Pavement section measuring method and system and automatic measuring equipment

Abstract

The invention provides a pavement section measuring method and system and automatic measuring equipment. The method is applied to automatic measurement equipment in a pavement section measurement system, and the system comprises automatic measured equipment, a data processing terminal and the automatic measurement equipment; the automatic tested device comprises an automatic driving module, a self-straightening module and a target module arranged on one side of the top of the self-straightening module. According to the method, after a measurement instruction of pavement section measurement is received, a target module is identified and tracked, real-time measurement data of the target module at a point to be measured is measured according to the measurement instruction, and finally the real-time measurement data is processed according to reference real-time information and obtained reference position information of automatic measurement equipment. And real-time section data of the to-be-measured point is obtained and sent to the data processing terminal. According to the method, the target module is carried on the automatic driving module, and the automatic measuring equipment is used for tracking, measuring and processing the target module, so that the road surface section measuring efficiency is improved, and the data redundancy is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of engineering surveying, and particularly relates to a method and system for measuring road surface cross-sections and an automatic measuring device. Background Art

[0002] In the construction project of road surfaces, the measurement of road surface cross-sections is an important link throughout the entire construction process. Traditional measurement methods mainly rely on manual point-by-point measurement. This method not only consumes a large amount of manpower, time, and energy, but also is prone to misrecording and misrecording, resulting in data distortion, and further requires workers, which further increases the construction cost and time.

[0003] In recent years, there have been some improvements in measurement methods. For example, the method of using a high-precision station-mounted scanner for cross-section measurement can improve the measurement accuracy to a certain extent, but the measurement efficiency is low, and the problem of data redundancy is serious, making it difficult to meet the needs of large-scale construction; the method of using a mobile three-dimensional scanning vehicle for rapid road surface scanning measurement can improve the measurement efficiency to a certain extent, but there are still problems of data redundancy.

[0004] Therefore, the existing road surface cross-section measurement methods have technical problems of low measurement efficiency and data redundancy and need to be improved. Summary of the Invention

[0005] The present application provides a method and system for measuring road surface cross-sections and an automatic measuring device, which are used to alleviate the technical problems of low measurement efficiency and data redundancy existing in the current road surface cross-section measurement methods.

[0006] In order to solve the above technical problems, the present application provides the following technical solutions: The present application provides a method for measuring road surface cross-sections, which is applied to an automatic measuring device in a road surface cross-section measurement system. The road surface cross-section measurement system includes an automatically measured device, a data processing terminal, and the automatic measuring device; wherein, the automatically measured device includes an automatic driving module, a self-aligning module, and a target module arranged on one side of the top of the self-aligning module. The target module is used to reflect the signal of the automatic measuring device, and the self-aligning module is used to keep the target module in a vertical state in real time; the method includes: Receiving a measurement instruction for measuring the road surface cross-section; Identifying and tracking the target module; According to the measurement instruction, measuring the real-time measurement data of the target module at the measurement point to be measured. The real-time measurement data includes the horizontal angle, vertical angle, and oblique distance between the target module and the automatic measuring device; Obtaining the reference position information of the automatic measuring device; Process the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and send it to the data processing terminal, where the real-time position information is used to generate the measurement result of the road surface section.

[0007] Correspondingly, the present application further provides a road surface section measurement system, including an automatic device to be measured, a data processing terminal, and an automatic measurement device; wherein: The automatic device to be measured includes an automatic driving module, a self-aligning module, and a target module arranged on one side of the top of the self-aligning module. The target module is used to reflect the signal of the automatic measurement device, and the self-aligning module is used to keep the target module in a vertical state in real time. The automatic measurement device is used to receive the measurement instruction for road surface section measurement, identify and track the target module, measure the real-time measurement data of the target module at the point to be measured according to the measurement instruction. The real-time measurement data includes the horizontal angle, vertical angle, and oblique distance between the target module and the automatic measurement device, obtain the reference position information of the automatic measurement device, process the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and send it to the data processing terminal, where the real-time position information is used to generate the measurement result of the road surface section. The data processing terminal is used to receive the real-time position information sent by the automatic measurement device.

[0008] Meanwhile, the present application provides an automatic measurement device, including: An instruction receiving module, used to receive the measurement instruction for road surface section measurement; An identification and tracking module, used to identify and track the target module; A measurement module, used to measure the real-time measurement data of the target module at the point to be measured according to the measurement instruction. The real-time measurement data includes the horizontal angle, vertical angle, and oblique distance between the target module and the automatic measurement device; An information acquisition module, used to acquire the reference position information of the automatic measurement device; A processing module, used to process the real-time measurement data according to the reference real-time information to obtain the real-time position information of the point to be measured and send it to the data processing terminal, where the real-time position information is used to generate the measurement result of the road surface section.

