Road flatness laser detection device

Abstract

The invention relates to the technical field of laser measurement, and particularly discloses a road flatness laser detection device, which comprises a movable frame; a dynamic level reference unit; a deflection positioning unit; and a laser detection unit. When the height difference exists between the moving frames on the two sides, the dynamic horizontal reference unit can still automatically maintain the horizontal posture, the transverse moving track of the laser detection unit is kept in the horizontal state all the time, errors caused by carrier shaking or transverse inclination of the road surface are eliminated, and therefore it is ensured that continuously-collected flatness data have the highly-consistent reference performance. When a certain included angle exists between the to-be-detected path and the advancing direction of the equipment, the deflection positioning unit can perform self-adaptive deflection relative to the dynamic horizontal reference unit, so that the scanning path of the laser detection unit is automatically kept consistent with the to-be-detected direction of the road surface, and measurement deviation or repeated adjustment caused by path dislocation is avoided.

Description

Technical Field

[0001] This invention relates to the field of laser measurement technology, and more specifically, to a laser detection device for highway smoothness. Background Technology

[0002] Highway smoothness is a key indicator for evaluating road surface quality, driving comfort, and structural performance. With the development of laser technology, laser measurement methods have become the mainstream means of modern smoothness testing due to their high precision, non-contact nature, and rapid continuous acquisition. Currently, laser-based smoothness detection technology obtains road surface elevation data by emitting a laser beam to the road surface and receiving the reflected signal. This allows for the simultaneous collection of a large amount of cross-sectional point cloud data during equipment movement, which is then processed to calculate the smoothness index. When using laser detection devices to inspect the smoothness of highways, significant lateral undulations or slopes can cause the beam or platform supporting the laser sensor to tilt and sway dynamically. This error, introduced by the carrier's posture, directly contaminates the laser ranging data, making it impossible to maintain a consistent measurement benchmark during the scanning process, thus affecting the accuracy and reliability of the results. Secondly, the actual detection path (such as curves, slopes, or non-straight road sections) often deviates from the preset laser scanning path. Existing equipment lacks the ability to automatically adjust the scanning direction in the horizontal plane, resulting in the laser scanning trajectory not coinciding with the path to be measured, easily leading to measurement deviations caused by path misalignment. Summary of the Invention

[0003] To overcome the above-mentioned technical problems, the present invention proposes a laser detection device for highway smoothness.

[0004] The objective of this invention can be achieved through the following technical solutions: A laser inspection device for highway smoothness includes: The mobile frame is provided in two sets, symmetrically distributed on both sides; The dynamic horizontal reference unit is movably positioned between the two movable frames. When there is a height difference between the two movable frames, the dynamic horizontal reference unit always maintains its horizontal posture. The yaw positioning unit is movably mounted on the dynamic horizontal reference unit and is used to adaptively deflect relative to the dynamic horizontal reference unit according to the slope of the road surface to be measured. A laser detection unit, which is movably mounted on the yaw positioning unit, is used to perform laser measurement of the smoothness of the road surface under test along the extension path of the yaw positioning unit.

[0005] As a further aspect of the present invention: the dynamic horizontal reference unit includes a hinge seat fixed on one side of the dynamic horizontal reference unit and an adjustment slot opened on the other side of the dynamic horizontal reference unit. A vertical flipping frame is rotatably mounted on the hinge seat, and one end of the vertical flipping frame away from the hinge seat moves through the adjustment slot.

[0006] As a further aspect of the present invention, it also includes a closed-loop adjustment unit, which includes an adjustment electric push rod disposed in the adjustment slot. The adjustment electric push rod is used to drive the end of the vertical tilting frame away from the hinge seat to tilt up and down in the vertical plane. The vertical tilting frame is also provided with an inclination sensor for detecting the tilt angle of the vertical tilting frame. The moving frame is provided with a controller, which is used to control the extension and retraction movement of the adjustment electric push rod according to the tilt angle of the vertical tilting frame obtained by the inclination sensor.

[0007] As a further aspect of the present invention: an adjustment frame is installed at the output end of the electric push rod, and a through slot is provided at the end of the vertical flip frame away from the hinge seat, and a locking pin is provided on the adjustment frame that can move through the through slot.

