Movable roadbed settlement automatic detection device and detection method

Abstract

The invention belongs to the technical field of roadbed automatic detection, and discloses a movable roadbed settlement automatic detection device and method. The box body is arranged on the moving mechanism, and an opening is formed in the bottom of the box body; the detection assembly comprises a control unit arranged on the inner wall of the top of the box body, a three-dimensional motion unit connected with the control unit and a laser range finder connected to the free end of the three-dimensional motion unit, and the control unit is used for controlling the three-dimensional motion unit to achieve three-dimensional motion. And laser emitted by the laser range finder can be vertically emitted to the road surface through the opening. According to the invention, the requirement of efficient, continuous and long-distance accurate monitoring on differential settlement of the roadbed can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic roadbed detection, and in particular relates to a mobile automatic roadbed settlement detection device and a detection method. Background Art

[0002] Subgrade settlement refers to the phenomenon of a road sinking due to external forces or its own gravity. The main causes of subgrade settlement include: substandard subgrade fill materials, insufficient material compaction during construction, subgrade resting on weak ground, large-scale overburden loading, and changes in groundwater levels. Subgrade settlement alters the internal stress state of the subgrade, affecting the integrity and stability of the road surface, reducing driving quality and road capacity, and posing a safety hazard. To determine whether subgrade settlement meets standards, a subgrade settlement monitoring device is typically used to measure subgrade settlement data.

[0003] Traditional methods for measuring roadbed settlement primarily include leveling, settlement plates, and monitoring piles. These instruments, such as levels and settlement plates, are typically used to monitor settlement at key roadbed locations. However, these methods have limitations, such as the need for frequent transport, setup, and manual leveling of instruments, which is labor-intensive and time-consuming, significantly impacting the efficiency of roadbed settlement testing. The testing process is inevitably affected by human factors, such as the tendency for manual support of the measuring scale to tilt, which can reduce the accuracy of the measurement results. Summary of the Invention

[0004] In response to the problems existing in the prior art, the present invention provides a mobile roadbed settlement automatic detection device and detection method, which can meet the needs of efficient, continuous and long-distance accurate detection of uneven roadbed settlement.

[0005] In order to solve the above technical problems, the present invention is implemented through the following technical solutions: According to a first aspect of the present invention, there is provided a mobile automatic roadbed settlement detection device, comprising: Mobile mechanism; A box body is provided on the moving mechanism, and an opening is provided at the bottom of the box body; The detection component includes a control unit arranged on the inner wall of the top of the box, a three-dimensional motion unit connected to the control unit, and a laser rangefinder connected to the free end of the three-dimensional motion unit. The control unit is used to control the three-dimensional motion unit to achieve three-dimensional motion. The laser emitted by the laser rangefinder can be vertically emitted toward the road surface through the opening.

[0006] In a possible implementation of the first aspect, the free end of the three-dimensional motion unit is connected to a mounting base, the laser rangefinder is mounted on the mounting base, an inertial measurement unit, an acceleration sensor, and a gyroscope sensor are provided on the mounting base, and the inertial measurement unit, the acceleration sensor, and the gyroscope sensor are all communicatively connected to the control unit.

[0007] In a possible implementation of the first aspect, a level is further provided on the mounting base.

[0008] In a possible implementation of the first aspect, the three-dimensional motion unit includes a first micromotor provided on the control unit, a pan axis connected to the first micromotor, a second micromotor connected to the pan axis, a roll axis connected to the second micromotor, a third micromotor connected to the roll axis, and a pitch axis connected to the third micromotor, and the mounting base is fixed at the end of the pitch axis.

[0009] In a possible implementation of the first aspect, the moving mechanism includes a chassis and a crawler drive unit connected to both sides of the chassis, and the box is installed on the chassis.

[0010] In a possible implementation of the first aspect, a turntable is provided in the middle of the chassis, and the box is mounted on the turntable.

[0011] In a possible implementation of the first aspect, a device box is provided in the box body, and a power supply component is provided in the device box. The power supply component is used to supply power to the moving mechanism and the detection component.

[0012] In a possible implementation of the first aspect, a photovoltaic panel is provided on the top outer wall of the box, and the photovoltaic panel is electrically connected to the power supply component.

[0013] In a possible implementation manner of the first aspect, a travel control lever and a steering control lever for controlling the moving mechanism are provided in the box.

