75 results about "Road roughness" patented technology

The invention discloses a multi-mode rainy day area road flatness detection method by means of Carla training, and relates to the technical field of road flatness detection, and the method comprises the steps: collecting real rainy day road surface images and vehicle parameters, and constructing a real data set; a rainy day scene is simulated in Carla, and terrain, wet and slippery materials and weather are configured; the method comprises the following steps: acquiring multi-modal data such as simulation point cloud and acceleration through a laser radar and a vibration sensor, and constructing a simulation data set; fusing real and simulation data to train a multi-modal neural network; extracting and fusing point cloud and acceleration features; road height variances and ranges are predicted to assess flatness. According to the method, the problem of scarcity of real data in a rainy day environment is solved by using Carla to generate synthetic data, the real acquisition cost is reduced, the detection precision is remarkably improved, various rainfall intensities and terrains can be covered, data complementation of the laser radar and the vibration sensor is realized, and the robustness in a rainy day is improved through dynamic weighting of an attention mechanism.

The invention discloses an automobile semi-active suspension PID parameter adaptive adjustment and vibration control method and system based on reinforcement learning, and the method mainly comprises the following working steps: 1, constructing a reinforcement learning environment comprising a suspension dynamics high-fidelity simulation model and a PID controller; 2, defining a state space including a vehicle body vertical acceleration error e (t), an error integral term summa e (t) dt, an error differential term de (t) / dt, a suspension dynamic stroke zdef (t), a driving vehicle speed v (t) and road surface unevenness estimation xi (t); and 3, defining an action space including a proportion coefficient increment delta Kp, an integral coefficient increment delta Ki, a differential coefficient increment delta Kd and an output compensation amount delta e (t) of the PID controller. According to the method, the problem that the suspension performance is reduced due to the fact that control parameters of a traditional PID control method are fixed under the non-linear and time-varying working conditions is solved, and the riding comfort and the handling stability of the vehicle are remarkably improved.

The invention is suitable for the technical field of vehicle dynamics modeling and control, and provides a preview active suspension stiffness control method based on road surface grading and MAP mapping, and the method comprises the steps: collecting a road image through a vehicle-mounted visual sensor, dividing regions, and recognizing the road surface unevenness grade of each region through a convolutional neural network; obtaining the vehicle speed; and according to the current pavement grade and the vehicle speed, a vehicle speed-pavement grade-rigidity mapping MAP table generated in advance is inquired, and the target suspension rigidity is rapidly obtained and adjusted. According to the invention, the dependence on a high-precision sensor and a high-computing-power processor is reduced, and low-cost and fast-response rigidity optimization control of the preview active suspension is realized.

The invention discloses a vehicle air suspension height compensation method, device and equipment and a storage medium. Firstly, the driving state of a target vehicle, the road surface unevenness and the current heights (including the heights of the right front air bag, the left front air bag, the right rear air bag and the left rear air bag) of four air bags can be obtained. The average height of the front axle is then calculated from the heights of the right front and left front airbags, and the compensated height of the front axle is determined in conjunction with the target airbag height. Then, the right front air bag and the left front air bag are adjusted according to the compensated height, and balance of the front axle is ensured. And for the rear axle, the driving state of the vehicle, the road surface unevenness, the target height of the air bags and the current height of the right rear air bag and the current height of the left rear air bag are considered, and then corresponding height compensation is conducted on the two air bags of the rear axle. When the vehicle runs on different road shoulders, height compensation control between the air bags can be achieved, so that the heights of the four air bags are effectively coordinated, it is ensured that the vehicle body is kept balanced, and then driving safety and comfort are improved.

The invention provides a real-time multi-mode emergency patient treatment path intelligent matching method, an electronic device and a storage medium, and the method comprises the steps: obtaining the micro-strain wavelength offset and body surface pressure data of an intelligent textile in a body position movement process of a trauma patient in real time through an embedded fiber Bragg grating sensor; in combination with multi-axis acceleration data acquired by a multi-axis acceleration sensor on the transfer stretcher, generating a body surface pressure gradient distribution thermodynamic diagram; determining the position of a wound surface and extracting taboo bumping spectrum features; generating an initial candidate path set based on the bump frequency forbidden zone and a road roughness label in the electronic map, and screening out an optimal navigation path according to a turning centrifugal force threshold value; the moving speed of the transfer vehicle is obtained in real time through the vehicle-mounted positioning module, the transmission channel bandwidth of the preset broadcast channel is dynamically adjusted, and the optimal navigation path is sent to other terminals. According to the invention, the accuracy and real-time performance of the transfer path planning of the traumatic patient are improved.

