stress for a long time are prone to being damaged. In the light case, cracks appear, and in the severe case, collapses and bulges occur. Therefore, during highway maintenance, highway subsidence should be measured regularly to provide strong guarantees for the safety and stability of highways.

[0003] Existing measurement methods such as levels, total stations, settlement plates, and pavement deflection meters mostly measure the settlement of highways in a single-point measurement manner, which has the advantage of high accuracy. However, they often rely on manual on-site measurements, with a large labor intensity and low measurement efficiency. At the same time, there are often vehicles running on normal operating roads, which pose certain safety hazards to measurement personnel.

[0004] For the road settlement measurement of large areas, the InSAR technology (Interferometric Synthetic Aperture Radar) can be used. By using a radar system carried by a satellite or an aircraft, the phase difference of multiple images is analyzed to monitor the minute changes on the earth's surface to cover a vast area. However, it is limited by factors such as surface coverage, radar geometry, and atmospheric conditions. Therefore, the present invention provides a walking-type highway subsidence measurement device to replace manual measurement and improve the settlement measurement efficiency. Summary of the Invention

[0005] To solve the above problems, the present invention provides a highway subsidence measurement device and system, which is applicable to the settlement measurement of large areas of highways, reduces manual measurement, and improves the settlement measurement efficiency.

[0006] To achieve the above object, the technical solution of the present invention is as follows: A highway subsidence measurement device includes a housing for carrying a detection system, and a driving mechanism is provided below the housing for driving the housing to move; the driving mechanism includes several brackets fixedly connected to the bottom of the housing, the brackets include several first electric push rods for adjusting the lifting height, and a driving member is provided at one end of the bracket away from the housing, and the driving member is coaxially connected with a walking wheel;

[0007] A laser emitter for emitting laser and a laser receiver for detecting the laser irradiation position are respectively and fixedly connected to the support; a second electric push rod is also fixedly connected to the center of the support, and the output end of the second electric push rod is hinged with an ultrasonic detection module for sending and receiving ultrasonic data.

[0008] The detection system includes a drive control module, a route recording module and an ultrasonic processing module; the drive control module is used to control the start and stop of the first electric push rod based on the laser irradiation position.

[0009] The route recording module is used to input and store the route data of the road. The route data includes the driving route, the coordinates of the measurement points and the terrain height difference on both sides of the historical road; at the same time, it sends a driving instruction to the drive control module based on the driving route, sends an adjustment instruction to the first electric push rod based on the terrain height difference on both sides of the historical road, and sends a start instruction to the second electric push rod based on the coordinates of the measurement points.

[0010] The ultrasonic processing module is used to establish the underground settlement data corresponding to the measurement point coordinates based on the ultrasonic data, and then add a road surface settlement mark to the measurement point coordinates based on the difference in the underground settlement data before and after the current time.

[0011] Furthermore, the supports are symmetrically arranged with the housing as the center, and mounting plates are fixedly connected between adjacent supports. The laser receiver is fixedly connected to the bottom of the mounting plate, and the laser receivers are arranged diagonally with the mounting plate as the center; a number of photosensitive resistors are fixedly connected to the laser receiver and are evenly arranged in the height direction. The photosensitive resistors are used to detect the current intensity corresponding to the current time and send the current intensity to the drive control module.

[0012] The center of the mounting plate is fixedly connected to the second electric push rod, and the second electric push rod is perpendicular to the mounting plate.

[0013] The output end of the first electric push rod is slidably matched with the support. A balance rod is arranged below the mounting plate. Chutes are respectively opened at both ends of the balance rod, and sliders are slidably matched in the chutes. The sliders are hinged to the output end of the first electric push rod; the laser emitter and the laser receiver are on the same straight line, and the laser emitter is fixedly connected to the balance rod; and a through groove corresponding to the laser receiver is also opened on the balance rod.

[0014] When the balance rod is parallel to the ground, the extension lengths of the first electric push rods at both ends of the balance rod are equal.

[0015] Furthermore, a first motor is fixedly connected to the end of the first electric push rod away from the mounting plate. The output end of the first motor is fixedly connected to a rotating plate. A number of support plates are fixedly connected to the bottom of the rotating plate. The walking wheels are located between adjacent support plates. The support plates are fixedly connected to the driving member, and the output shaft of the driving member is fixedly connected to the walking wheel.