[0014] According to a second aspect of the present invention, a method for automatically detecting mobile roadbed settlement is provided. The method uses the aforementioned automatic detection device for mobile roadbed settlement. The detection method includes: The control unit controls the movement of the three-dimensional motion unit to adjust the laser emitted by the laser rangefinder to pass through the opening vertically toward the road surface to be detected; The moving mechanism is controlled to drive the box to move along the road surface to be detected. During the movement, the laser rangefinder is ensured to always remain in the same plane to achieve roadbed settlement detection.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a mobile automatic roadbed settlement detection device. By incorporating a mobile mechanism, the device can autonomously move along the road surface to be inspected, eliminating the need for frequent manual handling and equipment setup. This significantly reduces labor and time costs, improves the efficiency of roadbed settlement detection, and meets the needs of long-distance, large-area roadbed settlement detection. In traditional detection methods, manually supporting the measuring ruler can easily tilt, resulting in reduced measurement accuracy. The present invention utilizes a laser rangefinder as a measurement tool. Lasers offer the advantages of good directionality, concentrated energy, and high measurement accuracy. Furthermore, a control unit controls the three-dimensional motion unit to achieve three-dimensional movement of the laser rangefinder, ensuring that the laser beam is directed perpendicularly to the road surface, eliminating errors caused by manual operation and significantly improving measurement accuracy. Traditional detection methods typically only perform point-based detection at key locations on the roadbed, making it difficult to achieve continuous and comprehensive detection. The present invention's mobile design enables the detection device to continuously perform measurements while in motion. By controlling the speed and path of the mobile mechanism, continuous, long-distance detection of roadbed settlement can be achieved, providing more comprehensive and detailed roadbed settlement data. Traditional detection methods are significantly affected by human factors, and different operator skills and operating habits may lead to differences in measurement results. The present invention reduces human intervention and reduces the impact of human factors on measurement results by controlling the movement of the three-dimensional motion unit and the mobile mechanism.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the specific embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the front elevation structure of a mobile roadbed settlement automatic detection device of the present invention; Figure 2 This is a side elevation structural diagram of a mobile automatic roadbed settlement detection device according to the present invention; Figure 3 This is a three-dimensional structural diagram of a detection component in a mobile roadbed settlement automatic detection device of the present invention; Figure 4 for Figure 1 Enlarged plan view at point A in the middle; Figure 5This is a distribution diagram of sensors at the mounting base of a mobile roadbed settlement automatic detection device according to the present invention.

[0019] In the figure: 1-mobile mechanism; 10-chassis; 11-track drive unit; 110-track; 111-track frame; 112-guide wheel; 113-drive wheel; 2-box; 3-detection component; 30-control unit; 31-three-dimensional motion unit; 310-first micro motor; 311-heading axis; 312-second micro motor; 313-roll axis; 314-third micro motor; 315-pitch axis; 32-laser rangefinder; 33-mounting seat; 330-inertial measurement unit; 331-acceleration sensor; 332-gyroscope sensor; 333-level; 4-turntable; 5-equipment box; 6-photovoltaic panel; 7-travel control lever; 8-steering control lever; 9-protective cover. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] Combine Figure 1 、 Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a mobile automatic roadbed settlement detection device, primarily intended to overcome the limitations of traditional roadbed settlement detection. The detection device comprises a mobile mechanism 1, a housing 2, and a detection assembly 3. The housing 2 is mounted on the mobile mechanism 1 and has an opening at the bottom. The detection assembly 3 comprises a control unit 30 mounted on the top inner wall of the housing 2, a three-dimensional motion unit 31 connected to the control unit 30, and a laser rangefinder 32 connected to the free end of the three-dimensional motion unit 31. The control unit 30 is used to control the three-dimensional motion unit 31 to achieve three-dimensional motion. The laser emitted by the laser rangefinder 32 can be directed vertically toward the road surface through the opening.

[0022] Specifically, the mobile mechanism 1 can adopt a four-wheel drive or crawler walking mechanism to ensure stable movement under different terrain conditions. The mobile mechanism 1 is equipped with a mobile control unit, which communicates with the main control unit wirelessly or wiredly, receives and executes movement instructions, and realizes forward, backward, turning and other actions. An opening is provided at the bottom of the box 2 to ensure that the laser can be shot vertically to the road surface without obstacles. The control unit 30 adopts a microprocessor and is responsible for the control and data processing of the entire detection device. The three-dimensional motion unit 31 realizes movement in three-dimensional space. The laser rangefinder 32 uses a long-distance laser ranging sensor, and the measurement range covers the maximum value of the possible roadbed settlement. The laser beam emitted by the laser rangefinder 32 is shot vertically to the road surface through the opening at the bottom of the box 2. The reflected light is received and converted into an electrical signal, which is transmitted to the control unit for processing.

