Dynamic laser measuring device and measuring method for expressway reconnaissance

Abstract

The invention discloses a dynamic laser measuring device and method for highway investigation, and relates to the technical field of laser measurement, and the dynamic laser measuring device comprises an automatic guided vehicle capable of autonomously moving and a measuring module installed on the automatic guided vehicle. The measuring module comprises a chain type transmission mechanism installed on the top of the automatic guiding vehicle through a height adjusting assembly and a dynamic laser measuring assembly installed on the chain type transmission mechanism. The chain type transmission mechanism comprises a rotary seat and a chain type rotary assembly, and the chain type rotary assembly is configured to drive the rotary seat to do rotary motion of a closed path in a set plane. The chain type transmission mechanism drives the laser distance measuring sensor to circularly move in a closed track, the automatic guiding vehicle moves at a constant speed, transverse section scanning and longitudinal section measurement are alternately completed in the continuous moving process of the vehicle, the shackle that traditional equipment needs to be started and stopped frequently is broken away, and the working efficiency is improved. Uninterrupted three-dimensional flatness data acquisition of the whole section of the expressway is realized, and the measurement efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser measurement, and particularly to a dynamic laser measurement device and a measurement method for highway surveying and mapping. Background Technique

[0002] With the expansion of the scale of highway construction and the improvement of maintenance requirements, the accuracy and efficiency of road surface flatness detection have become the key factors restricting project quality and cost control. Traditional measurement methods mainly rely on manual operation, such as using a 2-meter straightedge and a feeler gauge for local sampling detection, which have problems such as low efficiency, limited coverage, and being easily affected by subjective factors.

[0003] In recent years, digital mapping technologies (such as laser scanning, GPS-RTK, etc.) have been gradually applied to highway surveying and design, but the existing technologies still have defects such as large dynamic measurement errors, insufficient anti-interference ability of equipment, and difficulty in synchronously obtaining transverse and longitudinal three-dimensional data. For example, vehicle-mounted laser scanning equipment is restricted by factors such as vehicle driving attitude disturbance and insufficient freedom of movement of sensors, and it is difficult to synchronously achieve continuous dynamic measurement of transverse section profiles and longitudinal section elevations. Especially when the vehicle is driving, static laser rangefinders are easily affected by vehicle body bumps, resulting in longitudinal measurement reference drift; while transverse section scanning often requires frequent vehicle stops to adjust the instrument orientation, seriously restricting the surveying efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a dynamic laser measurement device and a measurement method for highway surveying and mapping to solve the problems raised in the above background technique.

[0005] To achieve the above invention purpose, the present invention adopts the following technical solutions:

[0006] A dynamic laser measurement device for highway surveying and mapping provided by the present invention includes an automatically guided vehicle capable of autonomous movement and a measurement module installed on the automatically guided vehicle. The measurement module includes a chain drive mechanism installed on the top of the automatically guided vehicle through a height adjustment component and a dynamic laser measurement component installed on the chain drive mechanism;

[0007] The chain drive mechanism includes a rotary seat and a chain rotary assembly. The chain rotary assembly is configured to drive the rotary seat to perform a rotary motion along a closed path in a set plane. There are a first linear measurement section and a second linear measurement section parallel to the advancing direction of the automatic guided vehicle in the rotary motion trajectory. The set plane is a vertical plane perpendicular to the highway road surface and parallel to the moving direction of the automatic guided vehicle. When the rotary seat moves in the first linear measurement section, the moving speed of the rotary seat is equal to the advancing speed of the automatic guided vehicle, and the moving direction of the rotary seat is opposite to the advancing direction of the automatic guided vehicle. When the rotary seat moves in the second linear measurement section, the moving speed of the rotary seat is equal to the advancing speed of the automatic guided vehicle, and the moving direction of the rotary seat is the same as the advancing direction of the automatic guided vehicle.

[0008] The dynamic laser measurement assembly includes a laser distance sensor rotatably mounted on the rotary seat through a rotating shaft and a driving element for driving the laser distance sensor to rotate around the axis of the rotating shaft. The rotating shaft is parallel to the advancing direction of the automatic guided vehicle.