[0016] Further, a highway subsidence measurement system, the highway subsidence measurement system according to the above-mentioned highway subsidence measurement device, includes highway settlement devices located on both sides of the highway. The detection system further includes a GPS positioning module for obtaining the current real-time positioning data of the device. The drive control module is further configured to obtain route data based on a driving instruction, compare the real-time positioning data with the driving route. If the real-time positioning data is consistent with the measurement point coordinates, send a shutdown instruction to the drive member, and obtain a start instruction and send it to the second electric push rod; if the real-time positioning data is inconsistent with the measurement point coordinates, send a start instruction to the drive member;

[0017] Meanwhile, the drive control module retrieves the historical terrain height difference on both sides of the highway at the current location based on the real-time positioning data, obtains a corresponding adjustment instruction based on the historical terrain height difference on both sides of the highway, and sends the adjustment instruction to the corresponding first electric push rod.

[0018] Further, the detection system further includes a gyroscope for detecting the rotation angle of the mounting plate;

[0019] The drive control module is further configured to, when the real-time positioning data is consistent with the measurement point coordinates, compare the current laser irradiation position with the historical laser irradiation position corresponding to the measurement point coordinates. If the laser irradiation position is consistent with the historical laser irradiation position, send a verification passed instruction to the ultrasonic processing module;

[0020] If the laser irradiation position is inconsistent with the historical laser irradiation position, control the movement of the first electric push rod based on the rotation angle of the mounting plate of the gyroscope until the rotation angle of the mounting plate is consistent with the set parallel value; and calculate the difference value between the extended length of the first electric push rod at the current time and the extended length of the first electric push rod corresponding to the historical laser irradiation position, and send a correction instruction to the ultrasonic processing module based on the difference value.

[0021] Further, the route recording module is further configured to compare the current laser irradiation position with the historical laser irradiation position corresponding to the historical terrain height difference on both sides of the highway for consistency. If they are consistent, add a normal road surface mark based on the real-time positioning data; if they are inconsistent, add an abnormal road surface mark based on the real-time positioning data.

[0022] Further, the ultrasonic processing module is further configured to, when the real-time positioning data is consistent with the measurement point coordinates, obtain the current current intensity of the laser receiver, compare the current intensity with the set standard intensity value. If the current intensity is greater than the standard intensity value, send a delay instruction to the second electric push rod; if the current intensity is less than the standard intensity value, send a start instruction to the second electric push rod; and compare the current underground subsidence data with the historical underground subsidence data corresponding to the measurement point coordinates for consistency. If they are consistent, add a normal road surface mark to the real-time positioning data; if they are inconsistent, add a road surface subsidence mark to the real-time positioning data.

[0023] Furthermore, the route recording module is further configured to establish a reference line based on the historical laser irradiation positions corresponding to the driving route, obtain the change value between the laser irradiation position corresponding to the real-time positioning data and the historical laser irradiation positions, and draw a fluctuation graph based on the change value and the reference line.

[0024] Furthermore, the route recording module is further configured to input and store the front and rear position marks of the laser receiver;

[0025] The drive control module is further configured to, when the laser irradiation position is inconsistent with the historical laser irradiation position, calculate a correction value based on the laser irradiation positions of the laser receiver corresponding to the front and rear position marks, compare the correction value with the set rated value, and if the correction value is greater than the rated value, send a secondary correction instruction to the ultrasonic processing module; if the correction value is less than the rated value, send a verification passed instruction to the ultrasonic processing module.

[0026] Furthermore, the ultrasonic processing module is further configured to send an adjustment instruction to the first electric push rod based on the secondary correction instruction until the rotation angle of the mounting plate of the gyroscope is consistent with the set parallel value, and at the same time adjust the underground settlement data at the current time based on the correction value.

[0027] Adopting the above solution has the following beneficial effects:

[0028] 1. In this solution, compared with the prior art, the walking mechanism is used to move on both sides of the road. By the change of the laser irradiation on the laser receiver by the laser emitter on the balance rod and the device on the other side of the road edge, the settlement change on both sides of the road is determined. The ultrasonic detection module is pushed by the second electric push rod to confirm the settlement situation underground at the current position, so as to be applicable to the settlement measurement of large areas of roads.