The invention provides a multi-modal fusion road flatness intelligent detection method and system, and relates to the technical field of road flatness intelligent detection.The method comprises the steps that reflection spectrum information and radar echoes of a to-be-detected road are collected, and recombined spectrum data and normalized radar data are obtained through wave band recombination and normalization processing; separating material component information from the former, identifying a pavement ponding area from the latter, and fusing to generate a composite feature map; carrying out super-resolution processing on the image by using a generative adversarial network to obtain a processed feature map containing concave-convex numerical values of each sampling point; and finally, carrying out cooperative calculation on the image and elevation data of the road to be detected, generating a flatness evaluation result, and realizing intelligent detection and evaluation of the road flatness through multi-modal data fusion and super-resolution processing.

The invention discloses a vehicle torque adjusting method and device and a storage medium, and relates to the technical field of torque adjusting.The method comprises the steps that acceleration data and wheel speed data of a vehicle in the driving process are obtained; determining a vertical motion sickness coefficient according to the acceleration data; determining a pavement roughness coefficient according to the wheel speed data; and according to the pavement roughness coefficient and the vertical motion sickness coefficient, the current demand torque of the vehicle is filtered, and the target demand torque is obtained. The road condition and the carsickness condition of a user are comprehensively considered, so that the required torque of the vehicle is dynamically adjusted according to the road roughness coefficient and the vertical motion sickness coefficient, the torque adjusting effect is improved, sudden power change caused by sudden road change or driving behaviors is reduced, stable operation of a vehicle power system is kept, and the driving safety of the vehicle is improved. And the driving comfort is improved according to the carsickness degree of the passenger while the performance of each driving mode is not influenced.

The utility model relates to road detection technical field especially, it relates to a road flatness intelligent detection device, including main control circuit, multichannel capacitance sensor array, electromagnetic shield casing, the multichannel capacitance sensor array is by the multiple capacitive proximity sensor that is arranged in matrix, is fixed in detection device bottom, the multichannel capacitance sensor array adopts differential type measurement structure, and is equipped with the isolation drive ring between adjacent capacitive proximity sensor, the signal conditioning circuit is connected between the multichannel capacitance sensor array and main control circuit, the inertia measurement unit is connected to main control circuit, the electromagnetic shield casing covers the device, adopts the layered shielding structure, contains at least one conducting layer and a layer electromagnetic shield layer, and is connected through multipoint earthing between layers, the utility model can adopt multichannel capacitance sensor array and realize high accuracy, non -contact type measurement, and through the electromagnetic shield design, temperature compensation and attitude change compensation of the target ensure measurement stability.

The invention relates to the technical field of road building materials, in particular to anti-ultraviolet aging asphalt and a preparation method thereof.The anti-ultraviolet aging asphalt is prepared from matrix asphalt, composite modified rubber, reinforcing filler, antioxidant and stearamide, the preparation method comprises the steps that A, after the matrix asphalt is heated and stirred to be uniform, the stearamide is added, stirring continues to be conducted, and pretreated asphalt is obtained; step B, adding composite modified rubber into the pretreated asphalt, adjusting the temperature to 170-190 DEG C, performing high-speed shearing, adding a reinforcing filler, keeping the temperature to 160-170 DEG C, performing high-speed shearing, cooling to 140-150 DEG C, adding an antioxidant, and uniformly stirring to obtain an asphalt intermediate; step C, performing constant-temperature curing on the asphalt intermediate, and naturally cooling to normal temperature to obtain the anti-ultraviolet aging asphalt. The prepared anti-ultraviolet aging asphalt has excellent anti-ultraviolet aging capability, so that the performance degradation caused by environmental factors can be reduced, and the flatness and comfort of a road are improved.

The application discloses a kind of based on multi-angle weighting correction's road surface flatness measurement method and system, it is related to data measurement technical field, method includes: obtaining to be measured section and measurement route, obtain laser sensor, the elevation data of measurement point in measurement route is collected;Obtain initial weight coefficient, obtain the reflection intensity of laser sensor, according to the reflection intensity of the laser sensor corresponding to measurement point the correction coefficient of the laser sensor corresponding to measurement point is obtained;According to the correction coefficient of the laser sensor corresponding to measurement point and initial weight coefficient, the target weight coefficient of the laser sensor corresponding to measurement point is obtained;According to the target weight coefficient of the laser sensor corresponding to measurement point and elevation data, the target elevation data corresponding to measurement point is obtained, according to the target elevation data of measurement point in measurement route, the road surface flatness of to be measured section is obtained.The application has the advantages of dynamic self-adaptability, weighted fusion and tolerance expansion optimization.

