Hard pavement levelness portable rapid measurement system and measurement method thereof

Abstract

The invention discloses a hard pavement levelness portable rapid measurement system and a measurement method thereof, the hard pavement levelness portable rapid measurement system comprises a power supply unit, a central processing unit, an inertia measurement unit and a positioning unit, the inertia measurement unit and the positioning unit are connected with the central processing unit; the inertial measurement unit uses a magnetic sensor to collect magnetic induction intensity in an orthogonal axial direction, and axial angle information is obtained after calculation of the central processing unit; the positioning information is acquired by the positioning unit, the power supply unit supplies power to the whole system and realizes charging management, the system generates a measurement method, and the system is simple and small in structure, is mainly used for levelness measurement of roads of IV level and above in land cities in China, and has the characteristics of convenience in carrying, simplicity in operation, accuracy in measurement, reliable quality and the like. The method is convenient in data detection mode, and can flexibly select the position and density of measurement points according to requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering measurement, and in particular relates to a portable rapid measurement system for hard road levelness and a measurement method thereof. Background Art

[0002] In highway construction or other flat surface construction, levelness is one of the important indicators for measuring construction quality. Current levelness detection methods mostly rely on traditional manual measurement, which is not only inefficient but also easily affected by human factors, resulting in inaccurate measurement results. With the development of science and technology, automated and intelligent detection equipment has gradually been applied to the engineering field to improve the accuracy and efficiency of detection. However, some existing automated detection equipment still has problems such as complex operation and high cost in actual application. There is an urgent need for a highway construction levelness detection device with a simple structure, low cost, and easy operation. Summary of the Invention

[0003] In order to overcome the above-mentioned shortcomings, the inventors of the present invention have continuously reformed and innovated through long-term exploration and attempts, multiple experiments and efforts, and proposed a portable rapid measurement system for the levelness of hard road surfaces. The system has a simple and compact structure and is mainly used for the levelness measurement of Class IV and above roads in Lucheng, my country. It has the characteristics of easy portability, simple operation, accurate measurement, and reliable quality.

[0004] To achieve the above objectives, the present invention employs a technical solution: providing a portable rapid hard road surface levelness measurement system. The system comprises a power supply unit, a central processing unit (CPU), an inertial measurement unit (IMU), and a positioning unit. The IMU and positioning unit are connected to the CPU. The IMU uses a magnetic sensor to collect magnetic induction intensity along orthogonal axes, which is then calculated by the CPU to obtain axial angle information. Positioning information is collected by the positioning unit, and the power supply unit provides power to the entire system and manages charging.

[0005] According to the portable rapid measurement system for hard road levelness described in the present invention, a further preferred technical solution is that the central processing unit is provided with a software debugging interface, which completes device charging, debugging and data downloading.

[0006] According to the portable rapid measurement system for the levelness of a hard road surface described in the present invention, a further preferred technical solution is: a display unit is provided, and the display unit is electrically connected to the central processing unit for displaying the processed geographical and angular information, as well as for control interaction between man and machine.

[0007] According to the portable rapid measurement system for hard road levelness described in the present invention, a further preferred technical solution is that the central processing unit also includes a power on / off module, a program upgrade and data extraction module, a button and an alarm module.

[0008] According to the portable rapid measurement system for hard road levelness of the present invention, a further preferred technical solution is that the inertial measurement unit includes a gyroscope and an accelerometer, and the attitude measurement process is as follows: 1) Determine the origin position, that is, the position in the three-dimensional world coordinate system (X S , Y S , Z S ) and the initial posture, i.e., yaw, pitch, roll (α, β, γ) in its own coordinate system; 2) Continuously measure the acceleration of the measured point in the world coordinate system (a x , a y , a z ), the trajectory and current position (Xc, Yc, Zc) can be obtained by quadratically integrating the time. 3) Continuously measure the changes in attitude angle in its own coordinate system, or continuously measure the angular velocity and integrate it over time to obtain the current attitude data.