[0008] As a further aspect of the present invention: the oscillation positioning unit includes a horizontal oscillation frame for mounting the laser detection unit, and a rotating frame is rotatably mounted at the center of the horizontal oscillation frame, the rotating frame being mounted in the middle of the vertical flipping frame.

[0009] As a further aspect of the present invention: the laser detection unit includes a mounting platform movably disposed on a horizontal swing frame, and a laser measuring instrument is mounted on the lower end face of the mounting platform.

[0010] As a further aspect of the present invention: a sliding groove is provided inside the horizontal swing frame, a slider is provided on the mounting platform and slidably embedded in the sliding groove, a transverse motor is also installed on the mounting platform, a gear is connected to the output end of the transverse motor, and a rack that meshes with the gear is provided on the horizontal swing frame.

[0011] As a further aspect of the present invention: elastic support units are symmetrically arranged at both ends of the horizontal swing frame. Each elastic support unit includes a sleeve vertically fixed to the end of the horizontal swing frame. A telescopic rod is slidably sleeved on the lower end of the sleeve. A base is provided at the bottom of the telescopic rod. A spring is provided between the base and the sleeve. The spring is movably sleeved on the telescopic rod.

[0012] As a further aspect of the present invention: a ball bearing is movably embedded in the bottom of the base, and the ball bearing rolls in contact with the road surface.

[0013] As a further embodiment of the present invention: a moving unit is provided on both sides of the moving frame. The moving unit includes several sets of rollers rotatably mounted on the bottom of the moving frame and a moving motor fixed on one side of the moving frame. The output end of the moving motor is connected to a drive wheel, and a track is connected between the drive wheel and each roller.

[0014] The beneficial effects of this invention are: When there is a height difference between the two moving frames, the dynamic horizontal reference unit can still maintain a horizontal posture autonomously, providing a stable and dynamically self-leveling reference plane for the entire detection system. This ensures that the lateral movement trajectory of the laser detection unit remains horizontal, eliminating errors caused by carrier shaking or lateral tilt of the road surface. This ensures that the continuously collected flatness data has a highly consistent reference value, improving the accuracy and reliability of the measurement results. In actual highway inspection, the path to be tested often has a certain angle with the direction of equipment movement. This invention can adaptively deflect relative to the dynamic horizontal reference unit through the yaw positioning unit, so that the scanning path of the laser detection unit is automatically consistent with the direction of the road surface to be tested, avoiding measurement deviation or repeated adjustments caused by path misalignment. It is especially suitable for curves, slopes or irregular road sections, and further improves the detection accuracy of complex road surface alignment. Attached Figure Description

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a three-dimensional schematic diagram from another perspective of the present invention; Figure 3 This is a schematic diagram of the closed-loop control unit in this invention; Figure 4 This is a schematic diagram of the yaw positioning unit and the laser detection unit in this invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a cross-sectional view of the elastic support unit in this invention.

[0017] In the picture: 100. Mobile stand; 200. Dynamic horizontal reference unit; 210. Hinge seat; 220. Vertical tilting frame; 221. Through slot; 230. Adjustment slot; 300, Oscillating positioning unit; 310, Horizontal oscillation frame; 320, Rotating frame; 330, Slide groove; 340, Rack and pinion; 400. Laser detection unit; 410. Mounting platform; 420. Laser measuring instrument; 430. Slider; 440. Transverse motor; 450. Gear; 500, Elastic support unit; 510, Sleeve; 520, Telescopic rod; 530, Base; 540, Spring; 550, Ball bearing; 600. Closed-loop adjustment unit; 610. Adjustment electric push rod; 620. Tilt sensor; 630. Controller; 640. Adjustment frame; 650. Locking pin; 700, Moving unit; 710, Roller; 720, Moving motor; 730, Drive wheel; 740, Track. Detailed Implementation