[0029] 2. In this solution, by comparing the laser irradiation positions corresponding to the real-time positioning data, the settlement situation around the road is verified, so as to reduce the interference in the fixed-point monitoring process of the ultrasonic detection module and improve the accuracy of the underground settlement data.

[0030] 3. In this solution, based on the settlement situations of the road periphery and the measurement point positions, the underground settlement data is corrected and verified, so as to further improve the accuracy of the underground settlement data, provide a basis for the staff to understand the settlement trend of large areas of roads, and facilitate the staff to formulate treatment measures.

[0031] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an axonometric view of an embodiment of the road settlement measurement device of the present invention;

[0033] Figure 2 This is the front view of the embodiment of the highway subsidence measurement device of the present invention;

[0034] Figure 3 This is the bottom view of the embodiment of the highway subsidence measurement device of the present invention;

[0035] Figure 4 This is the framework diagram of the embodiment of the highway subsidence measurement system of the present invention.

[0036] The reference numerals in the accompanying drawings of the specification include: 1, housing; 2, bracket; 21, first electric push rod; 22, traveling wheel; 3, second electric push rod; 31, ultrasonic detection module; 4, mounting plate; 41, laser receiver; 42, laser emitter; 5, balance rod; 51, through groove; 52, sliding groove. Detailed implementation manners

[0037] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] The following is further detailed through specific implementation manners:

[0041] Embodiment 1:

[0042] As shown in the attached Figures 1 to 3As shown in the figure: A highway subsidence measurement device includes a housing 1 for carrying a detection system, and a driving mechanism for driving the housing 1 to move is provided below the housing 1; the driving mechanism includes a number of brackets 2 fixedly connected to the bottom of the housing 1, and a first electric push rod 21 for adjusting the lifting height is provided between the bracket 2 and the housing 1. One end of the bracket 2 away from the housing 1 is provided with a driving member, the driving member is a common stepper motor, and the driving member is coaxially connected with a walking wheel 22. Among them, one end of the first electric push rod 21 is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a rotating plate, the bottom of the rotating plate is fixedly connected with a number of support plates, the walking wheel 22 is located between adjacent support plates, the support plate is fixedly connected with the driving member, and the output shaft of the driving member is fixedly connected with the walking wheel 22.

[0043] A laser emitter 42 for emitting laser and a laser receiver 41 for detecting the laser irradiation position are respectively fixedly connected to the bracket 2; a second electric push rod 3 is also fixedly connected to the center of the bracket 2, and the output end of the second electric push rod 3 is hinged with an ultrasonic detection module 31 for sending and receiving ultrasonic data.

[0044] The brackets 2 are symmetrically arranged with the housing 1 as the center, and a mounting plate 4 is fixedly connected between adjacent brackets 2. The laser receiver 41 is fixedly connected to the bottom of the mounting plate 4, and the laser receivers 41 are arranged diagonally with the mounting plate 4 as the center; a number of photosensitive resistors are fixedly connected to the laser receiver 41 and are evenly arranged in the height direction. The photosensitive resistors are used to detect the current intensity corresponding to the current time and send the current intensity to the drive control module; the center of the mounting plate 4 is fixedly connected to the second electric push rod 3, and the second electric push rod 3 is perpendicular to the mounting plate 4.

[0045] The output end of the first electric push rod 21 is slidably matched with the bracket 2. A balance rod 5 is provided below the mounting plate 4. Chute 52 is opened at both ends of the balance rod 5, and a slider is slidably matched in the chute 52. The slider is hinged to the output end of the first electric push rod 21; the laser emitter 42 and the laser receiver 41 are on the same straight line, and the laser emitter 42 is fixedly connected to the balance rod 5; and a through groove 51 corresponding to the laser receiver 41 is also opened on the balance rod 5; when the balance rod 5 is parallel to the ground, the extended lengths of the first electric push rods 21 at both ends of the balance rod 5 are equal.