[0009] The measurement model of a mechanical gyroscope under the principles of classical mechanics is: ω(t)=ω S (t)+b gyro (t)+n gyro (t) Where, ω(t): angular velocity output by the gyroscope at time t; b gyro (t): drift at time t; n gyro (t): The noise term at time t, usually Gaussian white noise, simulating sensor error; The relationship between the various angular velocities when considering the rotation of the earth is as follows: ω in n =ω ie n +ω en n ω in n represents the angular velocity of the navigation system relative to the inertial system; ω ie n represents the angular velocity of the Earth's rotation relative to the inertial system; ω en n represents the angular velocity of the navigation system relative to the earth; According to the portable rapid measurement system for the levelness of hard road surfaces described in the present invention, a further preferred technical solution is: the positioning unit adopts the principle of three-ball intersection positioning, and the positioning unit only needs to receive measurement signals sent from four satellites, and use the time information in the measurement signals to determine the distance between the receiver and the satellite, and then accurately calculate its own three-dimensional position.

[0010] According to the portable rapid measurement system for hard road levelness of the present invention, a further preferred technical solution is that the positioning unit is required to search for more than 4 stars and the PDOP value is less than 3 during measurement.

[0011] A method for measuring the levelness of a hard road surface using a portable rapid measurement system, 8. The steps include: S1, equipment inspection and equipment self-inspection to ensure that the equipment is working properly; S2, place the device on a horizontal surface and perform data clearing operation; S3: Place the device at the first measurement point, with the bottom of the device close to the measured plane. Click the "Measure" button. The device will collect the X / Y angle values, longitude and latitude, and resolved coordinate values of the first measurement point and store the data in the device's built-in memory. The device will remain static during data collection. Click the "Measure" button again to resume dynamic collection. S4, repeat the operation to measure the second measurement point until the current row of measurements is completed; S5: At the starting point of the next row, place the device at the measurement point, click the "Inflection Point" button first, then click the "Measure" button, and repeat step S3 to collect data, completing data collection for the current row and the remaining rows in sequence; S6, converting the angle and height by X / Y angle analysis to obtain the Z value and storing it in the memory; S7, all the measured data of the points and the corresponding Z value data are packaged and input into the host computer, and the three-dimensional surface is established by software processing and fitting, generating a local or global three-dimensional surface that can be observed 360°, and the slope of the surface simulation is displayed by the difference in color blocks.

[0012] According to the portable rapid measurement system and method for measuring the levelness of a hard road surface described in the present invention, a further preferred technical solution is: the first measurement point is the edge of the area to be detected, and the second measurement point is formed by extending a preset distance in the X direction or Y direction based on the first measurement point, and the measurement point line is further extended in the extension direction, and then the edge of the other side of the area to be detected is extended in the Y direction or X direction by a preset distance to form the starting point of a new measurement point line, and finally the measurement points are formed in a broken line to achieve continuous collection to form a measurement point surface.

[0013] According to the portable rapid measurement system method for hard road levelness described in the present invention, a further preferred technical solution is: using equidistant increments, with the default equidistant increase of 1m, or manually setting the distance increment. The smaller the increment value, the closer the three-dimensional surface is to the true value.

[0014] Compared with the prior art, the technical solution of the present invention has the following advantages / benefits: 1. The portable rapid measurement system for hard road surface levelness has a simple and compact structure and is mainly used for levelness measurement of Class IV and above roads in Lucheng, my country. It is easy to carry, easy to operate, accurate in measurement, and reliable in quality, meeting the needs of daily use. The main functions are as follows: 1) Beidou positioning: with longitude and latitude positioning function; 2) Slope measurement: Using a single-point static measurement method, the slope of the road surface point can be quickly obtained; 3) Data storage: Ability to reliably save slope measurement data and positioning data files in a long-term manner according to the agreed format; 4) Data processing: Using numerical difference or fitting methods, the linear slope (longitudinal and transverse) and regional slope data of the road surface in the area can be quickly generated to obtain the slope change trend results; 5) Graphical display: Generate 2D curves of road surface linear slope (longitudinal slope, transverse slope) and 3D surfaces of regional slope using measured slope data and generated data; 6) Data export: Ability to export data and graphic files through typeC interface; 7) Human-computer interaction: The screen operation responds quickly, the software interface is simple, the function division is reasonable, and the result logic is clear.

[0015] 2. This detection method can accurately and quickly measure the levelness of hard pavement in actual use. The data detection method is convenient and the location and density of measurement points can be flexibly selected according to needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 The diagram is a structural diagram of a portable rapid measurement system for hard road levelness according to the present invention.

[0018] Figure 2 The present invention is a flow chart of a method for measuring the levelness of a hard road surface using a portable rapid measurement system.

[0019] Figure 3 It is a schematic diagram of the arrangement of detection points of a measurement method of a portable rapid measurement system for hard road levelness of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the detailed description of the embodiments of the present invention provided below is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0021] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it may not be further defined or explained in subsequent drawings.