[0023] In this embodiment, the detection method is implemented as follows: The control unit 30 controls the three-dimensional motion unit 31, adjusting the position and angle of the laser rangefinder 32 so that the laser beam it emits can pass through the opening at the bottom of the box 2 and be directed vertically toward the initial position of the road surface to be tested. The moving mechanism 1 is activated, driving the box 2 to move at a constant speed along the road surface to be tested. During the movement process, the control unit 30 continuously receives measurement data from the laser rangefinder 32 and, combined with the movement data from the moving mechanism 2, calculates the settlement value of the roadbed at each location. After the measurement is completed, the collected data is transmitted to a computer for processing and analysis. By comparing the measurement data at different time points, the development trend and settlement rate of the roadbed settlement can be evaluated.

[0024] This implementation utilizes a mobile design, enabling long-distance, continuous detection of uneven roadbed settlement, significantly improving detection efficiency. Combining a three-dimensional motion unit with a laser rangefinder, it achieves precise measurement of roadbed settlement, minimizing the impact of human factors on measurement results. Intelligent control of the mobile mechanism and detection components is implemented, simplifying operation and reducing the technical requirements of the operator.

[0025] In one possible implementation, combining Figure 5 As shown, the free end of the three-dimensional motion unit 31 is connected to a mounting base 33, the laser rangefinder 32 is mounted on the mounting base 33, and an inertial measurement unit 330, an acceleration sensor 331 and a gyroscope sensor 332 are provided on the mounting base 33. The inertial measurement unit 330, the acceleration sensor 331 and the gyroscope sensor 332 are all communicatively connected to the control unit 30.

[0026] Specifically, the mounting base 33 is connected to the free end of the three-dimensional motion unit 31 through a mechanical interface to ensure a reliable connection. The laser rangefinder 32 is mounted on the mounting base 33 and is mechanically fixed to ensure stable installation. The inertial measurement unit 330 is integrated on the mounting base 33 and can measure the three-dimensional acceleration, angular velocity and attitude information of the mounting base 33 in real time, and is used to compensate for the slight offset of the laser rangefinder 32 caused by the movement of the mobile mechanism 1, thereby improving the measurement accuracy. The acceleration sensor 331 is also mounted on the mounting base 33 and is used to measure the acceleration change of the mounting base 33 in three-dimensional space. Combined with the data of the inertial measurement unit 330, the real-time position and attitude of the laser rangefinder 32 can be evaluated. The gyroscope sensor 332 is used to measure the angular velocity of the mounting base 33, and is used to detect and compensate for the rotational offset of the mounting base 33 caused by uneven road surface or movement of the mobile mechanism 1.

[0027] The inertial measurement unit 330, the acceleration sensor 331, and the gyroscope sensor 332 are all in communication with the control unit 30, and transmit real-time measurement data to the control unit 30 via wired or wireless means. The control unit 30 performs real-time correction and compensation on the measurement results of the laser rangefinder 32 based on the data sent by the inertial measurement unit 330, the acceleration sensor 331, and the gyroscope sensor 332 to ensure more accurate measurement results.

[0028] In this embodiment, the three-dimensional motion unit 31 is controlled by the control unit 30 to adjust the position and angle of the laser rangefinder 32 so that the laser beam it emits can pass through the opening at the bottom of the box 2 and shoot vertically to the initial position of the road surface to be detected. During this process, the inertial measurement unit 330, the acceleration sensor 331 and the gyroscope sensor 332 monitor the position and posture changes of the mounting bracket 33 in real time. The moving mechanism 1 is started to drive the box 2 to move at a constant speed along the road surface to be detected. During the movement, the control unit 30 continuously receives the measurement data of the laser rangefinder 32 and the real-time detection data of the inertial measurement unit 330, the acceleration sensor 331 and the gyroscope sensor 332. Based on these data, the control unit 30 performs real-time correction and compensation on the measurement results of the laser rangefinder 32 to calculate the settlement value of the roadbed at each position point.

[0029] This embodiment combines the three-dimensional motion unit 31, the high-precision laser rangefinder 32, the inertial measurement unit 330, the acceleration sensor 331 and the gyroscope sensor 332 to achieve accurate measurement of roadbed settlement and reduce the impact of human factors and external interference on the measurement results.