[0046] The detection system includes a drive control module, a route recording module and an ultrasonic processing module; the drive control module is used to control the start and stop of the first electric push rod 21 based on the laser irradiation position;

[0047] The route recording module is used to input and store the route data of the road. The route data includes the driving route, the coordinates of the measurement points, and the height difference of the terrain on both sides of the historical road. At the same time, it sends driving instructions to the drive control module based on the driving route, sends adjustment instructions to the first electric push rod 21 based on the height difference of the terrain on both sides of the historical road, and sends start instructions to the second electric push rod 3 based on the coordinates of the measurement points.

[0048] The ultrasonic processing module is used to establish the underground settlement data corresponding to the coordinates of the measurement points based on the ultrasonic data. The ultrasonic monitoring technology is an existing technology and will not be elaborated in this embodiment. Then, based on the difference in the underground settlement data before and after the current time, a road surface settlement mark is added to the coordinates of the measurement points.

[0049] The specific implementation process is as follows: First, the rotating plate is driven to rotate by the first motor to adjust the forward direction of the device, and the driving wheel 22 is driven to rotate by the driving member to push the whole device to move on the road surface to determine the settlement conditions at various positions on the road.

[0050] During the movement of the device, by controlling the extension length of the first electric push rod 21, the mounting plate 4 is kept horizontal with the ground, so as to keep the ultrasonic detection module 31 driven by the second electric push rod 3 in a vertical state during the contact with the ground to obtain the ultrasonic data directly below the current position and confirm the settlement conditions underground at the current position.

[0051] At the same time, when the control changes by sending the extension lengths of the first electric push rods 21, the balance rod 5 is driven to move. By the change in the irradiation of the laser emitter 42 on the balance rod 5 and the device on the other side of the road edge to the laser receiver 41, the settlement changes on both sides of the road are determined.

[0052] Embodiment 2:

[0053] As shown in the appendix Figure 4 The difference from Embodiment 1 is that a road subsidence measurement system, according to the road subsidence measurement system of the above-mentioned road subsidence measurement device, includes road subsidence devices located on both sides of the road. The detection system further includes a GPS positioning module for obtaining the current real-time positioning data of the device. The drive control module is further used to obtain the route data based on the driving instructions, compare the real-time positioning data with the driving route. If the real-time positioning data is consistent with the coordinates of the measurement points, a shutdown instruction is sent to the driving member, and the start instruction is obtained and sent to the second electric push rod 3; if the real-time positioning data is inconsistent with the coordinates of the measurement points, a start instruction is sent to the driving member.

[0054] At the same time, the drive control module retrieves the historical height difference of the terrain on both sides of the road at the current position based on the real-time positioning data, obtains the corresponding adjustment instructions based on the historical height difference of the terrain on both sides of the road, and sends the adjustment instructions to the corresponding first electric push rod 21.

[0055] For example, by acquiring real-time positioning data, the driving member is controlled to drive the device to move or stop, so as to realize the acquisition and comparison of the data of the measurement coordinates, and further realize the fixed-point acquisition around the road; at the same time, by pre-acquiring the adjustment instruction, the lifting height on both sides of the mounting plate 4 and the housing 1 is adjusted in advance to ensure the acquisition of the laser irradiation position by the laser receiver 41, and then the settlement condition around the road is verified.

[0056] The route recording module is further configured to compare the laser irradiation position at the current time with the historical laser irradiation position corresponding to the historical terrain height difference on both sides of the road. If they are consistent, a normal road surface mark is added based on the real-time positioning data; if they are inconsistent, an abnormal road surface mark is added based on the real-time positioning data.

[0057] For example, by comparing the laser irradiation positions on the driving route, the deformation conditions on both sides of the road are determined, so as to form a more accurate understanding of the settlement change conditions of the road, and to understand the settlement trend of a large area of the road for the staff, which is convenient for the staff to formulate treatment measures.

[0058] Embodiment 3:

[0059] The difference from Embodiment 2 is that the detection system further includes a gyroscope for detecting the rotation angle of the mounting plate 4.