[0009] Further, the automatic guided vehicle includes a vehicle body frame, a navigation and positioning module, a driving unit, and a power supply module. The navigation and positioning module is used to obtain the vehicle body position information in real time and plan the measurement path. The driving unit is used to drive the vehicle body to move along the planned path. The power supply module supplies power to the power-consuming units.

[0010] Further, the height adjustment assembly includes a base detachably and vertically mounted on the top of the automatic guided vehicle, a sliding seat vertically slidably mounted on the base, and a screw drive component for driving the sliding seat to move vertically on the base. A chute is vertically formed on one side of the base, and the sliding seat is slidably fitted in the chute. The screw drive component includes a screw rotatably disposed in the chute and in threaded cooperation with the sliding seat, a first servo motor drivingly connected to the screw, and an infrared distance sensor for detecting the height of the sliding seat. The infrared distance sensor is used to detect the height of the sliding seat, and the chain drive mechanism is detachably mounted on the side surface of the sliding seat.

[0011] 4. The dynamic laser measurement device for highway survey according to claim 1, wherein the chain rotary assembly includes a long strip-shaped housing, a gear set, and a transmission chain.

[0012] The long strip-shaped housing is formed by the butting of a left outer shell and a right outer shell and extends along the advancing direction of the automatic guided vehicle. The left outer shell and the right outer shell are fixed by a central connecting member, so that a transmission gap is formed at the edge of the left outer shell and the right outer shell.

[0013] The gear set includes a driving gear and a driven gear symmetrically arranged at two ends of the housing, wherein the driving gear is driven by a second servo motor; the transmission chain is meshed between the two gears, and the outer contour of the long strip housing matches the motion trajectory of the transmission chain;

[0014] The swivel seat is slidably embedded in the transmission gap, and the bottom of the swivel seat is fixedly connected to the transmission chain through a connecting sheet metal, and is pulled by the transmission chain to move along the shell contour to a closed path at the same speed as the automatic guided vehicle;

[0015] The transmission gap includes an upper straight segment, a left semicircular arc segment, a lower straight segment and a right semicircular arc segment, wherein the upper straight segment is the first straight measurement segment of the rotary motion trajectory, and the lower straight segment is the second straight measurement segment of the rotary motion trajectory.

[0016] Furthermore, the driving element includes a third servo motor and an encoder which are respectively transmission-connected to two ends of the rotating shaft.

[0017] Furthermore, two swivel seats are slidably embedded in the transmission gap, and the two swivel seats are symmetrically distributed along the motion trajectory of the transmission chain; the dynamic laser measurement components are set into two groups, which are respectively fixedly installed on the two swivel seats, and the two dynamic laser measurement groups are respectively a first dynamic laser measurement group and a second dynamic laser measurement group. The first dynamic laser measurement group is used to perform measurement work in the first straight line measurement section, and the second dynamic laser measurement group is used to perform measurement work in the second straight line measurement section.

[0018] Furthermore, monitoring sensors are respectively provided at the starting end and the ending end of the first straight line measuring section and the second straight line measuring section of the long strip shell for detecting the position status of the two swivel seats in real time.

[0019] The present invention also provides a measurement method using the above-mentioned dynamic laser measurement device for highway survey, comprising the following steps:

[0020] S1: Start the automatic guided vehicle to move along the highway at a constant speed V, and simultaneously start the chain transmission mechanism to make the slewing seat move cyclically along a closed path;

[0021] S2: When the swivel seat enters the first straight measurement section, the laser distance sensor is controlled to rotate around the rotation axis, and a laser beam is emitted laterally to the road surface to form a transverse scanning track. The distance measurement value d1 of the laser beam at each angle and the corresponding rotation angle θ are synchronously recorded, and the transverse elevation distribution is calculated by the formula Z1=h1-d1sinθ, where h1 is the real-time installation height of the first laser distance sensor, and θ is the angle between the laser emitted by the laser distance sensor and the horizontal plane;

[0022] S3. When the slewing base enters the second straight measurement section, control the laser ranging sensor to rotate around the rotation axis to a fixed downward viewing angle, and emit a laser beam obliquely towards the road surface to form a longitudinal scanning trajectory. Synchronously record the ranging value d2 and the corresponding fixed downward viewing angle β, and calculate the longitudinal elevation distribution through the formula Z2 = h2 - d2sinβ, where h2 is the real-time installation height of the first laser ranging sensor, and β is the angle between the laser emitted by the laser ranging sensor and the horizontal plane.