[0030] In one possible implementation, combining Figure 3 and Figure 5As shown, the mounting base 33 is also provided with a level 333. Level 333 is used to monitor the horizontality of the mounting base 33 in real time. Level 333 can detect even subtle changes in the tilt of the mounting base 33. When the mounting base 33 tilts, level 333 immediately detects the change and feeds the tilt angle and direction information back to the control unit 30. Based on this information, the control unit 30 makes real-time adjustments to the three-dimensional motion unit 31, driving the corresponding motors to restore the mounting base 33 to a horizontal state. This ensures that the laser rangefinder 32 always emits a vertical laser beam, further improving measurement accuracy.

[0031] Exemplarily, the level 333 is a digital level that can accurately and conveniently measure the inclination angle between the mounting base 33 plane and the horizontal plane and display the inclination angle on a digital display. The level 333 is in communication with the control unit 30 and transmits real-time measurement data to the control unit 30 via wired or wireless means.

[0032] In one possible implementation, combining Figure 3 and Figure 4 As shown, the three-dimensional motion unit 31 includes a first micro motor 310 provided on the control unit 30, a pan axis 311 connected to the first micro motor 310, a second micro motor 312 connected to the pan axis 311, a roll axis 313 connected to the second micro motor 312, a third micro motor 314 connected to the roll axis 313, and a pitch axis 315 connected to the third micro motor 314, and the mounting base 33 is fixed at the end of the pitch axis 315.

[0033] Specifically, the first micromotor 310 rotates the yaw axis 311, enabling the laser rangefinder to rotate left and right in the horizontal plane. The second micromotor 312 rotates the roll axis 313, enabling the laser rangefinder to tilt forward and backward in the horizontal plane. The third micromotor 314 rotates the pitch axis 315, enabling the laser rangefinder to rotate up and down in the vertical plane. The coordinated operation of these three micromotors enables the laser rangefinder to locate and point in three-dimensional space.

[0034] It should be understood that each micromotor is equipped with an encoder that provides real-time position feedback to control unit 30, forming a closed-loop control system. Control unit 30 uses a PID control algorithm to adjust the speed and direction of each micromotor based on the preset path and target position, ensuring that laser rangefinder 32 is pointing to the target point.

[0035] In one possible implementation, Figure 1 and Figure 2As shown, the mobile mechanism 1 includes a chassis 10 and a crawler drive unit 11 connected to both sides of the chassis 10 , and the box 2 is installed on the chassis 10 .

[0036] Specifically, the chassis 10 serves as the basic supporting platform of the entire device, and the track drive units 11 are connected to both sides of the chassis 10. Each track drive unit 11 is equipped with an independent drive motor, which is connected to the track drive wheel through a reducer to transmit the power of the motor to the track to realize the movement of the device.

[0037] Exemplarily, the crawler drive unit 11 includes a crawler 110, a crawler frame 111, a guide wheel 112, and a drive wheel 113. The crawler surface has anti-skid patterns to increase friction with the ground.

[0038] This embodiment adopts a crawler drive unit 11, which can adapt to complex terrain, realize long-distance and continuous detection of uneven settlement of roadbed, and improve detection efficiency.

[0039] In one possible implementation, Figure 1 and Figure 2 As shown, a turntable 4 is provided in the middle of the chassis 10 , and the box body 2 is mounted on the turntable 4 .

[0040] Specifically, by adjusting the rotation angle of the turntable 4, it is possible to quickly adjust the measurement position of the laser rangefinder 32. At the same time, under special working conditions, the turntable 4 can be adjusted to prevent the box 2 from interfering with obstacles under the working conditions.

[0041] In one possible implementation, Figure 1 and Figure 2 As shown, an equipment box 5 is provided in the box body 2 , and a power supply component is provided in the equipment box 5 , and the power supply component is used to supply power to the moving mechanism 1 and the detection component 3 .

[0042] Specifically, the equipment box 5 is fixed to one side of the housing 2. The power supply components are connected to the mobile mechanism 1 and the detection assembly 3 via wires. The interior of the equipment box 5 is primarily used to house the power supply components and other necessary electronic equipment, such as wireless transmission components. For example, the power supply components include a battery pack and a charging port. The battery pack, consisting of multiple cells, provides a stable and sufficient DC power supply to meet the power needs of the mobile mechanism 1 and the detection assembly 3. The charging port is located on the outer wall of the equipment box and is connected to an external power source to charge the battery pack.