[0060] The drive control module is further configured to compare the laser irradiation position at the current time with the historical laser irradiation position corresponding to the measurement point coordinates when the real-time positioning data is consistent with the measurement point coordinates. If the laser irradiation position is consistent with the historical laser irradiation position, a verification passed instruction is sent to the ultrasonic processing module; if the laser irradiation position is inconsistent with the historical laser irradiation position, the movement of the first electric push rod 21 is controlled based on the rotation angle of the mounting plate 4 of the gyroscope until the rotation angle of the mounting plate 4 is consistent with the set parallel value; and the difference value between the extended length of the first electric push rod 21 at the current time and the extended length of the first electric push rod 21 corresponding to the historical laser irradiation position is calculated, and a correction instruction is sent to the ultrasonic processing module based on the difference value.

[0061] For example, when the device is located at the measurement point, by comparing the laser irradiation positions, it is determined whether the settlement on the road surface has changed, so as to exclude interference for the first time for the accuracy of subsequent ultrasonic detection, and ensure that the contact condition between the ultrasonic detection module 31 and the road surface is consistent with the contact condition of the route recording module, so as to improve the accuracy of the underground settlement data.

[0062] When the road subsides and affects the mounting plate 4 not to be horizontal with the ground, the gyroscope is used to control the movement of the first electric push rod 21, so as to facilitate the subsequent second electric push rod 3 to push the ultrasonic detection module to make vertical contact with the ground, so as to accurately obtain the subsidence situation corresponding to the underground of the measurement point coordinates. At the same time, a difference value is generated based on the change in the extension length of the first electric push rod 21, thereby improving the accuracy of the underground subsidence data.

[0063] Embodiment 4:

[0064] The difference from Embodiment 3 is that the ultrasonic processing module is further used to obtain the current intensity of the laser receiver 41 at the current time when the real-time positioning data is consistent with the measurement point coordinates, compare the current intensity with the set standard intensity value. If the current intensity is greater than the standard intensity value, a delay instruction is sent to the second electric push rod 3; if the current intensity is less than the standard intensity value, a start instruction is sent to the second electric push rod 3; and the underground subsidence data at the current time is compared with the historical underground subsidence data corresponding to the measurement point coordinates for consistency. If they are consistent, a road surface normal mark is added to the real-time positioning data; if they are inconsistent, a road surface subsidence mark is added to the real-time positioning data.

[0065] For example, when the vehicle is driving on the road surface, the laser emitted by the laser emitter 42 will be blocked by the vehicle, so that the laser no longer irradiates the laser receiver 41, thereby affecting the current intensity at the current time; and the vibration generated during the vehicle driving will be transmitted to the vicinity of the device through the road, forming clutter and affecting the normal detection of the ultrasonic detection module 31. By comparing the current intensity at the current time, the interference received during the detection of the ultrasonic detection module 31 is improved, so as to improve the accuracy of the underground subsidence data.

[0066] Embodiment 5:

[0067] The difference from Embodiment 4 is that the route recording module is further used to establish a reference line based on the historical laser irradiation positions corresponding to the driving route, obtain the change value between the laser irradiation position corresponding to the real-time positioning data and the historical laser irradiation positions, and draw a fluctuation diagram based on the change value and the reference line.

[0068] For example, through the display of the fluctuation diagram, the subsidence change trend on both sides of the road is more accurately displayed, enabling the staff to more accurately confirm the road subsidence change trend, providing a basis for the staff to formulate road subsidence treatment measures.

[0069] Embodiment 6:

[0070] The difference from Embodiment 5 is that the route recording module is further used to input and store the front and rear position marks of the laser receiver 41;

[0071] The drive control module is also used when the laser irradiation position is inconsistent with the historical laser irradiation position; calculate a correction value based on the laser irradiation positions corresponding to the front and rear position marks of the laser receiver 41, compare the correction value with a set rated value, and if the correction value is greater than the rated value, send a secondary correction instruction to the ultrasonic processing module; the ultrasonic processing module is also used to send an adjustment instruction to the first electric push rod 21 based on the secondary correction instruction until the rotation angle of the mounting plate 4 of the gyroscope is consistent with the set parallel value, and at the same time adjust the underground settlement data at the current time based on the correction value.

[0072] If the correction value is less than the rated value, send a verification passed instruction to the ultrasonic processing module.