[0018] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0019] Please see Figure 1 and Figure 2 This invention discloses a laser testing device for highway smoothness, comprising a movable frame 100, a dynamic horizontal reference unit 200, a sway positioning unit 300, and a laser detection unit 400. The movable frame 100 is arranged in two sets and symmetrically distributed on both sides. The dynamic horizontal reference unit 200 is movably disposed between the two movable frames 100, maintaining a horizontal posture even when there is a height difference between the two movable frames 100. The sway positioning unit 300 is movably disposed on the dynamic horizontal reference unit 200 and adaptively sways relative to the dynamic horizontal reference unit 200 according to the slope of the road surface to be tested. The laser detection unit 400 is movably disposed on the sway positioning unit 300 and performs laser smoothness measurement of the road surface to be tested along the extension path of the sway positioning unit 300. Specifically, the mobile frame 100 is set up on both sides of the roadbed of the road to be measured. When encountering road sections with large fluctuations in road smoothness, there will inevitably be a large difference in height between the two sides of the road surface, which will cause the mobile frames 100 on both sides to also have a certain height difference or tilt at a certain angle. The dynamic horizontal reference unit 200 in this invention can maintain its own horizontal posture regardless of how the height difference and tilt angle of the mobile frames 100 on both sides change, thereby ensuring that the sway positioning unit 300 below it always maintains horizontal extension, and thus ensuring that the lateral movement path of the laser detection unit 400 on the sway positioning unit 300 also always remains horizontal. In this way, the movement detection path of the laser detection unit 400 itself will not be affected by factors such as bumps and swaying during the dynamic movement of the mobile frame 100, so that the reference height of the laser detection unit 400 remains consistent when performing lateral continuous laser measurement on the corresponding area of ​​the road surface, thereby improving the accuracy of the smoothness difference during the entire lateral measurement process. In addition, when there is an angle between the transverse test path of the road surface and the dynamic horizontal reference unit 200, the yaw positioning unit 300 can also adaptively deflect relative to the dynamic horizontal reference unit 200 according to the extension direction of the transverse test path, so that the transverse laser measurement path of the laser detection unit 400 is consistent with the transverse test path of the road surface, further improving the accuracy of highway smoothness measurement.

[0020] It should be noted that in traditional testing methods, the equipment reference is easily affected by the height difference between the two sides of the road and driving bumps, resulting in fluctuations in measurement data. The present invention, through the dynamic horizontal reference unit 200, can still maintain a horizontal posture autonomously when there is a height difference between the two moving frames 100, providing a stable and dynamically self-leveling reference plane for the entire testing system. This ensures that the lateral movement trajectory of the laser detection unit 400 always remains horizontal, eliminating errors introduced by carrier shaking or lateral tilt of the road surface. This ensures that the continuously collected flatness data has a highly consistent reference, improving the accuracy and reliability of the measurement results. In actual highway inspection, the path to be tested often has a certain angle with the direction of equipment movement. This invention can adaptively deflect the yaw positioning unit 300 relative to the dynamic horizontal reference unit 200, so that the scanning path of the laser detection unit 400 is automatically consistent with the direction of the road surface to be tested, avoiding measurement deviation or repeated adjustments caused by path misalignment. It is especially suitable for curves, slopes or irregular road sections, and further improves the detection accuracy of complex road surface alignment.

[0021] In one embodiment, please refer to Figure 2The dynamic horizontal reference unit 200 includes a hinge seat 210 fixed on one side of the dynamic horizontal reference unit 200 and an adjustment slot 230 opened on the other side of the dynamic horizontal reference unit 200. A vertical flipping frame 220 is rotatably mounted on the hinge seat 210, and one end of the vertical flipping frame 220 away from the hinge seat 210 moves through the adjustment slot 230. Specifically, one end of the vertical flipping frame 220 can rotate relative to the hinge seat 210 in the vertical plane, so that the other end of the vertical flipping frame 220 can tilt upward or flip downward in the adjustment slot 230. No matter how the height and tilt angle of the two moving frames 100 change, the vertical flipping frame 220 can adaptively flip relative to the hinge seat 210 in the vertical plane, so that the vertical flipping frame 220 itself always maintains a horizontal posture, thereby ensuring that the laser detection unit 400 is always in the same horizontal plane during the moving measurement process.