[0043] Preferably, a photovoltaic panel 6 is mounted on the top outer wall of the housing 2 and electrically connected to the power supply. Exemplarily, the output of the photovoltaic panel 6 is electrically connected to the power supply within the equipment box 5 via a wire. During daytime hours, the photovoltaic panel 6 converts solar energy into electricity, charging the battery pack. When the device requires power, the battery pack provides power to the mobile mechanism 1, detection assembly 3, and other components. During periods of low light or at night, the battery pack continues to power the device using stored energy.

[0044] The arrangement of the photovoltaic panels 6 enables the device to continuously charge the battery pack under conditions of sunlight, thereby extending the battery life of the device and reducing the occurrence of interruptions in detection work due to insufficient power.

[0045] In one possible implementation, Figure 1 and Figure 2 As shown, the housing 2 is provided with a travel control lever 7 and a steering control lever 8 for controlling the mobile mechanism 1. It should be noted that the travel control lever 7 is provided with multiple control buttons, including forward, reverse, acceleration, and deceleration buttons. The operator can control the travel direction and speed of the mobile mechanism 1 by pressing different buttons. The operator can control the steering angle of the mobile mechanism 1 by rotating the steering control lever 8 left and right. The steering control lever 8 is also used to control the rotation of the turntable 4.

[0046] Preferably, Figure 1 、 Figure 2 and Figure 4 As shown, a protective cover 9 is detachably provided on the top inner wall of the box body 2. When not performing testing, the protective cover 9 is used to protect the detection component 3 to prevent the detection component 3 from being damaged. When performing testing, the protective cover 9 can be removed.

[0047] In one embodiment, after the detection device reaches the starting point of the roadbed settlement detection, the main power switch is turned on to activate the device, the protective cover 9 is rotated open, and the digital level switch (ON / OFF) is pressed to activate it. The current horizontal angle of the laser rangefinder 32 is measured. If the digital level indicates the current horizontal angle is zero, no preliminary leveling is required. If the digital level indicates the current horizontal angle is not zero, the angle of the laser rangefinder 32 is manually adjusted until the horizontal angle is zero, completing the preliminary leveling. The laser rangefinder 32 switch is then pressed to power it on, and the settlement value at the detection starting point is measured. The measurement results are transmitted to a wireless transmission device for reference and record by the staff. Then, push the travel control lever 7 to move the device along the planned inspection route. During this movement, the three-dimensional motion unit 31 of the laser rangefinder 32 maintains the same horizontal orientation, measures the subgrade settlement along the line, and outputs the results to the wireless transmission device. This achieves "self-movement, automatic leveling; measurement and output as the measurement progresses," enabling rapid, efficient, and accurate subgrade settlement detection. Once subgrade settlement detection along the line is complete, the device can be rotated in place by toggling the travel control lever 7 to perform the next section or alternately measure the horizontal and vertical sections. Before the rotation, the laser rangefinder 32 can be turned off and then turned back on after the turn is complete.

[0048] Exemplary, the detection method is as follows: S1. Initialization: Activate the digital level to calibrate and initialize the laser rangefinder. Initially, the laser rangefinder may not be completely level. Therefore, a closed-loop feedback control system is implemented: the horizontal angle displayed by the digital level at the end of the mounting base is compared with the target horizontal angle (e.g., zero degrees). Based on the deviation, the angle of the laser rangefinder on the mounting base is adjusted to gradually approach the target horizontal angle. This process is repeated until the horizontal angle approaches the target value. A preset height for the laser rangefinder is set, either through user input or automatically obtained by the device (if not manually set). This serves as the reference for height adjustment during movement.

[0049] S2. Coordinate Correction: After the laser rangefinder reaches a horizontal position, the laser rangefinder is turned on and the accelerometer senses the direction of gravity. The inertial measurement unit receives this gravity direction data and sends a signal to the control unit (microcontroller) indicating that the laser rangefinder is currently in this gravity direction, which is the initial gravity direction, thus achieving coordinate correction. At this point, the laser rangefinder is in the retracted position, meaning the change angle is zero.

[0050] S3. Motion Detection: During movement, the gyroscope detects the laser rangefinder's rotation angle, and the accelerometer senses the laser rangefinder's new gravity direction. These data are transmitted to the inertial measurement unit (IMU) for comparison with the data obtained during the coordinate calibration phase. The IMU monitors the vertical height changes of the device in real time, ensuring that the laser rangefinder's height information is recorded and used for subsequent adjustments.