[0073] For example, during the movement of the first electric push rod 21, in addition to the change in the rotation angle on both sides of the mounting plate 4, there may also be a change in the rotation angle with respect to the center of the road. By means of the laser irradiation positions corresponding to the front and rear position marks of the laser receiver, it is determined whether road surface settlement has occurred in the direction of the center of the road surface from the device, further ensuring that the contact situation between the ultrasonic detection module 31 and the road surface is consistent with that of the route recording module, so as to improve the accuracy of the underground settlement data. At the same time, marks are made through the difference value to determine the contact situation between the ultrasonic detection module 31 and the road surface, so as to determine the specific offset situation of the ultrasonic detection module 31 with respect to the underground settlement data, and to understand the underground settlement situation more accurately.

[0074] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A road subsidence measuring device, comprising a housing (1) for carrying a detection system, wherein a driving mechanism for driving the housing (1) to move is provided below the housing (1); characterized in that: The driving mechanism comprises a plurality of brackets (2) fixedly connected to the bottom of the housing (1), the brackets (2) comprising a plurality of first electric push rods (21) for adjusting the lifting height, and a driving member is provided at one end of the bracket (2) away from the housing (1), and the driving member is coaxially connected to a walking wheel (22); A laser transmitter (42) for transmitting laser light and a laser receiver (41) for detecting the laser irradiation position are fixedly connected to the bracket (2). A second electric push rod (3) is also fixedly connected to the center of the bracket (2), and an ultrasonic detection module (31) for transmitting and receiving ultrasonic data is hingedly connected to the output end of the second electric push rod (3). The detection system includes a drive control module, a route recording module and an ultrasonic processing module; The drive control module is used to control the first electric push rod (21) to start and stop based on the laser irradiation position; The route recording module is used to record and store route data of the highway, the route data including the driving route, the coordinates of the measuring points and the height difference of the terrain on both sides of the historical highway; at the same time, based on the driving route, a driving instruction is sent to the driving control module, based on the height difference of the terrain on both sides of the historical highway, an adjustment instruction is sent to the first electric push rod (21), and based on the coordinates of the measuring points, a start instruction is sent to the second electric push rod (3); The ultrasonic processing module is used to establish underground settlement data corresponding to the coordinates of the measuring point based on the ultrasonic data, and then add road surface settlement marks to the coordinates of the measuring point based on the difference in underground settlement data before and after the current time.

2. The road subsidence measuring device according to claim 1, characterized in that: The brackets (2) are symmetrically arranged with the housing (1) as the center, a mounting plate (4) is fixedly connected between adjacent brackets (2), a laser receiver (41) is fixedly connected to the bottom of the mounting plate (4), and the laser receivers (41) are arranged diagonally with the mounting plate (4) as the center; a plurality of photoresistors evenly arranged in a height direction are fixedly connected to the laser receivers (41), and the photoresistors are used to detect the current intensity corresponding to the current time and send the current intensity to the drive control module; The center of the mounting plate (4) is fixedly connected to the second electric push rod (3), and the second electric push rod (3) and the mounting plate (4) are perpendicular to each other; The output end of the first electric push rod (21) is slidably matched with the bracket (2), and a balance bar (5) is provided below the mounting plate (4). The two ends of the balance bar (5) are respectively provided with a slide groove (52), and a slider is slidably matched in the slide groove (52), and the slider is hinged to the output end of the first electric push rod (21); the laser transmitter (42) and the laser receiver (41) are on the same straight line, and the laser transmitter (42) is fixedly connected to the balance bar (5); and the balance bar (5) is also provided with a through groove (51) corresponding to the laser receiver (41); When the balancing pole (5) is parallel to the ground, the first electric push rods (21) at both ends of the balancing pole (5) extend to the same length.

3. The road subsidence measuring device according to claim 2, characterized in that: The first electric push rod (21) is fixedly connected to one end away from the mounting plate (4) with a first motor, the output end of the first motor is fixedly connected to a rotating plate, a plurality of support plates are fixedly connected to the bottom of the rotating plate, the walking wheel (22) is located between adjacent support plates, the support plates are fixedly connected to the driving member, and the output shaft of the driving member is fixedly connected to the walking wheel (22).