[0023] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0024] 1. In the present invention, the laser ranging sensor is driven by a chain drive mechanism to move in a closed trajectory in a cyclic manner, and in cooperation with the uniform movement of the automatic guided vehicle, transverse cross-section scanning and longitudinal profile measurement are alternately completed during the continuous movement of the vehicle, breaking free from the shackles of the traditional equipment that needs to be frequently started and stopped, realizing uninterrupted three-dimensional flatness data acquisition for the entire section of the highway, and improving the measurement efficiency.

[0025] 2. In the present invention, through the dynamic hovering and double-speed compensation mode, in the first straight measurement section, the laser ranging sensor and the automatic guided vehicle move in opposite directions at the same speed to form a ground stationary reference system, and the high-precision measurement of the transverse flatness of the road surface is achieved by swinging the laser ranging sensor; in the second straight measurement section, the laser ranging sensor moves relative to the road surface at twice the vehicle speed, actively offsetting the longitudinal attitude disturbance of the vehicle body to ensure the stability of the elevation reference.

[0026] 3. In the present invention, by utilizing the closed-path characteristic of the chain slewing assembly, two groups of dynamic laser measurement assemblies work alternately: one group completes the transverse cross-section scanning (acquiring at every 5° step) in the dynamic hovering section, and the other group realizes the continuous longitudinal profile measurement (fixed downward viewing angle) in the synchronous movement section, synchronously covering the three-dimensional flatness data of the road surface and eliminating the measurement blind area of the traditional single-station system. The height adjustment assembly constructs an adaptive lifting system through screw drive and infrared ranging, and can quickly respond to the measurement height adjustment requirements of complex scenarios such as bridges and tunnels, achieving full-terrain automatic adaptation.

[0027] 4. The lightweight automatic guided vehicle in the present invention is equipped with a four-wheel independent electric drive system, and can perform low-speed continuous measurement under non-closed traffic conditions; the modular-designed chain drive mechanism and measurement components support rapid disassembly and maintenance, significantly reducing the equipment operation and maintenance costs.

[0028] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings of the specification, which form a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not unduly limit the present invention.

[0030] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 is a schematic diagram of the split structure of the chain rotary assembly of the present invention;

[0032] Figure 3 is a schematic diagram of the height adjustment assembly structure of the present invention;

[0033] Figure 4 is a schematic diagram of the right housing and its structure of the present invention;

[0034] Figure 5 is a schematic diagram of the first perspective structure of the dynamic laser measurement assembly and the rotary base of the present invention;

[0035] Figure 6 is a schematic diagram of the second perspective structure of the dynamic laser measurement assembly and the rotary base of the present invention;

[0036] Figure 7 is a simplified schematic diagram of the measurement principle of the present invention.

[0037] In the figure:

[0038] 1 - Automatic guided vehicle; 2 - Height adjustment assembly; 21 - Base; 211 - Slide groove; 22 - Slide seat; 23 - Screw drive component; 231 - Screw; 232 - First servo motor; 233 - Infrared distance sensor; 3 - Chain drive mechanism; 31 - Rotary base; 32 - Chain rotary assembly; 321 - Long strip-shaped housing; 3211 - Left housing; 3212 - Right housing; 3213 - Transmission gap; 32131 - Upper straight segment; 32132 - Left semi-circular segment; 32133 - Lower straight segment; 32134 - Right semi-circular segment; 322 - Gear set; 3221 - Driving gear; 3222 - Driven gear; 3223 - Second servo motor; 3224 - Connecting sheet metal; 323 - Transmission chain; 33 - First linear measurement segment; 34 - Second linear measurement segment; 4 - Dynamic laser measurement assembly; 411 - Rotating shaft; 422 - Laser distance sensor; 433 - Driving element; 4331 - Third servo motor; 4332 - Encoder; 44 - First dynamic laser measurement group; 45 - Second dynamic laser measurement group. Detailed implementation manners

[0039] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0040] Please refer to Figures 1-7 , the present invention provides a dynamic laser measurement device for highway survey, including an automatically guided vehicle 1 capable of autonomous movement and a measurement module installed on the automatically guided vehicle 1. When in use, the automatically guided vehicle 1 can carry the measurement module and move uniformly on one side of the highway. Through the measurement module, the entire highway section can be continuously and efficiently surveyed automatically.