[0022] Example 1: like Figure 1 As shown in the figure, a portable rapid measurement system for the levelness of hard road surface has a simple and compact system structure. It is mainly used for the levelness measurement of Class IV and above roads in Lucheng, my country. It has the characteristics of easy portability, simple operation, accurate measurement and reliable quality.

[0023] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: providing a portable rapid measurement system for the levelness of hard road surfaces. The system comprises a power supply unit, a central processing unit, an inertial measurement unit, and a positioning unit. The inertial measurement unit and the positioning unit are connected to the central processing unit. The inertial measurement unit uses a magnetic sensor to collect magnetic induction intensity in orthogonal axes, and calculates axial angle information through the central processing unit. The central processing unit is actually a microcomputer motherboard, integrating hardware such as a CPU, a GPU, and memory, and primarily performs functions such as data processing, storage, and program execution. Positioning information is collected by the positioning unit, which can receive satellite signals for position measurement. The power supply unit provides power to the entire system and implements charging management.

[0024] The central processing unit is equipped with a software debugging interface, which completes device charging, debugging and data downloading. After the data is downloaded, it can be input into the host computer for more sophisticated simulation calculations.

[0025] A display unit is provided, which is electrically connected to the central processing unit and is used to display the processed geographical and angle information, as well as for human-computer control interaction, that is, the screen has touch capability and is operated by touch.

[0026] The central processing unit also includes a power on / off module, a program upgrade and data extraction module, and a button and alarm module. The power on / off module is used to turn the device on and off, the button and alarm module is used to issue an alarm when measuring misalignment, etc. The program upgrade and data extraction module is used to upgrade the device software, and to package the measured data and transmit the packaged data using the software debugging interface.

[0027] The inertial measurement unit includes a gyroscope and an accelerometer, and its attitude measurement process is as follows: 1) Determine the origin position, i.e., the position in the 3D world coordinate system (XS, YS, ZS) and the initial pose, i.e., the yaw, pitch, and roll (α, β, γ) in the local coordinate system; 2) Continuously measure the acceleration of the measured point in the world coordinate system (ax, ay, az), and quadratically integrate it over time to obtain the trajectory and current position (Xc, Yc, Zc); 3) Continuously measure the changes in attitude angle in its own coordinate system, or continuously measure the angular velocity and integrate it over time to obtain the current attitude data.

[0028] The measurement model of a mechanical gyroscope under the principles of classical mechanics is: ω(t)=ω S (t)+b gyro (t)+n gyro (t) Where, ω(t): angular velocity output by the gyroscope at time t; b gyro (t): drift at time t; n gyro (t): The noise term at time t, usually Gaussian white noise, simulating sensor error; The relationship between the various angular velocities when considering the rotation of the earth is as follows: ω in n =ω ie n +ω en n ω in n represents the angular velocity of the navigation system relative to the inertial system; ω ie n represents the angular velocity of the Earth's rotation relative to the inertial system; ω en n represents the angular velocity of the navigation system relative to the earth; The angular velocity measured by IMU is relative to the inertial system i, and in most cases the navigation attitude calculation is performed on the inertial system i. That is to say, if the angular velocity of the IMU is used directly for calculation, the angular velocity caused by the rotation of the earth and the change of the navigation system will be introduced into the system. This will cause errors in high-precision IMUs. For MEMS IMUs, this can be ignored.

[0029] The positioning unit utilizes the principle of three-sphere intersection positioning. It only needs to receive measurement signals from four satellites. Using the time information in these signals, it determines the distance between the receiver and the satellites, thereby accurately calculating its own three-dimensional position. Existing integrated Beidou positioning devices are highly mature. Based on technical requirements, the positioning unit is selected from domestically produced high-precision Beidou positioning chips, primarily based on key parameters such as positioning accuracy and sensitivity. Either the Innovation Micro ME32GR02 or the Unicore UC9810 Beidou positioning chips are acceptable.

[0030] When the positioning unit is performing positioning, the number of searched stars is greater than 4 and the PDOP value is less than 3. The present invention preferentially adopts the BeiDou satellite system for satellite positioning, which has better positioning accuracy and signal strength. Other satellite positioning systems can also be used in the same way. The PDOP value (Position Dilution of Precision) is a key parameter used to measure positioning accuracy in the Global Navigation Satellite System (GNSS) (such as GPS, GLONASS BeiDou, etc.). It reflects the degree of influence of the geometric distribution of satellites on positioning accuracy. The smaller the PDOP value, the higher the positioning accuracy. The PDOP value range is usually between 1 and 50. The smaller the value, the higher the positioning accuracy. In high-precision surveying and mapping, the PDOP value is an important basis for selecting the time of measurement. Surveyors will choose a period with a lower PDOP value for measurement to improve data accuracy.