[0009] The present application provides a method, a system and an automatic measuring device for measuring a road surface cross-section. Specifically, the method is applied to the automatic measuring device in the road surface cross-section measuring system, and the system includes an automatic device to be measured, a data processing terminal and an automatic measuring device; wherein, the automatic device to be measured includes an automatic driving module, an auto-leveling module and a target module arranged on one side of the top of the auto-leveling module, the target module is used for reflecting the signal of the automatic measuring device, and the auto-leveling module is used for keeping the target module in a vertical state in real time. After receiving the measurement instruction for measuring the road surface cross-section, the method identifies and tracks the target module, measures the real-time measurement data of the target module at the point to be measured according to the measurement instruction, the real-time measurement data includes the horizontal angle, the vertical angle and the oblique distance between the target module and the automatic measuring device, obtains the reference position information of the automatic measuring device, and finally processes the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and sends it to the data processing terminal, and the real-time position information is used to generate the measurement result of the road surface cross-section. By arranging the target module and the automatic driving module on the automatic device to be measured, the method enables the target module to move with the automatic driving module, uses the automatic measuring device to perform tracking measurement and processing on the target module, and sends the real-time position information that can generate the measurement result of the road surface cross-section obtained by the processing to the data processing terminal, replacing the cumbersome work of manual measurement, manual recording, multiple calculations, etc. by surveyors, rodmen, etc., reducing the occupation of traditional manual measurement personnel. This method of introducing an automated and intelligent measurement system improves the efficiency and accuracy of road surface cross-section measurement and reduces data redundancy. Description of the Drawings

[0010] The following will make the technical solutions and other beneficial effects of the present application obvious by describing the specific embodiments of the present application in detail in conjunction with the drawings.

[0011] Figure 1 It is a system architecture diagram of the road surface cross-section measuring system provided by an embodiment of the present application.

[0012] Figure 2 It is a schematic structural diagram of the automatic device to be measured provided by an embodiment of the present application.

[0013] Figure 3 It is a schematic flow diagram of the road surface cross-section measuring method provided by an embodiment of the present application.

[0014] Figure 4 It is a schematic diagram of the scenario of a measurement mode provided by an embodiment of the present application.

[0015] Figure 5 It is a schematic diagram of the scenario of another measurement mode provided by an embodiment of the present application.

[0016] Figure 6 It is a schematic structural diagram of the automatic measuring device provided by an embodiment of the present application.

[0017] Figure 7 It is a partial structural schematic diagram of the automatic measurement device provided by an embodiment of the present invention. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0019] The terms "including" and "having" and any variations thereof in the description and claims of the present application are intended to cover non-exclusive inclusion; the division of modules in the present application is only a logical division, and there may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed.

[0020] The term "module" or "unit" used herein can be regarded as a software object executed on this computing system. Different components, modules, engines, and services described herein can be regarded as implementation objects on this computing system. The devices and methods described herein are preferably implemented in software, and of course can also be implemented in hardware, both within the scope of protection of the present application.

[0021] The embodiments of the present application provide a road surface cross-section measurement method, system, and automatic measurement device, which are used to alleviate the technical problems of low measurement efficiency and data redundancy existing in the current road surface cross-section measurement method.

[0022] Please refer to Figure 1 , Figure 1 is the system architecture diagram of the road surface cross-section measurement system provided by the embodiment of the present application. As Figure 1 shown, this scenario may include terminals and devices, and the devices are connected and communicate with each other and between the terminals and the devices through the Internet composed of various gateways. Among them, this application scenario includes at least an automatic measurement device 101, an automatically measured device 102, and a data processing terminal 103: As the core measuring device of the road surface cross-section measuring system, the automatic measuring device 101 can realize the functions of automatic recognition, automatic aiming, automatic measurement, automatic calculation, and automatic station setting for the known control point target module. The realization of its functions can be based on technologies such as infrared laser or visible laser, reflection signal, signal reception and processing, and servo motor drive. The automatic measuring device 101 can be a fully automatic tracking total station (also known as a measuring robot), and its target recognition and tracking functions can be realized by actively emitting signals and receiving the signals reflected by the target module of the automatically measured device.

[0023] The automatically measured device 102 refers to the device that can be automatically moved and adjusted to enable the automatic measuring device to measure. Please refer to Figure 2 , Figure 2 which is the structural schematic diagram of the automatically measured device provided by the embodiment of the present application. The automatically measured device 102 includes an automatic driving module 201, a target module 202, and a self-aligning module 203. Among them, the automatic driving module 201 refers to the module with the function of automatic driving. A positioning module 2011 (such as a Beidou GNSS positioning device) is installed in this module, which can realize functions such as automatic positioning, automatic orientation, automatic navigation, automatic turning, automatic U-turn, and automatic parking. The automatic driving module 201 can be an automatic driving trolley; the target module 202 refers to the module that can enable the automatic measuring device to automatically track and determine the precise position of the automatically measured device in real time. This module supports the automatic measuring device to perform road surface measurement by reflecting the signals of the automatic measuring device, such as a 360-degree prism, etc.; the self-aligning module 203 refers to the module that can ensure that the target module is in a vertical state in real time, such as a "self-vertical" device. In the automatically measured device 102, the self-aligning module 203 is installed in the automatic driving module 201. One side of the bottom of the self-aligning module 203 is equipped with a pulley so that it always keeps close to the ground. One side of the top of the self-aligning module 203 is installed with the target module 202, so that the target module 202 is always directly above the road surface. The self-aligning module 203 can ensure that the target module 202 is in a vertical state in real time, that is, perpendicular to the center of the earth.