[0041] The measurement module includes a chain drive mechanism 3 installed on the top of the automatically guided vehicle 1 through a height adjustment component 2 and a dynamic laser measurement component 4 installed on the chain drive mechanism 3; during the continuous measurement process, the chain drive mechanism 3 drives the dynamic laser measurement component 4 to perform a closed movement within a set plane S1, so that during the closed movement of the dynamic laser measurement component 4, the cross-sectional profile of the road surface is continuously measured and the longitudinal profile of the road surface is continuously measured, thereby completing the automatic and efficient survey of the three-dimensional flatness of the entire highway section.

[0042] As Figure 1 shown, the chain drive mechanism 3 includes a rotary seat 31 and a chain rotary assembly 32, and the chain rotary assembly 32 is configured to drive the rotary seat 31 to perform a rotary movement along a closed path within the set plane S1, and there are a first straight measurement section 33 and a second straight measurement section 34 parallel to the advancing direction of the automatically guided vehicle 1 in the rotary movement trajectory. The set plane is a vertical plane perpendicular to the highway road surface and parallel to the movement direction of the automatically guided vehicle 1; when the rotary seat 31 moves on the first straight measurement section 33, the moving speed of the rotary seat 31 is equal to the advancing speed of the automatically guided vehicle 1, and the moving direction of the rotary seat 31 is opposite to the advancing direction of the automatically guided vehicle 1; when the rotary seat 31 moves on the second straight measurement section 34, the moving speed of the rotary seat 31 is equal to the advancing speed of the automatically guided vehicle, and the moving direction of the rotary seat 31 is the same as the advancing direction of the automatically guided vehicle 1;

[0043] Combined with Figure 1 and Figure 6As shown, the dynamic laser measurement component 4 includes a laser distance sensor 422 rotatably mounted on the rotary base 31 through a rotating shaft 411, and a driving element 433 for driving the laser distance sensor 422 to rotate around the axis of the rotating shaft 411. The rotating shaft 411 is parallel to the advancing direction of the automatic guided vehicle 1.

[0044] The specific measurement process is as follows: The automatic guided vehicle 1 travels along the highway at a set speed. The chain drive mechanism 3 is in real-time synchronization with the movement of the automatic guided vehicle 1 through a closed-loop control system, driving the rotary base 31 to perform a closed-path rotary motion in a vertical plane parallel to the movement direction of the automatic guided vehicle 1. When the rotary base 31 enters the first straight measurement section 33, the chain drive assembly drives the rotary base 31 at a speed equal to but opposite in direction to the vehicle's advancing speed, causing it to form a stationary "dynamic hover" state relative to the ground. At this time, the laser distance sensor 422 (downward viewing angle) rotates step by step at a preset angle around the rotating shaft 411 parallel to the advancing direction of the automatic guided vehicle 1 through the driving element 433. For example, data can be collected every 5°. The distance between the laser distance sensor 422 and the road surface is calculated through the laser reflection time. Combining the real-time height parameter provided by the height adjustment component 2 and the rotation angle, the transverse elevation of each measurement point in the same transverse section is calculated in real-time using trigonometric functions to complete the high-precision measurement of the road surface transverse flatness.

[0045] When the rotary base 31 moves to the second straight measurement section 34, the laser distance sensor 422 (moves relative to the road surface at a speed twice that of the automatic guided vehicle 1), that is, the laser distance sensor 422 moves forward relative to the automatic guided vehicle 1. In this stage, the laser distance sensor 422 rotates around the rotating shaft 411 parallel to the advancing direction of the automatic guided vehicle 1 through the driving element 433, so that the laser distance sensor 422 forms a fixed downward viewing angle, and the laser distance sensor 422 continuously emits laser light. Combining the real-time height parameter provided by the height adjustment component 2 and the downward viewing angle, the longitudinal elevation of each measurement point in the same longitudinal section is calculated in real-time using trigonometric functions to complete the high-precision measurement of the road surface longitudinal flatness. If the laser distance sensor 422 remains stationary relative to the automatic guided vehicle 1, its height reference will shift due to the dynamic undulation during the driving of the automatic guided vehicle 1, which will directly affect the reference parameter for calculating the longitudinal elevation, thus introducing a non-negligible elevation error in the longitudinal measurement. However, in the present invention, through the chain drive mechanism 3, the laser distance sensor 422 can move at twice the speed in the same direction in the second straight measurement section 34 (that is, if the moving speed of the automatic guided vehicle is low enough, the automatic guided vehicle can be regarded as a stationary state), so as to actively offset the vehicle body attitude disturbance, thereby improving the measurement accuracy to a certain extent.