[0022] It is worth noting that when the two movable frames 100 have a height difference due to road surface undulations, the above structure allows the vertical tilting frame 220 to rotate freely in the vertical plane around the hinge seat 210, and its far end slides in the adjustment slot 230, thereby passively and instantly responding to height changes; through the rotational freedom of the vertical tilting frame 220 itself, no matter how the absolute height or tilt angle of the two movable frames 100 changes, the structure can force the vertical tilting frame 220 to automatically find and maintain a horizontal balance posture under the action of gravity, thereby creating a stable local horizontal plane for the laser detection unit 400 that is independent of the bumpy moving carrier and is not affected by roadbed changes, moving bumps and other interferences, thus ensuring the accuracy of the measurement benchmark from the root; The stable horizontal plane formed by the dynamic horizontal reference unit 200 directly provides an accurate and reliable basis for the installation and operation of the yaw positioning unit 300. The stability of the horizontal reference ensures that all subsequent adaptive deflection and laser scanning actions are carried out within a correct reference system, enabling the two core functions of dynamic leveling and path following to work together efficiently. This is the foundation for the entire device to achieve high-precision measurement.

[0023] Further, please refer to Figure 3 For the horizontal reference adjustment of the vertical tilting frame 220, a closed-loop adjustment unit 600 is also included. The closed-loop adjustment unit 600 includes an adjustment electric push rod 610 disposed in the adjustment slot 230. The adjustment electric push rod 610 is used to drive the end of the vertical tilting frame 220 away from the hinge seat 210 to tilt up and down in the vertical plane. The vertical tilting frame 220 is also provided with an angle sensor 620 for detecting the tilt angle of the vertical tilting frame 220. The moving frame 100 is provided with a controller 630. The controller 630 is used to control the extension and retraction movement of the adjustment electric push rod 610 according to the tilt angle of the vertical tilting frame 220 obtained by the angle sensor 620. Specifically, the tilt angle between the vertical tilting frame 220 and the horizontal plane is measured in real time by the tilt sensor 620. When the two moving frames 100 tilt or there is a height difference, the vertical tilting frame 220 will inevitably have a corresponding tilting trend. When the end of the vertical tilting frame 220 away from the hinge seat 210 has a downward tilting trend, the controller 630 controls the adjusting electric push rod 610 to lift the end of the vertical tilting frame 220 away from the hinge seat 210 upward. Correspondingly, when the end of the vertical tilting frame 220 away from the hinge seat 210 has an upward tilting trend, the controller 630 controls the adjusting electric push rod 610 to pull the end of the vertical tilting frame 220 away from the hinge seat 210 downward, so as to always keep both ends of the vertical tilting frame 220 at the same horizontal height, so as to ensure that the vertical tilting frame 220 always maintains a horizontal posture during the movement of the moving frame 100.

[0024] It should be noted that the closed-loop system consisting of the adjusting electric push rod 610, the tilt sensor 620 and the controller 630 is responsible for making high-precision real-time fine adjustments to the tilt trend of the vertical tilting frame 220, so that the vertical tilting frame 220 always maintains a dynamic horizontal attitude, providing a stable reference plane for core measurements. The horizontal attitude is monitored in milliseconds by the tilt sensor 620 (a high-precision, shock-resistant MEMS tilt sensor, such as the SpectraPrecision N502 dual-axis tilt meter, can be selected). The controller 630 (an industrial-grade PLC or embedded controller, such as the Siemens S7-1200 series, can be selected) drives the electric push rod 610 in real time to perform counter-lifting or pulling based on the feedback signal. This closed-loop process can actively suppress the interference caused by the instantaneous bumps of the moving frame 100 and the high-frequency undulations of the road surface, realize the dynamic and active stabilization of the horizontal reference, and improve the measurement consistency in complex dynamic environments.

[0025] Furthermore, please refer to Figure 3 The output end of the electric push rod 610 is equipped with an adjustment frame 640. The vertical flip frame 220 is provided with a through groove 221 at the end away from the hinge seat 210. The adjustment frame 640 is provided with a locking pin 650 that can move through the through groove 221. Specifically, the locking pin 650 is movably embedded in the through slot 221 of the vertical tilting frame 220. When the adjusting electric push rod 610 extends or retracts according to the control command of the controller 630, the locking pin 650 can be used to push the vertical tilting frame 220 upward or pull it downward, thereby improving the responsiveness of the vertical tilting frame 220 in adjusting its horizontal attitude. At the same time, the locking pin 650 can move adaptively within the through slot 221 to prevent interference between the adjusting frame 640 and the vertical tilting frame 220.