[0024] The data processing terminal 103 can be an independent server, or a server network or server cluster composed of servers; for example, the servers described in the present application include, but are not limited to, computers, network hosts, database servers, and application servers, or cloud servers composed of multiple servers. The cloud server is composed of a large number of computers or network servers based on cloud computing (CloudComputing). The data processing terminal 103 can process, inspect, thin, encrypt, etc. the measured data to generate traditional grid cross-section measurement data, point cloud data, surface models, etc.

[0025] A communication link is provided between the automatic measurement device 101, the automatic device under test 102, and the data processing terminal 103 to achieve information interaction. The type of the communication link may include a wireless communication link, etc., which is not limited in this application. Among them: After receiving the measurement instruction for road surface section measurement, the automatic measurement device 101 identifies and tracks the target module in the automatic device under test 102, and according to the measurement instruction, measures the real-time measurement data of the target module at the point to be measured. The real-time measurement data includes the horizontal angle, vertical angle, and slant range between the target module and the automatic measurement device. Then, it obtains the reference position information of the automatic measurement device. Finally, based on the reference position information, it processes the measured real-time measurement data to obtain the real-time position information of the point to be measured, and sends it to the data processing terminal 103. The data processing terminal 103 performs a series of data processing on the real-time position information to generate the measurement result of the road surface section, providing data support for subsequent road surface analysis and design.

[0026] During the above road surface section measurement process, the target module 202 is set on the automatic driving device 201, and it can automatically move to each point to be measured on the path according to the preset driving path, or move to each point to be measured predicted by the automatic measurement device according to the feedback from the automatic measurement device. The automatic measurement device performs tracking measurement and processing on the target module, and sends the processed real-time position information to the data processing terminal. The data processing terminal processes the received real-time position information to generate the measurement result of the road surface section. This fully automatic measurement method reduces the occupation of traditional manual measurement personnel and solves the problems of personnel input and efficiency in the prior art. This method of introducing an automated and intelligent measurement system improves the efficiency and accuracy of road surface section measurement and avoids the troubles caused by redundant data processing during the measurement process.

[0027] It should be noted that Figure 1 The shown system architecture diagram is only an example. The terminals, devices, and scenarios described in the embodiments of this application are for more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those of ordinary skill in the art know that with the evolution of the system and the emergence of new service scenarios, the technical solutions provided by the embodiments of this application are equally applicable to similar technical problems. The following will be described in detail respectively. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0028] Please refer to Figure 3 , Figure 3It is a schematic flowchart of the road surface cross-section measurement method provided by an embodiment of the present application. This road surface cross-section measurement method is applied to the automatic measurement device in the road surface cross-section measurement system. The system includes an automatic device to be measured, a data processing terminal, and an automatic measurement device. Among them, the automatic device to be measured includes an automatic driving module, a self-aligning module, and a target module arranged on one side of the top of the self-aligning module. The target module is used to reflect the signal of the automatic measurement device, and the self-aligning module is used to keep the target module in a vertical state in real time. This method at least includes the following steps: S301: Receive the measurement instruction for road surface cross-section measurement.

[0029] In an embodiment of the present application, road surface cross-section measurement refers to the process of obtaining geometric shape data of the road surface and its related structures by measuring the elevation changes of the road cross-section and longitudinal section. The measurement results are usually presented in the form of cross-section diagrams, including the cross-section diagram and longitudinal section diagram of the road. Among them, the cross-section refers to the section perpendicular to the road center line, showing geometric features such as road width, road shoulder, and slope; the longitudinal section refers to the section along the road center line, showing the longitudinal slope and elevation changes of the road.

[0030] In an embodiment of the present application, the measurement instruction refers to a series of operation commands or steps issued to complete the measurement task, which includes the programmed commands of an automatic measurement device (such as an automatic total station).

[0031] It should be noted that the measurement instruction can be preset in the automatic measurement device by the staff; it can also be preset in the automatic device to be measured by the staff and sent to the automatic measurement device by the automatic device to be measured; it can also be generated by the automatic device to be measured during the driving process according to the actual situation and then sent to the automatic measurement device. Through communication between the automatic measurement device and the automatic device to be measured, they can affect each other's driving paths. This fully automatic measurement method reduces the occupation of traditional manual measurement personnel and improves the efficiency and accuracy of road surface cross-section measurement.

[0032] S302: Identify and track the target module.

[0033] In one embodiment, step S302 includes: identifying the target module, and sending a tracking signal to the target module; receiving the tracked signal returned by the target module; and tracking the target module according to the tracked signal. Among them, the tracking signal can be an emission signal such as a beam of infrared laser or visible laser emitted by the automatic measurement device; the tracked signal refers to the reflected signal that is reflected back to the automatic measurement device after the tracking signal is emitted to the target module, such as the laser signal reflected back by the reflecting surface of the prism.