[0046] The dynamic laser measurement component 4 of this device automatically guides the vehicle 1 to simultaneously complete the transverse section scanning and longitudinal continuous measurement through the dynamic characteristics of two straight measurement sections (the first straight measurement section 33 and the second straight measurement section 34) during movement. It synchronously covers the road surface evenness information in both directions. Combining with the real-time positioning data of the automatic guided vehicle 1, it can accurately reflect the defects such as road surface undulations and cracks, and realize the high-efficiency and automated survey and measurement of the entire road section.

[0047] During the continuous measurement process of the device, the height adjustment component 2 can adjust the vertical height of the chain drive component according to the detection target (such as the subgrade, bridge or tunnel top) to ensure that the laser range finder sensor 422 is in the optimal measurement position.

[0048] In this embodiment, the automatic guided vehicle 1 includes an automatic guided vehicle 1 frame, a navigation and positioning module, a drive unit and a power supply module (not shown); the automatic guided vehicle 1 frame adopts a lightweight aluminum alloy structure, and integrates the navigation and positioning module, the drive unit and the power supply module inside. The navigation and positioning module generates pose information with centimeter-level accuracy by fusing satellite signals, inertial measurement data and point cloud maps in real time, and automatically generates the optimal measurement path based on the path planning algorithm. The drive unit adopts a four-wheel independent electric drive system with torque vector control technology, which can accurately adjust the rotation speed and steering angle of each wheel according to the planned path to ensure that the vehicle travels stably along a straight or curved trajectory at a set speed. The power supply module is equipped with a high-energy density lithium-ion battery pack, and provides continuous power for the power-consuming units through an intelligent power distribution system.

[0049] Combined Figure 1 and Figure 3 As shown, in this embodiment, the height adjustment component 2 includes a base 21 detachably and vertically installed on the top of the automatic guided vehicle 1, a sliding seat 22 vertically slidably installed on the base 21, and a screw drive component 23 for driving the sliding seat 22 to move vertically on the base 21. A chute 211 is vertically opened on one side of the base 21, and the sliding seat 22 is slidably fitted in the chute 211. The screw drive component 23 includes a screw 231 rotatably arranged in the chute 211 and in threaded cooperation with the sliding seat 22, a first servo motor 232 drivingly connected to the screw 231, and an infrared range finder sensor 233 for detecting the height of the sliding seat 22. The chain drive mechanism 3 is detachably installed on the side of the sliding seat 22. When the automatic guided vehicle 1 enters different measurement environments (such as subgrade, bridge or tunnel), the first servo motor 232 receives a control command to drive the screw 231 to rotate, and drives the sliding seat 22 to perform a vertical lifting movement along the chute 211 of the base 21 through the threaded cooperation between the screw 231 and the sliding seat 22. The infrared range finder sensor 233 real-time feeds back height data to form a closed-loop position correction system to ensure that the chain drive mechanism 3 is always at the target height during the dynamic measurement process.

[0050] As Figure 2 and Figure 4 shown, in this embodiment, the chain rotary assembly 32 includes a strip-shaped housing 321, a gear set 322 and a transmission chain 323;

[0051] The strip-shaped housing 321 is formed by fitting together a left outer shell 3211 and a right outer shell 3212, and is arranged to extend along the advancing direction of the automatic guided vehicle 1. The left outer shell 3211 and the right outer shell 3212 are fixed by a central connecting member, so that a transmission gap 3213 is formed at the edge between the left outer shell 3211 and the right outer shell 3212 (as Figure 1 shown);