The present invention relates to the technical field of road pavement slabs, and to a road pavement slab. The road pavement slab comprises a pavement slab body. Connecting rod members are evenly arranged and spaced apart in the pavement slab body. The connecting rod members are variable-diameter rods; a thin end of each variable-diameter rod is a solid rod, and a thick end thereof is provided with a deep connecting hole. The solid rod at the thin end of one connecting rod member can be in fit connection with the deep connecting hole at the thick end of the another connecting rod member. The connecting rod members are embedded in the pavement slab body, the thin ends extend from one end surface of the pavement slab body, and the end portions of the thick ends are flush with the opposite end surface of the pavement slab body. The advantages of the present invention are: low cost and a high pavement speed are achieved; a paved road has high flatness and good stability, is not prone to damage and is suitable for a vehicle to pass through; and the road pavement slab is particular suitable for rapid pavement in rural areas to improve road conditions.

The invention relates to the technical field of vehicle suspensions, and provides a suspension damping compensation method and system and related equipment. The suspension damping compensation method comprises the following steps: monitoring driving state parameters of a vehicle in response to the condition that the total mileage of the vehicle meets a mileage threshold value; in response to the driving state parameters, representing that the vehicle is in a steady-state working condition, detecting road surface roughness and an output electric signal of an electric control shock absorber in a suspension; responding to the condition that the current output electric signal meets the compensation condition corresponding to the current road surface roughness, and obtaining a current compensation current value corresponding to the current mileage value of the vehicle according to the mapping relation between the mileage value and the compensation current value; and according to the current compensation current value, damping output of the electric control shock absorber is compensated. According to the suspension damping compensation method, damping compensation of the electric control shock absorber of the suspension is achieved in a low-cost, anti-false-triggering, high-precision and high-reliability mode, the damping performance of the electric control shock absorber and the cushioning function of the suspension are effectively maintained, and comfort, controllability and safety of the whole vehicle are guaranteed.

This invention relates to the field of roadbed strength, specifically to a method for detecting the strength of highway roadbeds based on a semi-empirical modified curve. This invention records the pressure and displacement during impact using sensors on a falling weight deflectometer, calculates the vertical displacement of the road surface, selects a Beckman beam deflectometer and a test vehicle, installs the Beckman beam deflectometer between the two rear wheels of the test vehicle, corrects the test vehicle parameters, calculates the deflection value, corrects the diameter of the left and right tires of the test vehicle to 22.35 cm, and corrects the ground pressure of the left and right tires of the test vehicle to 0.75 MPa. The vertical displacement and deflection values ​​measured in steps (2) and (3) are recorded and compared with the national highway roadbed strength standard, thereby achieving rapid detection of roadbed strength without damaging the road structure. Furthermore, the test vehicle can be used to detect and evaluate the road smoothness of the selected road.

The present application relates to the technical field of vehicle steering control, and particularly relates to a rack force fusion estimation method for different working conditions of steer-by-wire based on fuzzy control, which comprises the following steps: collecting road roughness, judging whether it is not less than a first threshold value, if yes, measuring a first rack force based on a rack force estimator of a vehicle-tire model, otherwise collecting an actual vehicle speed; judging whether the vehicle speed is less than a second threshold value, if yes, measuring a second rack force based on a rack force estimator of a steering system model, otherwise judging whether the vehicle speed is less than a third threshold value, if yes, measuring the first rack force, otherwise measuring a front wheel steering angle of the vehicle, and judging whether it is not greater than a fourth threshold value, if yes, measuring the first rack force, otherwise measuring the second rack force; adopting fuzzy control when the first and second rack forces are converted, so as to realize smooth connection of the rack force estimation value under different working conditions. Thus, the problem that the applicability of the rack force estimator under bumping road, different vehicle speeds and steering angles is not fully studied in the steer-by-wire system is solved.

The invention discloses a road surface unevenness recognition method and device based on a physical information neural network, a medium and a vehicle, and relates to the field of road recognition, and the method comprises the steps: combining a kinetic equation of a suspension system with a neural network, and constructing a neural network model based on physical information; acquiring acceleration data of the suspension system on the to-be-identified road surface; adopting a neural network model based on physical information to obtain a pavement elevation recognition result based on the acceleration data; and representing the road surface unevenness by adopting a road surface elevation recognition result. According to the method, the complexity of an algorithm can be reduced, meanwhile, the physical interpretability is improved, richer road surface information is provided for dynamic control of a suspension system, and then the driving smoothness and riding comfort of a vehicle are improved.