[0034] During the process of the automatic measurement device identifying and tracking the target module, the target module itself does not need to actively emit signals. Its automatic target recognition (ATR) and tracking functions can be achieved by the automatic measurement device actively emitting signals and receiving the reflected signals. Specifically, the automatic measurement device emits a beam of infrared laser or visible laser to scan the measurement area. When the laser irradiates the target module, the target module reflects the laser signal back to the automatic measurement device, and the automatic measurement device receives the reflected signal. Then, the direction and intensity of the signal are detected by the built-in sensor, and the coordinates and elevation of the target module are calculated based on the direction, intensity of the reflected signal, and the measurement data. Finally, the automatic measurement device automatically adjusts the direction of the telescope according to the calculated result to lock the center of the target module. If the target module moves, the servo motor of the automatic measurement device will drive the telescope to track the target module in real time.

[0035] Optionally, since the target module is carried on the automatic device under test, and the automatic driving module of the automatic device under test is also equipped with a positioning module, the tracking of the position between the automatic device under test and the automatic measurement device can be carried out either by the target module of the automatic device under test reflecting the tracking signal or by the positioning module of the automatic device under test. Specifically, a communication connection is established between the automatic module under test and the automatic measurement device. The automatic module under test monitors its positioning information through the positioning module and sends the positioning information to the automatic measurement device. After receiving the positioning information, the automatic measurement device adjusts the distance between it and the target module according to the positioning information to achieve auxiliary tracking.

[0036] It should be noted that the process of the automatic measurement device identifying and tracking the target module does not require manual operation, which replaces the cumbersome work of manual measurement, manual recording, and multiple calculations by surveyors, rodmen, etc., and improves the efficiency of road surface cross-section measurement.

[0037] S303: According to the measurement instruction, measure the real-time measurement data of the target module at the point to be measured. The real-time measurement data includes the horizontal angle, vertical angle, and inclined distance between the target module and the automatic measurement device.

[0038] In one embodiment, step S303 includes: parsing the measurement instruction to obtain a measurement path based on the driving path of the automatic device under test; wherein the measurement path is parallel or perpendicular to the driving path, and the driving path includes a centerline driving path and an offset line driving path; according to the measurement path, measuring the real-time measurement data of the target module at the point to be measured. Among them, the measurement with the measurement path parallel to the driving path is longitudinal section measurement, and the measurement perpendicular to the driving path is cross-section measurement; the centerline refers to the center line determined in engineering design, usually the theoretical center line of the road, and the centerline driving path is the path driven along the center line of the road; the offset line refers to a line parallel to the centerline and maintaining a fixed distance, and the offset line path driving may refer to that in actual construction or measurement, due to site conditions restrictions, when it is impossible to operate directly on the centerline, the surveyors or equipment move along the offset line parallel to the centerline while measuring the distance from the centerline; the point to be measured refers to the target point that needs to be measured, that is, the measurement target point where the target module serves as a reflection mark, and the coordinates and elevation of the point to be measured need to be measured and calculated by the automatic measurement equipment from the setting station; the setting station refers to the position where the automatic measurement equipment is set up, usually a control point with known coordinates (which can be obtained by resection calculation), and the setting station is the reference point for measurement, and all measurement data are calculated with the setting station as the reference; the real-time measurement data may include the horizontal angle, vertical angle and inclined distance between the automatic measurement equipment and the target module.

[0039] Specifically, please refer to Figure 4 , Figure 4 which is a schematic diagram of the scenario of a measurement mode provided by an embodiment of the present application. Assume that the automatic device under test travels from point B to point A. During the travel, the automatic measurement equipment keeps a certain distance from the automatic device under test for tracking, and automatically sets up stations at certain intervals on the measurement path according to the measurement instruction, and at the same time measures the target module at each setting station to obtain the real-time measurement data of the point to be measured corresponding to the target module at each setting station.

[0040] It should be noted that in this process, the automatic device under test travels according to the planned path. By using the tracking function of the automatic measurement equipment, stations can be automatically set up in real time, and the point to be measured where the target module carried on the automatic device under test is located is measured at each setting station, so as to measure multiple dense section lines. These section lines represent different position information of the road surface and can comprehensively reflect the actual situation of the road surface. This fully automatic measurement method replaces the grid points of traditional leveling measurement to represent the road surface, realizes the high-precision section measurement function, and improves the measurement efficiency at the same time.

[0041] In one embodiment, after the step of measuring the real-time measurement data of the target module at the point to be measured according to the measurement path, the method further includes: determining the relative distance between the automatic measurement device and the target module according to the vertical angle and the inclined distance; obtaining a preset tracking distance; comparing the relative distance with the preset tracking distance to obtain a comparison result; and adjusting the tracking speed of the automatic measurement device according to the comparison result.

[0042] In the embodiment of the present application, the preset tracking distance may be the distance between the automatic measurement device and the target module set manually. When the setting station has been determined, the corresponding point to be measured can be determined through the preset tracking distance.

[0043] Specifically, the automatic measurement device can calculate the projection of the inclined distance on the horizontal plane according to the currently measured vertical angle and inclined distance of the target module, that is, the relative distance between the automatic measurement device and the target module. Compare the preset tracking distance with the calculated relative distance. For example, calculate the difference between the preset tracking distance and the relative distance, and adjust the tracking speed of the automatic measurement device according to the comparison result: if the difference is greater than 0, that is, the distance between the target module and the automatic measurement device is too close, the tracking speed can be appropriately reduced; if the difference is less than 0, that is, the distance between the target module and the automatic measurement device is slightly far, the tracking speed can be appropriately increased to ensure the integrity of the measurement signal during the measurement process, thereby ensuring the measurement accuracy.