[0052] The gear set 322 includes a driving gear 3221 and a driven gear 3222 symmetrically arranged at both ends inside the housing. Among them, the driving gear 3221 is driven by a second servo motor 3223; the transmission chain 323 meshes between the driving gear 3221 and the driven gear 3222, and the outer contour of the strip-shaped housing 321 matches the movement track of the transmission chain 323;

[0053] The rotary seat 31 is slidably fitted in the transmission gap 3213. The bottom of the rotary seat 31 is fixedly connected to the transmission chain 323 through a connecting sheet metal 3224 (as Figure 5 shown), and is pulled by the transmission chain 323 to move along the housing contour in an equal-speed closed path with the automatic guided vehicle 1;

[0054] As Figure 4 shown, the transmission gap 3213 includes an upper straight segment 32131, a left semi-circular arc segment 32132, a lower straight segment 32133 and a right semi-circular arc segment 32134. Among them, the upper straight segment 32131 is the first straight measurement segment 33 of the rotary motion track, and the lower straight segment 32133 is the second straight measurement segment 34 of the rotary motion track.

[0055] When the automatic guided vehicle 1 travels at a set speed, the second servo motor 3223 precisely controls the linear speed of the transmission chain 323. When the rotary seat 31 enters the upper straight segment 32131 (the first measurement segment), the rotary seat 31 has the same speed as the automatic guided vehicle 1 but the opposite running direction, so that the rotary seat 31 forms a stationary state relative to the ground. At this time, the laser distance sensor 422 completes the transverse section scan; when the rotary seat 31 moves to the lower straight segment 32133 (the second measurement segment), the rotary seat 31 has the same speed as the automatic guided vehicle 1 and the same running direction, and the laser distance sensor 422 moves forward relative to the automatic guided vehicle 1 to perform longitudinal continuous measurement on the area in front of it.

[0056] As Figure 6As shown, in this embodiment, the driving element 433 includes a third servo motor 4331 and an encoder 4332 respectively drivingly connected to both ends of the rotating shaft 411. When the rotary base 31 enters the lateral flatness measurement stage, the third servo motor 4331 receives a pulse command to drive the rotating shaft 411 to rotate. Within each step period, the encoder 4332 synchronously checks the angle deviation and dynamically compensates through the PID algorithm to ensure that the laser distance sensor 422 realizes continuous elevation measurement of multiple lateral measurement points in the dynamic hovering state. In the longitudinal measurement mode, the third servo motor 4331 switches to the speed control mode to drive the laser distance sensor 422 to quickly rotate to the set depression angle to realize continuous elevation measurement of multiple longitudinal measurement points in the longitudinal profile.

[0057] As Figure 1 As shown, in this embodiment, two rotary bases 31 are slidably and fitted in the transmission clearance 3213, and the two rotary bases 31 are symmetrically distributed along the movement trajectory of the transmission chain 323; the dynamic laser measurement assemblies 4 are provided in two groups and are respectively fixedly installed on the two rotary bases 31. The two groups of dynamic laser measurement groups are the first dynamic laser measurement group 44 and the second dynamic laser measurement group 45. The first dynamic laser measurement group 44 is used for measurement work in the first straight measurement section 33, and the second dynamic laser measurement group 45 is used for measurement work in the second straight measurement section 34.

[0058] The two rotary bases 31 are symmetrically distributed along the movement trajectory of the transmission chain 323 and are respectively fixed to both sides of the transmission chain 323 through connecting sheet metals 3224 and move synchronously along the housing contour under the drive of the servo motor. When the automatic guided vehicle 1 travels, the first rotary base 31 enters the upper straight section 32131 (the first measurement section), so that the first dynamic laser measurement group 44 enters the dynamic hovering state, and then the lateral section scanning is started; at the same time, the second rotary base 31 moves to the lower straight section 32133 (the second measurement section), and the second dynamic laser measurement group 45 synchronously activates the longitudinal continuous measurement. The two groups of dynamic laser measurement groups utilize the closed path characteristic of the transmission chain 323 to seamlessly cover the lateral section and longitudinal profile data in the cycle, eliminating the measurement blind area of the traditional single-station system.

[0059] In this embodiment, monitoring sensors are respectively provided at the starting ends and the terminating ends of the first straight measurement section 33 and the second straight measurement section 34 of the strip-shaped housing 321 for real-time detection of the position states of the two rotary bases 31.