[0026] It is worth noting that the output of the electric push rod 610 is linear motion, while the rotation of the vertical tilting frame 220 around the hinge seat 210 is circular motion. Traditional rigid connection will inevitably produce motion interference and internal force. In this solution, a through groove 221 is opened on the vertical tilting frame 220, and a movable locking pin 650 is set on the adjustment frame 640. When the electric push rod is driven, the locking pin 650 transmits the thrust or pull through the wall of the through groove 221. At the same time, the locking pin 650 can slide freely along the through groove 221, automatically compensating for the lateral displacement caused by the difference in motion trajectory. Due to the cooperation between the locking pin 650 and the through slot 221, the extension force of the adjusting electric push rod 610 can be directly applied to the end of the lever arm of the vertical tilting frame 220 without delay. This allows the leveling command issued by the controller 630 to be quickly converted into the actual action of the tilting frame, reducing the inertia and idle travel of the transmission chain. This significantly improves the dynamic response performance of the closed-loop leveling system, enabling it to suppress tilting more quickly and maintain the stability of the reference. In addition, when the two moving frames 100 undergo violent relative motion or the road impact causes the vertical tilting frame 220 to swing rapidly and significantly, the locking pin 650 can slide quickly in the through groove 221, avoiding the direct transmission of huge lateral impact load to the precision adjusting electric push rod 610, thus playing the role of overload protection.

[0027] In yet another embodiment, please refer to Figure 4 The yaw positioning unit 300 includes a horizontal yaw bracket 310 for mounting the laser detection unit 400, and a rotating bracket 320 is rotatably mounted at the center of the horizontal yaw bracket 310. The rotating bracket 320 is mounted in the middle of the vertical flipping bracket 220. Specifically, the horizontal sway frame 310 can rotate freely in the horizontal plane relative to the rotating frame 320. When the horizontal path to be measured on the road surface is not consistent with the extension direction of the vertical flipping frame 220, the horizontal sway frame 310 can be passively deflected relative to the rotating frame 320, so that the extension direction of the rotating frame 320 is consistent with the horizontal path to be measured on the road surface. This makes the laser measurement path of the laser detection unit 400 coincide with the horizontal path to be measured on the road surface, thereby improving the consistency and accuracy of the flatness detection.

[0028] It is worth noting that the horizontal sway frame 310 can rotate freely in the horizontal plane around the rotating frame 320. When the extension direction of the vertical flipping frame 220 is at an angle to the transverse path to be measured on the road surface, the horizontal sway frame 310 and the laser detection unit 400 on it will passively and adaptively deflect under the guidance of the road surface, so that its extension direction is always consistent with the road surface path. This eliminates the measurement deviation caused by path misalignment in real time, ensures that the laser scanning line strictly follows the predetermined route, and fundamentally improves the spatial consistency and geometric accuracy of the data. The yaw positioning unit 300 is mounted on the leveled vertical tilting frame 220 via the rotating frame 320. The upper dynamic horizontal reference unit 200 is responsible for the stability of the horizontal attitude reference in the vertical direction, while the lower yaw positioning unit 300 is responsible for the adaptive correction of the direction in the horizontal plane. The two are completely decoupled in terms of motion degrees of freedom and do not interfere with each other, thus allowing the equipment to cope with two changes in the lateral slope of the road surface and the direction of the path curve at the same time, realizing the unity of reference stability and path conformity under complex working conditions.

[0029] Further, please refer to Figure 4 The laser detection unit 400 includes a mounting platform 410 movably mounted on a horizontal swing frame 310, and a laser measuring instrument 420 is mounted on the lower end face of the mounting platform 410. Specifically, when the horizontal swing frame 310 adaptively deflects to be consistent with the transverse path of the road surface to be measured, the mounting platform 410 moves at a constant speed from one end to the other along the horizontal swing frame 310, thereby driving the laser measuring instrument 420 to synchronously perform laser scanning measurement along the transverse path of the road surface to be measured, thereby obtaining the difference in smoothness of different areas under the same benchmark.