[0044] In another embodiment, step S303 includes: parsing the measurement instruction to obtain the measurement grid points of the road surface section; and measuring the real-time measurement data of the target module at the point to be measured according to the measurement grid points. The measurement grid points refer to the grid intersection points divided on the ground or on the drawing according to certain rules (such as square, rectangle or triangle), and each grid intersection point is the point to be measured.

[0045] Specifically, please refer to Figure 5 , Figure 5 which is a schematic diagram of the scenario of another measurement mode provided by the embodiment of the present application. In this scenario, the automatic measurement device can perform stationary measurement according to the measurement grid points, that is, the automatic measurement device can set up a station at the best measurement station of the measurement grid points, and measure the target module at each point to be measured by adjusting the telescope of the automatic measurement device. During this process, the automatic measurement device only measures when the automatic device to be measured travels and stops at the point to be measured of the measurement grid points (such as Figure 5 P61, P65, P35, etc. in

[0046] It should be noted that during the measurement process, the measurement instruction can be set manually on the automatic measurement device, or on the automatic device under test, or automatically generated by the automatic device under test according to its preset driving path. During the relative movement of the automatic measurement device and the automatic device under test, the automatic measurement device can generate corresponding measurement instructions according to the driving path of the automatic device under test and control the driving path of the automatic measurement device; it can also affect the driving path of the automatic device under test according to the preset measurement instructions. The two affect and adjust each other during this process to obtain more accurate measurement data.

[0047] S304: Obtain the reference position information of the automatic measurement device.

[0048] In one embodiment, step 304 includes: obtaining the height of the measurement device of the automatic measurement device, the height of the target module of the target module, and at least two intersection position information; according to the height of the measurement device, the height of the target module, and the intersection position information, determine the reference position information of the automatic measurement device, where the reference position information includes the reference elevation and the plane reference coordinates. Among them, the height of the measurement device refers to the height from the center of the automatic measurement device to the setting point; the height of the target module refers to the height of the target module; the interactive position information refers to the position information of the known control points, mainly including the plane coordinates and elevation of the known control points; the reference position information refers to the accurate coordinates (mainly including plane coordinates and elevation) of the position where the automatic measurement device is located (i.e., the setting point), which can be obtained through resection calculation.

[0049] Specifically, the automatic measurement device is placed on the road surface to be measured, and the automatic device under test carries the target module and automatically moves to the known control points. Subsequently, the automatic measurement device obtains the intersection position information (i.e., the plane coordinates and elevation of the control points) of at least two known points where the target module is located. After automatic aiming, by obtaining the measurement data of the known control point (including horizontal angle, vertical angle, and slope distance), combined with the height of the measurement device and the height of the target module, use the resection formula to calculate the plane reference coordinates (X, Y) and reference elevation (Z) of the setting point of the automatic measurement device. During this process, if redundant control points (such as three or more) are measured, the least squares method can be used for adjustment calculation to optimize the coordinates of the automatic measurement device.

[0050] S305: Process the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and send it to the data processing terminal. The real-time position information is used to generate the measurement result of the road surface section.

[0051] In one embodiment, step S305 includes: determining the real-time position coordinates of the point to be measured according to the real-time measurement data and the plane reference coordinates; determining the real-time position elevation of the point to be measured according to the vertical angle, slope distance, height of the measuring device, height of the target module, and reference elevation; and determining the real-time position information of the point to be measured based on the real-time position coordinates and the real-time position elevation and sending it to the data processing terminal.

[0052] In the embodiment of the present application, the measurement results of the road surface section may include a road surface section drawing (longitudinal section drawing and cross-section drawing), a data table (such as elevation, coordinates, slope, etc.), a digital model (such as a digital terrain model DTM, BIM model), a measurement report, and other results.

[0053] Specifically, first, the horizontal distance (i.e., the projection of the slope distance on the horizontal plane) is calculated through the measured vertical angle and slope distance, and the real-time position coordinates are calculated according to the plane reference coordinates, horizontal distance, and horizontal angle; then, the vertical distance is calculated through the measured vertical angle and slope distance, and the real-time position elevation is calculated according to the reference elevation, vertical distance, height of the measuring device, and height of the target module; finally, the real-time position coordinates and the real-time position elevation are combined to form the real-time position information of the point to be measured and sent to the data processing terminal for processing. The data processing terminal processes it, and through inspection, thinning, encryption, etc., generates the measurement results of the road surface section. The measurement results may include traditional grid section measurement data, point cloud data, and surface models.

[0054] It should be noted that the height of the measuring device and the height of the target module in this process need to be accurately measured to avoid incorrect elevation calculation. In addition, to avoid the influence of temperature and air pressure on distance measurement, long-distance measurement of the target module should be avoided as much as possible.

[0055] In one embodiment, after step S305, it further includes: receiving a feedback instruction from the data processing terminal; and updating the measurement instruction according to the feedback instruction. The feedback instruction refers to an instruction issued by the data processing terminal according to the processed road surface information for adjusting the measurement strategy or re-measuring a specific area.