[0060] Monitoring sensors (high-precision optoelectronic sensors) are respectively installed at the starting and ending ends of the first linear measurement section 33 and the second linear measurement section 34 of the long strip-shaped housing 321. When the rotary seat 31 moves to the boundary of the linear section (the first linear measurement section 33 and the second linear measurement section 34), the metal induction sheet embedded on the side of the rotary seat 31 triggers the sensor signal. The monitoring sensors at both ends of the first linear measurement section 33 are used to detect the precise moments when the corresponding rotary seat 31 enters and leaves the dynamic hovering state, and synchronously activate or deactivate the working states of the corresponding dynamic laser measurement groups; the monitoring sensors at both ends of the second linear measurement section 34 are used to detect the precise moments when the corresponding rotary seat 31 enters and leaves the dynamic hovering state, and synchronously activate or deactivate the working states of the corresponding dynamic laser measurement groups.

[0061] The present invention also provides a measurement method based on the above-mentioned dynamic laser measurement device for highway surveying, including the following steps:

[0062] S1: Start the automatic guided vehicle 1 to travel along the highway at a constant speed V, and synchronously start the chain drive mechanism 3 to make the rotary seat 31 move in a closed path in a cycle;

[0063] S2: When the rotary seat 31 enters the first linear measurement section 33, control the laser distance measuring sensor 422 to rotate around the rotating shaft 411, emit a laser beam horizontally towards the road surface to form a horizontal scanning trajectory, synchronously record the distance measurement value d1 of each angle laser beam and the corresponding rotation angle θ, and calculate the horizontal elevation distribution through the formula Z1 = h1 - d1sinθ, where h1 is the real-time installation height of the first laser distance measuring sensor 422, and θ is the included angle between the laser beam emitted by the laser distance measuring sensor 422 and the horizontal plane (as Figure 7 shown);

[0064] S3. When the rotary seat 31 enters the second linear measurement section, control the laser distance measuring sensor 422 to rotate around the rotating shaft 411 to a fixed downward viewing angle, and emit a laser beam obliquely towards the road surface to form a longitudinal scanning trajectory, synchronously record the distance measurement value d2 and the corresponding fixed downward viewing angle β, and calculate the longitudinal elevation distribution through the formula Z2 = h2 - d2sinβ, where h2 is the real-time installation height of the first laser distance measuring sensor 422, and β is the included angle between the laser beam emitted by the laser distance measuring sensor 422 and the horizontal plane (as Figure 7 shown).

[0065] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A dynamic laser measurement device for highway survey, comprising an automatically guided vehicle capable of autonomous movement and a measurement module installed on the automatically guided vehicle, characterized in that, The measurement module includes a chain drive mechanism installed on the top of the automatic guided vehicle through a height adjustment component and a dynamic laser measurement component installed on the chain drive mechanism; The chain drive mechanism includes a rotary seat and a chain rotary component, and the chain rotary component is configured to drive the rotary seat to perform a rotary motion along a closed path in a set plane. There are a first linear measurement section and a second linear measurement section parallel to the advancing direction of the automatic guided vehicle in the rotary motion trajectory. The set plane is a vertical plane perpendicular to the highway road surface and parallel to the moving direction of the automatic guided vehicle. When the rotary seat moves in the first linear measurement section, the moving speed of the rotary seat is equal to the advancing speed of the automatic guided vehicle, and the moving direction of the rotary seat is opposite to the advancing direction of the automatic guided vehicle. When the rotary seat moves in the second linear measurement section, the moving speed of the rotary seat is equal to the advancing speed of the automatic guided vehicle, and the moving direction of the rotary seat is the same as the advancing direction of the automatic guided vehicle; The dynamic laser measurement component includes a laser distance sensor rotatably installed on the rotary seat through a rotating shaft and a driving element for driving the laser distance sensor to rotate around the axis of the rotating shaft. The rotating shaft is parallel to the advancing direction of the automatic guided vehicle.

2. The dynamic laser measuring device for highway survey according to claim 1, wherein, The automatic guided vehicle includes a vehicle body frame, a navigation and positioning module, a driving unit, and a power supply module. The navigation and positioning module is used to obtain the vehicle body position information in real time and plan the measurement path. The driving unit is used to drive the vehicle body to move along the planned path. The power supply module supplies power to the electricity-consuming units.