4. A highway subsidence measurement system, characterized in that: The highway subsidence measuring system of the highway subsidence measuring device according to any one of claims 1 to 3 comprises a highway subsidence device located on both sides of the highway, the detection system further comprises a GPS positioning module for obtaining the current real-time positioning data of the device, the drive control module is further used to obtain route data based on the driving instruction, compare the real-time positioning data with the driving route, if the real-time positioning data is consistent with the coordinates of the measuring point, send a closing instruction to the driving member, and obtain a start instruction to send to the second electric push rod (3); if the real-time positioning data is inconsistent with the coordinates of the measuring point, send a start instruction to the driving member; At the same time, the driving control module retrieves the terrain height difference on both sides of the historical highway at the current position based on the real-time positioning data, obtains corresponding adjustment instructions based on the terrain height difference on both sides of the historical highway, and sends the adjustment instructions to the corresponding first electric push rod (21).

5. The highway subsidence measurement system according to claim 4, characterized in that: The detection system also includes a gyroscope for detecting the rotation angle of the mounting plate (4); The drive control module is also used to compare the laser irradiation position at the current time with the historical laser irradiation position corresponding to the measurement point coordinates when the real-time positioning data is consistent with the measurement point coordinates, and if the laser irradiation position is consistent with the historical laser irradiation position, send a verification pass instruction to the ultrasonic processing module; If the laser irradiation position is inconsistent with the historical laser irradiation position, the movement of the first electric push rod (21) is controlled based on the rotation angle of the mounting plate (4) of the gyroscope until the rotation angle of the mounting plate (4) is consistent with the set parallel value; and the phase difference between the extension length of the first electric push rod (21) at the current time and the extension length of the first electric push rod (21) corresponding to the historical laser irradiation position is calculated, and a correction instruction is sent to the ultrasonic processing module based on the phase difference.

6. The highway subsidence measurement system according to claim 5, characterized in that: The route recording module is also used to obtain the laser irradiation position at the current time and compare it with the historical laser irradiation position corresponding to the terrain height difference on both sides of the historical highway. If they are consistent, a normal road surface mark is added based on the real-time positioning data; if they are inconsistent, an abnormal road surface mark is added based on the real-time positioning data.

7. The highway subsidence measurement system according to claim 6, characterized in that: The ultrasonic processing module is also used to obtain the current intensity of the laser receiver (41) at the current time when the real-time positioning data is consistent with the coordinates of the measurement point, compare the current intensity with a set standard intensity value, and send a delay instruction to the second electric push rod (3) if the current intensity is greater than the standard intensity value; If the current intensity is less than the standard intensity value, a start instruction is sent to the second electric push rod (3); and the underground settlement data at the current time is compared with the historical underground settlement data corresponding to the coordinates of the measuring point for consistency. If they are consistent, a normal road surface mark is added to the real-time positioning data; If there is any inconsistency, a road subsidence marker is added to the real-time positioning data.

8. The highway subsidence measurement system according to claim 7, characterized in that: The route recording module is also used to establish a baseline based on the historical laser irradiation position corresponding to the driving route, obtain the change value between the laser irradiation position corresponding to the real-time positioning data and the historical laser irradiation position, and draw a fluctuation chart based on the change value and the baseline.

9. The highway subsidence measurement system according to claim 8, characterized in that: The route recording module is also used to record and store the front and rear position marks of the laser receiver (41); The drive control module is also used for calculating a correction value based on the laser irradiation position of the laser receiver (41) corresponding to the front and rear position marks when the laser irradiation position is inconsistent with the historical laser irradiation position, comparing the correction value with the set rated value, and if the correction value is greater than the rated value, sending a secondary correction instruction to the ultrasonic processing module; if the correction value is less than the rated value, sending a verification pass instruction to the ultrasonic processing module.

10. The highway subsidence measurement system according to claim 9, characterized in that: The ultrasonic processing module is also used to send an adjustment instruction to the first electric push rod (21) based on the secondary correction instruction until the rotation angle of the gyroscope mounting plate (4) is consistent with the set parallel value, and at the same time adjust the underground subsidence data at the current time based on the correction value.

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