[0056] Specifically, the data processing terminal can process, inspect, thin, and encrypt the real-time position information to generate traditional grid section measurement data, point cloud data, and surface models. The data processing terminal can judge the processed road surface information. If there are certain differences between the processed road surface information and the actual road surface, a feedback instruction can be sent to the automatic measurement device to enable the automatic measurement device to re-adjust the measurement strategy or re-measure the problematic area. This collaborative measurement method further ensures the accuracy of the measurement.

[0057] As can be seen from the above embodiments, the road surface cross-section measurement method of the present application coordinates the automatic measurement device, the automatic device to be measured, and the data processing terminal, making the measurement method more automated and intelligent, greatly improving the measurement efficiency and accuracy, and reducing manual intervention and measurement errors. At the same time, this method can also generate various forms of measurement data, providing more comprehensive data support for the analysis and design of the road surface.

[0058] Based on the content of the above embodiments, an embodiment of the present application provides an automatic measurement device. Specifically, please refer to Figure 6 , the device includes: An instruction receiving module 401, configured to receive a measurement instruction for road surface cross-section measurement; An identification and tracking module 402, configured to identify and track a target module; A measurement module 403, configured to measure the real-time measurement data of the target module at the measurement point according to the measurement instruction, where the real-time measurement data includes the horizontal angle, vertical angle, and oblique distance between the target module and the automatic measurement device; An information acquisition module 404, configured to acquire the reference position information of the automatic measurement device; A processing module 405, configured to process the real-time measurement data according to the reference position information to obtain the real-time position information of the measurement point and send it to the data processing terminal, where the real-time position information is used to generate the measurement result of the road surface cross-section.

[0059] In one embodiment, the identification and tracking module 402 includes: An identification module, configured to identify the target module and send a tracking signal to the target module; A signal receiving module, configured to receive the tracked signal returned by the target module; A tracking module, configured to track the target module according to the tracked signal.

[0060] In one embodiment, the measurement module 403 includes: A first parsing module, configured to parse the measurement instruction to obtain a measurement path based on the driving path of the automatic device to be measured; wherein, the measurement path is parallel or perpendicular to the driving path, and the driving path includes a center line driving path and an offset line driving path; A first measurement module, configured to measure the real-time measurement data of the target module at the measurement point according to the measurement path.

[0061] In one embodiment, the automatic measurement device further includes: A distance determination module, configured to determine the relative distance between the automatic measurement device and the target module according to the vertical angle and the oblique distance; A first acquisition module, configured to acquire a preset tracking distance; A comparison module for comparing the relative distance and a preset tracking distance to obtain a comparison result; A speed adjustment module for adjusting the tracking speed of the automatic measurement device according to the comparison result.

[0062] In one embodiment, the measurement module 403 further includes: A second parsing module for parsing the measurement instruction to obtain the measurement grid points of the road surface section; A second measurement module for measuring the real-time measurement data of the target module at the measurement point according to the measurement grid points.

[0063] In one embodiment, the information acquisition module 404 includes: A second acquisition module for acquiring the height of the measurement device of the automatic measurement device, the height of the target module, and at least two intersection position information; A first determination module for determining the reference position information of the automatic measurement device according to the height of the measurement device, the height of the target module, and the intersection position information, where the reference position information includes a reference elevation and a reference coordinate.

[0064] In one embodiment, the processing module 405 includes: A coordinate determination module for determining the real-time position coordinates of the measurement point according to the real-time measurement data and the planar reference coordinates; An elevation determination module for determining the real-time position elevation of the measurement point according to the vertical angle, the inclined distance, the height of the measurement device, the height of the target module, and the reference elevation; An information sending module for determining the real-time position information of the measurement point based on the real-time position coordinates and the real-time position elevation and sending it to the data processing terminal.

[0065] In one embodiment, the automatic measurement device further includes: A feedback receiving module for receiving the feedback instruction from the data processing terminal; An instruction update module for updating the measurement instruction according to the feedback instruction.

[0066] In the embodiment of the present application, the instruction receiving module may be a communication interface (including a data interface and a wireless module), supporting Bluetooth or Wi-Fi communication, and can be used to establish a communication connection with the device under test automatically. The identification and tracking module may be a telescope system (including an objective lens, an eyepiece, a focusing device, etc.). The measurement module may include an angle measurement system (including a horizontal dial, a vertical dial, an encoder, etc.) and a distance measurement system (including an electronic distance meter and a reflecting prism, etc.). The information acquisition module and the processing module may be integrated in a processor. The processor is the control center of the automatic measurement device, connecting all parts of the automatic measurement device through various interfaces and lines, and by running or executing software programs and / or modules stored in the storage system, as well as calling data stored in the storage system, to execute various functions of the automatic measurement device and process data, so as to monitor the automatic measurement device as a whole. In one embodiment, the processor may include one or more processing cores.