[0030] It should be noted that the dynamic horizontal reference unit 200 provides a horizontal moving track plane, and the yaw positioning unit 300 ensures that the track plane is aligned with the road surface path in the horizontal direction. Based on this physical reference, the laser data finally acquired effectively eliminates the systematic errors introduced by equipment posture, path deviation, etc., and can truly reflect the changes in the smoothness of the road surface itself. The laser measuring instrument 420 can be selected according to the accuracy requirements. The specific models can be TY-B1012A (resolution: 0.01mm, test accuracy: 0.5mm, sampling frequency: 10KHz) or JG-07(2P) (measurement range: 500mm, resolution: <0.05mm, accuracy: <0.5mm).

[0031] Furthermore, please refer to Figure 4 and Figure 5 The horizontal swing frame 310 has a sliding groove 330, and the mounting platform 410 is provided with a slider 430 that is slidably embedded in the sliding groove 330. The mounting platform 410 is also equipped with a transverse motor 440, and the output end of the transverse motor 440 is connected to a gear 450. The horizontal swing frame 310 is provided with a rack 340 that meshes with the gear 450. Specifically, the transverse motor 440 drives the gear 450 to rotate, and the meshing transmission between the gear 450 and the rack 340 drives the slider 430 to slide laterally along the slide groove 330, thereby realizing the lateral movement of the mounting platform 410 and the laser measuring instrument 420 to continuously laser scan and measure the road surface along the way.

[0032] It should be noted that the meshing transmission between gear 450 and rack 340 has the advantages of constant transmission ratio, no slippage, and high load-bearing capacity, which can ensure efficient and stable transmission of driving force and avoid positional inaccuracies caused by slippage. At the same time, the sliding of slider 430 in slide groove 330 constitutes a highly constrained precision linear guide mechanism, which can effectively limit the degree of freedom of mounting platform 410 in non-moving directions (such as swaying and torsion), ensuring that the moving trajectory of laser measuring instrument 420 is a stable and straight baseline, providing a guarantee for obtaining high-fidelity road profile data. It can also realize multiple modes such as variable speed scanning, reciprocating scanning, and fixed-point measurement, thereby flexibly adapting to complex needs such as different detection densities and re-measurement of key areas.

[0033] In further embodiments, please refer to Figure 4 and Figure 6 The horizontal sway frame 310 is also symmetrically provided with elastic support units 500 at both ends. The elastic support unit 500 includes a sleeve 510 vertically fixed to the end of the horizontal sway frame 310. A telescopic rod 520 is slidably sleeved on the lower end of the sleeve 510. A base 530 is provided at the bottom of the telescopic rod 520. A spring 540 is provided between the base 530 and the sleeve 510. The spring 540 is movably sleeved on the telescopic rod 520. Specifically, the telescopic rod 520 can slide and extend vertically along the sleeve 510. Under the elastic force of the spring 540, the telescopic rod 520 always maintains an extended posture, so that the base 530 at the lower end of the telescopic rod 520 always contacts the road surface. When there is an offset angle between the overall transverse path of the road surface to be measured and the vertical tilting frame 220, due to the difference in the flatness of different areas of the road surface, the horizontal tilting frame 310 can adaptively deflect. At the same time, the base 530 at the lower end of the telescopic rod 520 can automatically move to the relatively concave area of ​​the road surface under the elastic force of the spring 540, thereby maintaining the stability of the posture of the entire horizontal tilting frame 310 after deflection, thus providing a stable foundation for the subsequent movement and measurement process of the laser detection unit 400.