3. The dynamic laser measuring device for highway survey according to claim 1, characterized in that, The height adjustment component includes a base detachably and vertically installed on the top of the automatic guided vehicle, a sliding seat vertically slidably installed on the base, and a screw drive component for driving the sliding seat to move vertically on the base. A chute is vertically opened on one side of the base, and the sliding seat is slidably fitted in the chute. The screw drive component includes a screw rotatably arranged in the chute and threadedly engaged with the sliding seat, a first servo motor drivingly connected to the screw, and an infrared distance sensor for detecting the height of the sliding seat. The infrared distance sensor is used to detect the height of the sliding seat, and the chain drive mechanism is detachably installed on the side of the sliding seat.

4. The dynamic laser measuring device for highway survey according to claim 1, characterized in that, The chain rotary component includes a long strip-shaped housing, a gear set, and a transmission chain; The long strip-shaped housing is formed by the butting of a left outer shell and a right outer shell and extends along the advancing direction of the automatic guided vehicle. The left outer shell and the right outer shell are fixed through a central connecting piece, so that a transmission gap is formed at the edge of the left outer shell and the right outer shell; The gear set includes a driving gear and a driven gear symmetrically arranged at both ends inside the housing. Among them, the driving gear is driven by a second servo motor. The transmission chain is engaged between the two gears, and the outer contour of the long strip-shaped housing matches the movement trajectory of the transmission chain; The rotary seat is slidably fitted in the transmission gap. The bottom of the rotary seat is fixedly connected to the transmission chain through a connecting sheet metal and is pulled by the transmission chain to move along the housing contour in an equal-speed closed path with the automatic guided vehicle; The transmission gap includes an upper linear section, a left semi-circular arc section, a lower linear section, and a right semi-circular arc section. Among them, the upper linear section is the first linear measurement section of the rotary motion trajectory, and the lower linear section is the second linear measurement section of the rotary motion trajectory.

5. The dynamic laser measuring device for highway survey according to claim 1, wherein The driving element includes a third servo motor and an encoder respectively drivingly connected to both ends of the rotating shaft.

6. The dynamic laser measuring device for highway survey according to claim 5, characterized in that, Two revolving seats are slidably and fitted in the transmission gap, and the two revolving seats are symmetrically distributed along the movement track of the transmission chain; the dynamic laser measurement components are arranged in two groups, respectively fixedly installed on the two revolving seats, and the two groups of dynamic laser measurement groups are the first dynamic laser measurement group and the second dynamic laser measurement group respectively. The first dynamic laser measurement group is used for measurement work in the first linear measurement section, and the second dynamic laser measurement group is used for measurement work in the second linear measurement section.

7. The dynamic laser measuring device for highway survey according to claim 4, characterized in that, Monitoring sensors are respectively arranged at the starting ends and the ending ends of the first linear measurement section and the second linear measurement section of the strip-shaped housing for real-time detecting the position states of the two revolving seats.

8. A measurement method of the dynamic laser measurement device for highway survey according to claim 1, characterized in that It includes the following steps: S1: Start the automatic guided vehicle to travel along the highway at a constant speed V, and simultaneously start the chain transmission mechanism to make the revolving seat move in a closed path in a cycle; S2: When the revolving seat enters the first linear measurement section, control the laser distance sensor to rotate around the rotating shaft and emit a laser beam transversely to the road surface to form a transverse scanning track, and simultaneously record the ranging value d1 of each angle laser beam and the corresponding rotation angle θ, and calculate the transverse elevation distribution through the formula Z1 = h1 - d1sinθ, where h1 is the real-time installation height of the first laser distance sensor, and θ is the included angle between the laser emitted by the laser distance sensor and the horizontal plane; S3. When the revolving seat enters the second linear measurement section, control the laser distance sensor to rotate around the rotating shaft to a fixed depression angle and emit a laser beam obliquely to the road surface to form a longitudinal scanning track, and simultaneously record the ranging value d2 and the corresponding fixed depression angle β, and calculate the longitudinal elevation distribution through the formula Z2 = h2 - d2sinβ, where h2 is the real-time installation height of the first laser distance sensor, and β is the included angle between the laser emitted by the laser distance sensor and the horizontal plane.

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