[0067] In addition, the automatic measurement module may further include an operation panel, a software system, an automatic compensation system, a power supply system, a storage system, a protection system, etc. Among them, the operation panel can be used to input instructions and display data; the software system can be used to control the operation of the automatic measurement device and data processing; the automatic compensation system can be used to detect the inclination of the instrument and automatically compensate; the power supply system may include a battery (for providing power) and a power management module (for managing power usage); the storage system may include a memory (for storing measurement data) and a memory card (for expanding the storage capacity); the protection system may include a waterproof and dustproof housing (for protecting internal components) and a shockproof design (for reducing the impact of vibration).

[0068] Different from the current technology, the automatic measurement device provided by the present application is provided with an identification and tracking module, a measurement module and a processing module. By automatically identifying and tracking the target module, and using the measurement module to automatically measure the target module, and sending the obtained real-time position information to the data processing terminal through the processing module, it replaces the cumbersome work of manual measurement, manual recording, multiple calculations, etc. by surveyors and rodmen, reduces the occupation of traditional manual measurement personnel. This method of introducing an automated and intelligent measurement system improves the efficiency and accuracy of pavement cross-section measurement and reduces data redundancy.

[0069] The embodiment of the present invention also provides an automatic measurement device. The device under test automatically includes an automatic driving module, a self-aligning module, and a target module provided on one side of the top of the self-aligning module. The target module is used to reflect the signal of the automatic measurement device, and the self-aligning module is used to keep the target module in a vertical state in real time; as Figure 7 shown: The automatic measurement device may further include components such as a processor 701 with one or more processing cores, a memory 702 with one or more computer-readable storage media, a power supply 703, and an input unit 704. Those skilled in the art can understand that Figure 7 the structure of the automatic measurement device shown in does not limit the automatic measurement device. It may include more or fewer components than shown in the figure, combine certain components, or have different component arrangements. Among them:

[0070] The processor 701 is the control center of the automatic measurement device, connecting various parts of the entire automatic measurement device through various interfaces and lines. By running or executing software programs and / or modules stored in the memory 702, and calling data stored in the memory 702, it executes various functions of the automatic measurement device and processes data, thereby monitoring the automatic measurement device as a whole. Optionally, the processor 701 may include one or more processing cores; preferably, the processor 701 may integrate an application processor and a modem processor. Among them, the application processor mainly processes operation of the storage medium, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 701.

[0071] The automatic measurement device further includes a power supply 703 that powers each component. Preferably, the power supply 703 can be logically connected to the processor 701 through a power management storage medium, thereby implementing functions such as management of charging, discharging, and power consumption management through the power management storage medium. The power supply 703 may also include any components such as one or more DC or AC power supplies, a rechargeable storage medium, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0072] The automatic measurement device may further include an input unit 704, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0073] Although not shown, the automatic measurement device may further include a display unit and the like, which will not be elaborated here. Specifically, in this embodiment, the processor 701 in the automatic measurement device will load the executable files corresponding to the processes of one or more application programs into the memory 702 according to the following instructions, and the processor 701 will run the application programs stored in the memory 702 to implement various functions as follows: Receive a measurement instruction for road surface cross-section measurement; identify and track the target module; according to the measurement instruction, measure the real-time measurement data of the target module at the measurement point to be measured, where the real-time measurement data includes the horizontal angle, vertical angle and slant distance between the target module and the automatic measurement device; obtain the reference position information of the automatic measurement device; according to the reference position information, process the real-time measurement data to obtain the real-time position information of the measurement point to be measured and send it to the data processing terminal, and the real-time position information is used to generate the measurement result of the road surface cross-section.

[0074] Those of ordinary skill in the art can understand that all or part of the steps in the above-mentioned various methods can be completed by instructions, or by controlling relevant hardware through instructions. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0075] Therefore, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. The computer program is loaded by a processor to execute the steps in any one of the road surface cross-section measurement methods provided by the embodiments of the present invention. For example, when the computer program is loaded by a processor, it can execute the following steps: Receive a measurement instruction for road surface cross-section measurement; identify and track the target module; according to the measurement instruction, measure the real-time measurement data of the target module at the measurement point to be measured, where the real-time measurement data includes the horizontal angle, vertical angle and slant distance between the target module and the automatic measurement device; obtain the reference position information of the automatic measurement device; according to the reference position information, process the real-time measurement data to obtain the real-time position information of the measurement point to be measured and send it to the data processing terminal, and the real-time position information is used to generate the measurement result of the road surface cross-section.

[0076] For the specific implementation of each of the above operations, reference can be made to the previous embodiments, which will not be elaborated here.

[0077] Among them, the computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.

[0078] Since the computer program stored in the computer-readable storage medium can execute the steps in any of the pavement cross-section measurement methods provided by the embodiments of the present invention, the beneficial effects achievable by any of the pavement cross-section measurement methods provided by the embodiments of the present invention can be realized. For details, refer to the previous embodiments and will not be elaborated here.