[0031] Example 2: A method for measuring the levelness of a hard road surface using a portable rapid measurement system, comprising the following steps: S1, equipment inspection and equipment self-test to ensure that the equipment is working properly; S2, place the device on a horizontal surface and perform data zeroing to prepare for measurement; S3: Place the device at the first measurement point, with the bottom of the device close to the measured plane (the bottom of the device is the horizontal reference, and the inertial measurement unit and positioning unit are installed based on this reference). Click the "Measure" button. The device collects the X / Y angle value (referring to the X-direction angle value and the Y-direction angle value), latitude and longitude, and resolved coordinate value of the first measurement point, and stores the data in the device's built-in memory (this memory refers to the memory of the central processing unit, used for data storage). At the same time, the device maintains a static display for data collection during collection. Click the "Measure" button again to resume dynamic collection. Static collection means that background data is still being collected normally, but the collected data displayed on the page will not change, and will be displayed as the data of the previous measurement point. Dynamic collection means that the actual data changes in real time as the device offsets.

[0032] S4, repeat the operation to measure the second measurement point until the current row of measurements is completed; S5: At the starting point of the next row, place the device at the measurement point, click the "Inflection Point" button first, then click the "Measure" button, and repeat step S3 to collect data. Complete the data collection for the current row, and repeat the operation to complete the data collection for the remaining rows. S6, the Z value is obtained by converting the angle and height through X / Y angle analysis (referring to the X-direction angle value and the Y-direction angle value). After the X, Y coordinates and angle data are known, this conversion is a simple trigonometric function and does not present any technical difficulties, which will not be elaborated on in detail here. The Z value data of the current point may be combined with the data of other points to obtain a more accurate result. At the same time, the Z value of the first measurement point may be taken as 0 as a reference, and the Z values of other points are converted based on this. Later, the actual conversion can be performed with the help of latitude and longitude values.

[0033] S7: All measured point data and corresponding Z values are packaged and input to the host computer. Software processing and fitting are then performed to create a 3D surface, generating a local or global 3D surface with 360-degree viewing. The slope of the simulated surface is displayed using color block differences. Angle: The angle between the current ground surface and the origin is measured and stored as a slope, which is also used for Z value calculation. Longitude and latitude: Display the longitude and latitude of the current measurement point (each measurement point has its own longitude and latitude, with future optimization and addition of a longitude and latitude matrix). Coordinate analysis: The X, Y, and Z coordinates of the current measurement point are analyzed using the X and Y axis data combined with the slope. This fitting function utilizes the principle of point-to-surface fitting. This functionality can be implemented in any relevant mechanical design or reverse engineering software. There are no technical barriers to this principle; existing technology can achieve this, and the detailed description of the dedicated software is omitted here.

[0034] The first measurement point is the edge of the area to be inspected. Based on the first measurement point, a preset distance is extended in the X direction or Y direction to form a second measurement point, and a measurement point line is formed by extending this. (That is, the description of the corresponding row, in this case, it corresponds to the first row). Then, at the edge of the other side of the area to be inspected, a preset distance is extended in the Y direction or X direction to form the starting point of a new measurement point line (that is, the starting point of the second row, and then it continues to extend and translate in the X direction or Y direction to form the second row). The measurement points are collected back and forth continuously in a broken line to form a surface of measurement points.

[0035] The default distance increment is 1m. The distance increment can be set manually. The smaller the increment value, the closer the 3D surface is to the true value. The measurement accuracy principle is the same as the point cloud fitting principle. The more point clouds there are, the closer the fitted surface is to the true shape.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships 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 should not be understood as limiting the present invention.

[0037] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. Persons skilled in the art will appreciate that improvements and modifications may be made without departing from the spirit and scope of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A portable rapid measurement system for hard road levelness, characterized in that: It includes: The power supply unit, central processing unit, inertial measurement unit, and positioning unit are connected to the central processing unit. The inertial measurement unit uses a magnetic sensor to collect magnetic induction intensity in the orthogonal axis and obtains axial angle information after calculation by the central processing unit; the positioning information is collected by the positioning unit, and the power supply unit is the power supply for the entire system and realizes charging management.