[0034] It should be noted that elastic support units 500 are set at both ends of the horizontal sway frame 310. Under the action of spring 540, the telescopic rod 520 can independently and in real time adapt to the micro-undulations of the road surface directly below it. When there is a local depression in the road surface, the spring 540 pushes the telescopic rod 520 to extend, ensuring that the base 530 always contacts the road surface; when encountering a protrusion, it retracts to buffer, so that when the horizontal sway frame 310 deflects, the support points at both ends can automatically find a stable contact surface, rather than being suspended or rigidly colliding. Thus, it provides an adaptive and flexible dynamic stability foundation for the entire deflection and measurement process on complex road surfaces. When there is an angle between the two paths to be measured, the height difference of the road surface on both sides of the path will produce unequal compression on the two elastic support units, thereby forming a torque on the horizontal swing frame 310 that causes it to turn. This directly converts the three-dimensional geometric information of the road surface into the mechanical feedback force for precise correction of the horizontal swing frame 310, making the deflection action more accurate and in line with the actual road surface direction. In addition, the movement of equipment and the irregularity of the road surface itself will generate high-frequency vibrations and impacts. Rigid supports will directly transmit all vibrations to the measuring unit. However, the spring 540 in this design actually constitutes a passive mechanical low-pass filter. It can effectively absorb and attenuate high-frequency small-amplitude vibrations from the road surface, preventing these interferences from being transmitted to the laser measuring instrument 420 through the horizontal swing arm 310. At the same time, it can maintain the stability of the macroscopic position through extension and retraction, thereby creating a relatively stable mechanical quiet zone, purifying the measurement environment, and improving the data signal-to-noise ratio.

[0035] Further, please refer to Figure 6 The base 530 has a ball bearing 550 movably embedded in its bottom, and the ball bearing 550 makes rolling contact with the road surface; Specifically, a ball bearing 550 is installed at the bottom of the base 530 to effectively reduce the frictional resistance between the base 530 and the road surface, thereby enabling the entire elastic support unit 500 to respond more quickly according to changes in road slope, allowing the base 530 to quickly find and reach the concave area corresponding to the path to be tested, and realizing the rapid swing of the horizontal swing frame 310.

[0036] It is worth noting that the introduction of the ball bearing 550 enables the horizontal yaw frame 310 to achieve smooth deflection with extremely low resistance under the action of the road surface guiding force, ensuring that the yaw action can follow the slight changes in the road surface direction in real time without lag; the continuous rolling of the ball bearing 550 fundamentally eliminates this nonlinear interference source, making the movement of the elastic support unit 500 and the adjustment of the entire yaw frame exceptionally smooth and continuous, creating an ideal working condition for dynamic stability for high-precision laser scanning.

[0037] Additionally, please see Figure 1 and Figure 2 Each of the two movable frames 100 is provided with a movable unit 700. The movable unit 700 includes several sets of rollers 710 rotatably mounted on the bottom of the movable frame 100 and a movable motor 720 fixed on one side of the movable frame 100. The output end of the movable motor 720 is connected to a drive wheel 730, and a track 740 is connected between the drive wheel 730 and each roller 710. Specifically, by driving the drive wheel 730 to rotate through the mobile motor 720, the rollers 710 and the track 740 can be moved, thereby enabling the two mobile frames 100 to move along the road surface. The movement of the two mobile frames 100 does not interfere with each other. By controlling the speed and direction of the two mobile motors 720, the forward, backward and turning operations of the entire detection device can be realized.

[0038] It should be noted that each of the two movable frames 100 is equipped with a complete track drive system consisting of a movable motor 720, drive wheel 730, roller 710 and track 740. This changes the traditional mode of inspection vehicles that rely on a single row of tires or a solid axle. The track 740 provides an extra-long and continuous ground contact area, which can effectively compensate for the small undulations and joint impacts of the road surface, and transform high-frequency bumps into low-frequency smooth motion, thereby suppressing vibration interference at the source of movement. The two side moving motors 720 can independently control the speed and steering. When detecting curves, the speed difference between the two side tracks can be controlled to achieve smooth and precise curve travel, ensuring that the center trajectory of the device strictly follows the center line of the road. This not only avoids the damage to the measurement benchmark caused by the inner slip or body twisting when traditional vehicles turn, but also enables the device to move forward, backward or turn flexibly, improving its mobility and detection adaptability in narrow and complex road conditions.