[0079] The pavement cross-section measurement method, system and automatic measurement device provided by the embodiments of the present application have been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for measuring a road surface cross-section, characterized in that, An automatic measuring device applied to a road surface cross-section measuring system, the road surface cross-section measuring system including an automatic device to be measured, a data processing terminal, and the automatic measuring device; wherein, the automatic device to be measured includes an automatic driving module, a self-aligning module, and a target module arranged on one side of the top of the self-aligning module, the target module being used for reflecting the signal of the automatic measuring device, and the self-aligning module being used for keeping the target module in a vertical state in real time; the method includes: Receiving a measurement instruction for road surface cross-section measurement; Identifying and tracking the target module; According to the measurement instruction, measuring the real-time measurement data of the target module at the measurement point to be measured, the real-time measurement data including the horizontal angle, vertical angle, and slant distance between the target module and the automatic measuring device; Obtaining the reference position information of the automatic measuring device; According to the reference position information, processing the real-time measurement data to obtain the real-time position information of the measurement point to be measured and sending it to the data processing terminal, the real-time position information being used to generate the measurement result of the road surface cross-section.

2. The pavement cross-section measurement method according to claim 1, characterized in that, The step of identifying and tracking the target module includes: Identifying the target module and sending a tracking signal to the target module; Receiving the tracked signal returned by the target module; According to the tracked signal, tracking the target module.

3. The pavement cross-section measurement method according to claim 1, characterized in that, The step of, according to the measurement instruction, measuring the real-time measurement data of the target module at the measurement point to be measured, the real-time measurement data including the horizontal angle, vertical angle, and slant distance between the target module and the automatic measuring device, includes: Analyzing the measurement instruction to obtain a measurement path based on the driving path of the automatic device to be measured; wherein, the measurement path is parallel or perpendicular to the driving path, and the driving path includes a center line driving path and an offset line driving path; According to the measurement path, measuring the real-time measurement data of the target module at the measurement point to be measured.

4. The pavement cross-section measurement method according to claim 3, characterized in that, After the step of, according to the measurement path, measuring the real-time measurement data of the target module at the measurement point to be measured, it further includes: Determining the relative distance between the automatic measuring device and the target module according to the vertical angle and the slant distance; Obtaining a preset tracking distance; Comparing the relative distance with the preset tracking distance to obtain a comparison result; According to the comparison result, adjusting the tracking speed of the automatic measuring device.

5. The pavement cross-section measurement method according to claim 1, characterized in that, The step of, according to the measurement instruction, measuring the real-time measurement data of the target module at the measurement point to be measured, the real-time measurement data including the horizontal angle, vertical angle, and slant distance between the target module and the automatic measuring device, includes: Analyzing the measurement instruction to obtain the measurement grid points of the road surface cross-section; According to the measurement grid points, measuring the real-time measurement data of the target module at the measurement point to be measured.

6. The pavement cross-section measurement method according to claim 1, characterized in that, The step of obtaining the reference position information of the automatic measuring device includes: Obtaining the height of the measuring device of the automatic measuring device, the height of the target module of the target module, and at least two intersection position information; Determine the reference position information of the automatic measuring device according to the height of the measuring device, the height of the target module, and the rendezvous position information, where the reference position information includes a reference elevation and a planar reference coordinate.

7. The pavement cross-section measurement method according to claim 6, wherein, The step of processing the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and sending it to the data processing terminal, where the real-time position information is used to generate the measurement result of the road surface section, includes: Determine the real-time position coordinates of the point to be measured according to the real-time measurement data and the planar reference coordinate; Determine the real-time position elevation of the point to be measured according to the vertical angle, the inclined distance, the height of the measuring device, the height of the target module, and the reference elevation; Based on the real-time position coordinates and the real-time position elevation, determine the real-time position information of the point to be measured and send it to the data processing terminal.

8. The pavement cross-section measurement method according to claim 1, characterized in that, After the step of processing the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and sending it to the data processing terminal, where the real-time position information is used to generate the measurement result of the road surface section, further includes: Receive the feedback instruction from the data processing terminal; Update the measurement instruction according to the feedback instruction.

9. A road surface cross-section measurement system, characterized in that, Includes an automatic device under test, a data processing terminal, and an automatic measuring device; wherein: The automatic device under test includes an automatic driving module, a self-aligning module, and a target module disposed on one side of the top of the self-aligning module, where the target module is used to reflect the signal of the automatic measuring device, and the self-aligning module is used to keep the target module in a vertical state in real time; The automatic measuring device is configured to receive a measurement instruction for road surface section measurement, identify and track the target module, measure the real-time measurement data of the target module at the point to be measured according to the measurement instruction, where the real-time measurement data includes the horizontal angle, vertical angle, and inclined distance between the target module and the automatic measuring device, obtain the reference position information of the automatic measuring device, process the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and send it to the data processing terminal, and the real-time position information is used to generate the measurement result of the road surface section; The data processing terminal is configured to receive the real-time position information sent by the automatic measuring device.

10. An automatic measuring device, characterized in that, Includes: An instruction receiving module, configured to receive a measurement instruction for road surface section measurement; An identification and tracking module, configured to identify and track the target module; A measurement module, configured to measure the real-time measurement data of the target module at the point to be measured according to the measurement instruction, where the real-time measurement data includes the horizontal angle, vertical angle, and inclined distance between the target module and the automatic measuring device; An information acquisition module, configured to acquire the reference position information of the automatic measuring device; A processing module, configured to process the real-time measurement data according to the reference position information to obtain the real-time position information of the point to be measured and send it to the data processing terminal, and the real-time position information is used to generate the measurement result of the road surface section.

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