2. A portable rapid measurement system for hard road levelness according to claim 1, characterized in that: The central processing unit is provided with a software debugging interface, which completes device charging, debugging and data downloading.

3. The portable rapid measurement system for hard road levelness according to claim 1 is characterized in that: A display unit is provided, which is electrically connected to the central processing unit and is used for displaying processed geographical and angle information and for control interaction between humans and machines.

4. A portable rapid measurement system for hard road levelness according to claim 1, characterized in that: The central processing unit also includes a power on / off module, a program upgrade and data extraction module, a button and an alarm module.

5. The portable rapid measurement system for hard road levelness according to claim 1 is characterized in that: The inertial measurement unit includes a gyroscope and an accelerometer, and its attitude measurement process is as follows: 1) Determine the origin position, that is, the position in the three-dimensional world coordinate system (X S , Y S , Z S ) and the initial posture, i.e., yaw, pitch, roll (α, β, γ) in its own coordinate system; 2) Continuously measure the acceleration of the measured point in the world coordinate system (ax, ay, az), and quadratically integrate it over time to obtain the trajectory and current position (Xc, Yc, Zc); 3) Continuously measure the changes in attitude angle in its own coordinate system, or continuously measure the angular velocity and integrate it over time to obtain the current attitude data.

6. The measurement model of a mechanical gyroscope based on the principles of classical mechanics is: ω(t)=ω S (t)+b gyro (t)+n gyro (t) in, ω(t): angular velocity output by the gyroscope at time t; b gyro (t): drift at time t; n gyro (t): The noise term at time t, usually Gaussian white noise, simulating sensor error; The relationship between the various angular velocities when considering the rotation of the earth is as follows: oh in n =ω ie n +oh en n ω in n represents the angular velocity of the navigation system relative to the inertial system; ω ie n represents the angular velocity of the Earth's rotation relative to the inertial system; ω en n represents the angular velocity of the navigation system relative to the earth; The portable rapid measurement system for the levelness of a hard road surface according to claim 1 is characterized in that the positioning unit adopts the principle of three-ball intersection positioning. The positioning unit receives measurement signals sent from at least four satellites, uses the time information in the measurement signals to determine the distance between the receiver and the satellite, and then accurately calculates its own three-dimensional position.

7. A portable rapid measurement system for hard road levelness according to claim 6, characterized in that: When measuring the positioning unit, the number of search stars must be greater than 4 and the PDOP value must be less than 3.

8. A portable rapid measurement system for measuring the levelness of a hard road surface, characterized in that: The steps include: S1, device inspection and self-test to confirm that the device is working properly; S2, placing the device on a horizontal surface and performing a data reset operation; S3, placing the device at the first measurement point, with the bottom of the device close to the measured surface, and clicking the "Measure" button. The device collects the X / Y angle values, latitude and longitude, and resolved coordinate values of the first measurement point and stores the data in the device's built-in memory. The device maintains a static display during data collection. Click the "Measure" button again to resume dynamic collection. S4, repeat the operation to measure the second measurement point until the current row of measurements is completed; S5: At the starting point of the next row, place the device at the measurement point, click the "Inflection Point" button first, then click the "Measure" button, and repeat step S3 to collect data. Complete data collection for the current row and the remaining rows in sequence. S6, converting the angle and height by X / Y angle analysis to obtain the Z value and storing it in the memory; S7, all the measured data of the points and the corresponding Z value data are packaged and input into the host computer, and the three-dimensional surface is established by software processing and fitting, generating a local or global three-dimensional surface that can be observed 360°, and the slope of the surface simulation is displayed by the difference in color blocks.

9. The method for measuring the levelness of a hard road surface using a portable rapid measurement system according to claim 7, characterized in that: The first measurement point is the edge of the area to be detected. Based on the first measurement point, a preset distance is extended in the X direction or Y direction to form a second measurement point. The measurement point line is further extended in the extension direction. Then, the edge of the other side of the area to be detected is extended in the Y direction or X direction by a preset distance to form the starting point of a new measurement point line. Finally, the measurement points are formed in a broken line to achieve continuous collection to form a measurement point surface.

10. The method for measuring the levelness of a hard road surface using a portable rapid measurement system according to claim 7, characterized in that: Use equidistant increments, with the default increment of 1m, or manually set the distance increment. The smaller the increment value, the closer the 3D surface is to the real value.

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