[0039] The specific embodiments of the present invention have been described above. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A laser detection device for highway smoothness, characterized in that, include: The mobile frame (100) is provided in two sets and symmetrically distributed on both sides; The dynamic horizontal reference unit (200) is movably set between the two movable frames (100). When there is a height difference between the two movable frames (100), the dynamic horizontal reference unit (200) always maintains itself in a horizontal position. The yaw positioning unit (300) is movably set on the dynamic horizontal reference unit (200) and is used to adaptively deflect relative to the dynamic horizontal reference unit (200) according to the slope of the road surface to be measured. A laser detection unit (400) is movably mounted on a yaw positioning unit (300) for performing laser measurements of the smoothness of the road surface under test along the extended path of the yaw positioning unit (300).

2. The laser detection device for highway smoothness according to claim 1, characterized in that, The dynamic horizontal reference unit (200) includes a hinge seat (210) fixed on one side of the dynamic horizontal reference unit (200) and an adjustment slot (230) opened on the other side of the dynamic horizontal reference unit (200). A vertical flipping frame (220) is rotatably mounted on the hinge seat (210), and one end of the vertical flipping frame (220) away from the hinge seat (210) moves through the adjustment slot (230).

3. The laser detection device for highway smoothness according to claim 2, characterized in that, It also includes a closed-loop adjustment unit (600), which includes an adjustment electric push rod (610) disposed in the adjustment slot (230). The adjustment electric push rod (610) is used to drive the end of the vertical flipping frame (220) away from the hinge seat (210) to flip up and down in the vertical plane. The vertical flipping frame (220) is also provided with an inclination sensor (620) for detecting the tilt angle of the vertical flipping frame (220). The moving frame (100) is provided with a controller (630), which is used to control the extension and retraction movement of the adjustment electric push rod (610) according to the tilt angle of the vertical flipping frame (220) obtained by the inclination sensor (620).

4. The laser detection device for highway smoothness according to claim 3, characterized in that, An adjustment frame (640) is installed at the output end of the electric adjustment push rod (610). A through slot (221) is provided at the end of the vertical flip frame (220) away from the hinge seat (210). A locking pin (650) that can move through the through slot (221) is provided on the adjustment frame (640).

5. The laser detection device for highway smoothness according to claim 2, characterized in that, The yaw positioning unit (300) includes a horizontal yaw bracket (310) for mounting the laser detection unit (400), and a rotating bracket (320) is rotatably mounted at the center of the horizontal yaw bracket (310), and the rotating bracket (320) is mounted in the middle of the vertical flipping bracket (220).

6. The laser detection device for highway smoothness according to claim 5, characterized in that, The laser detection unit (400) includes a mounting platform (410) movably mounted on a horizontal swing frame (310), and a laser measuring instrument (420) is mounted on the lower end face of the mounting platform (410).

7. The laser detection device for highway smoothness according to claim 6, characterized in that, The horizontal sway frame (310) has a groove (330) inside, and the mounting platform (410) is provided with a slider (430) that is slidably embedded in the groove (330). The mounting platform (410) is also equipped with a transverse motor (440), and the output end of the transverse motor (440) is connected to a gear (450). The horizontal sway frame (310) is provided with a rack (340) that meshes with the gear (450).

8. The laser detection device for highway smoothness according to claim 5, characterized in that, The horizontal sway frame (310) is also symmetrically provided with elastic support units (500) at both ends. The elastic support unit (500) includes a sleeve (510) vertically fixed to the end of the horizontal sway frame (310). A telescopic rod (520) is slidably sleeved on the lower end of the sleeve (510). A base (530) is provided at the bottom of the telescopic rod (520). A spring (540) is provided between the base (530) and the sleeve (510). The spring (540) is movably sleeved on the telescopic rod (520).

9. A laser detection device for highway smoothness according to claim 8, characterized in that, The base (530) has a ball bearing (550) movably embedded at its bottom, and the ball bearing (550) makes rolling contact with the road surface.

10. A laser detection device for highway smoothness according to claim 1, characterized in that, Both sides of the movable frame (100) are provided with a movable unit (700). The movable unit (700) includes several sets of rollers (710) rotatably mounted on the bottom of the movable frame (100) and a movable motor (720) fixed on one side of the movable frame (100). The output end of the movable motor (720) is connected to a drive wheel (730). The drive wheel (730) is connected to each roller (710) by a track (740).

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