[0051] S4. Automatic Leveling: Based on this difference, the IMU sends a signal to the microcontroller, which controls a brushless motor. This applies voltage to the laser rangefinder, straightening it and returning the angle of change to zero. This aligns the laser rangefinder's gravity direction with the initial gravity direction. Furthermore, the microcontroller dynamically adjusts the laser rangefinder's height based on the altitude change data provided by the IMU, ensuring it remains at a fixed, preset height. This means the laser rangefinder remains horizontal.

[0052] S5. Closed-Loop Control: Steps S3 and S4 above form a closed-loop control system. Motion detection and automatic leveling are executed in a loop, enabling real-time calibration and adjustment. Through repeated iterations, small adjustments are made continuously to maintain the laser rangefinder at a constant level and height during subgrade settlement detection, enabling electronic automatic leveling.

[0053] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0055] In the present invention, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can mean fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0057] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0058] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A mobile roadbed settlement automatic detection device, characterized in that: include: Mobile mechanism (1); A box body (2) is provided on the moving mechanism (1), and an opening is provided at the bottom of the box body (2); The detection assembly (3) comprises a control unit (30) arranged on the inner wall of the top of the box (2), a three-dimensional motion unit (31) connected to the control unit (30), and a laser rangefinder (32) connected to the free end of the three-dimensional motion unit (31), wherein the control unit (30) is used to control the three-dimensional motion unit (31) to achieve three-dimensional motion, and the laser emitted by the laser rangefinder (32) can be vertically emitted toward the road surface through the opening.

2. A mobile roadbed settlement automatic detection device according to claim 1, characterized in that: The free end of the three-dimensional motion unit (31) is connected to a mounting seat (33), the laser rangefinder (32) is mounted on the mounting seat (33), and an inertial measurement unit (330), an acceleration sensor (331), and a gyroscope sensor (332) are provided on the mounting seat (33), and the inertial measurement unit (330), the acceleration sensor (331), and the gyroscope sensor (332) are all communicatively connected to the control unit (30).

3. A mobile roadbed settlement automatic detection device according to claim 2, characterized in that: A level (333) is also provided on the mounting seat (33).

4. A mobile roadbed settlement automatic detection device according to claim 2, characterized in that: The three-dimensional motion unit (31) includes a first micro motor (310) provided on the control unit (30), a pan axis (311) connected to the first micro motor (310), a second micro motor (312) connected to the pan axis (311), a roll axis (313) connected to the second micro motor (312), a third micro motor (314) connected to the roll axis (313), and a pitch axis (315) connected to the third micro motor (314), and the mounting seat (33) is fixed to the end of the pitch axis (315).

5. The mobile roadbed settlement automatic detection device according to claim 1, characterized in that: The moving mechanism (1) comprises a chassis (10) and a crawler drive unit (11) connected to both sides of the chassis (10), and the box (2) is mounted on the chassis (10).

6. A mobile roadbed settlement automatic detection device according to claim 5, characterized in that: A turntable (4) is provided in the middle of the chassis (10), and the box (2) is mounted on the turntable (4).

7. The mobile automatic roadbed settlement detection device according to claim 1, characterized in that: An equipment box (5) is provided in the box body (2), and a power supply component is provided in the equipment box (5). The power supply component is used to supply power to the moving mechanism (1) and the detection component (3).

8. A mobile automatic roadbed settlement detection device according to claim 7, characterized in that: A photovoltaic panel (6) is provided on the top outer wall of the box body (2), and the photovoltaic panel (6) is electrically connected to the power supply component.

9. The mobile automatic roadbed settlement detection device according to claim 1, characterized in that: A travel control lever (7) and a steering control lever (8) for controlling the moving mechanism (1) are provided in the box (2).

10. A mobile roadbed settlement automatic detection method, characterized in that: Using the mobile roadbed settlement automatic detection device according to any one of claims 1 to 9, the detection method includes: The control unit (30) controls the movement of the three-dimensional motion unit (31) to adjust the laser emitted by the laser rangefinder (32) to pass through the opening vertically toward the road surface to be detected; The moving mechanism (1) is controlled to drive the box (2) to move along the road surface to be detected, and during the movement, the laser rangefinder (32) is ensured to always remain in the same plane, thereby realizing roadbed settlement detection.

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