The invention discloses a road flatness detection device and method for highway construction, and relates to the technical field of road detection.The road flatness detection device comprises a detection vehicle body, and a cleaning frame is fixedly installed on the outer wall of one side of the detection vehicle body; through the arrangement of a mounting frame, a moving block, a mounting box, a detection roller, a detection block, a displacement sensor, a detection camera, a first spraying box, a second spraying box, an electromagnetic valve, a marking nozzle and an information processor, when the detection roller makes contact with a protruding road surface, the detection roller moves upwards and drives the detection block to move upwards at the same time; the height of a protruding road surface is detected through the displacement sensor, crack information of the road surface is collected in cooperation with the detection camera, data processing is carried out through the information processor, spraying marking is carried out on the protruding road surface and the road surface with cracks, and pits and protrusions of the road surface are rapidly detected and marked. And follow-up workers can conveniently maintain the road surface, uneven and cracked road sections can be clearly found, and the working efficiency is improved.

The present invention is a method that works under the control of at least one controller (10) in line with the data stored in at least one memory unit (11) with data received from multiple sensors of the vehicle by analysing the handling inputs and riding inputs depending on the vehicle characteristics in order to predict the road profiles in vehicles; characterized by, determining the bouncing, pitching, rolling and yawing manoeuvres that occur as a result of the mentioned handling inputs by estimating them in line with at least one mathematical model, and analytically removing the influence of handling inputs, detecting pure road undulation and road roughness with an artificial neural network model consisting of at least one node in line with the measured lateral and longitudinal road slope data so as to eliminate the effect of handling inputs on data received from sensors.

This invention discloses a method, system, electronic device, and medium for controlling the roof and ground of a vehicle's semi-active suspension. The method includes: determining the roof control damping force based on the sprung vertical velocity, the unsprung vertical velocity, and the roof damping coefficient; determining the ground control damping force based on the sprung vertical velocity, the unsprung vertical velocity, and the ground damping coefficient; determining the road roughness based on the vehicle's pitch angular velocity, vehicle roll angular velocity, unsprung vertical acceleration, and unsprung vertical velocity; determining the shock absorber operating mode based on the driving mode; determining the roof and ground distribution coefficient based on the road roughness and the shock absorber operating mode; determining the target damping force based on the roof control damping force, the ground control damping force, and the roof and ground distribution coefficient; and then controlling the vehicle's vibration based on the target damping force. This invention improves the accuracy of semi-active suspension control, thereby improving vehicle ride comfort, handling stability, and driving safety, and can be applied to the field of vehicle control technology.

The present invention provides a method for detecting the road flatness of driverless mining trucks, belonging to the technical field of road detection. The method includes: designing the original elevation data of the path corresponding to the starting point and the target point of the driving path of the driverless mining truck, and establishing a three-dimensional road surface model, wherein the three-dimensional road surface model is used to reflect the elevation of each position point on the road surface; dividing the three-dimensional road surface model into multiple sub-regions, collecting the three-dimensional data of each sub-region at the current moment, and splicing the three-dimensional data of the adjacent sub-regions collected; dividing the road sections according to the splicing result, determining the road surface hierarchical structure of each divided road section; analyzing the cross-section line of the road surface hierarchical structure to determine the flatness of the corresponding divided road section, and further determining the comprehensive flatness of the designed path, so as to realize the detection of road flatness. It solves the problem that the road flatness cannot be detected in real time, reducing the safety of the mining truck driving.

The application discloses a road surface longitudinal section Gaussian filtering method fusing Nyquist theorem. The method comprises the following steps: (1) determining a sampling interval and a cutoff wavelength; (2) determining a Gaussian template length according to Nyquist sampling theorem; (3) judging and completing boundary points; (4) calculating relevant parameters and obtaining a final Gaussian template; and (5) low-pass and high-pass Gaussian filtering. The application provides an efficient and accurate method for road longitudinal section profile filtering, can effectively weaken IRI insensitive wavelength components, maximally retains original profiles of specified wavelength bands, is not limited by a sampling interval, improves the precision of international roughness index calculation, and has important significance in road roughness detection.

The utility model discloses engineering road construction detection equipment which comprises a mounting frame and first universal wheels, a first vertical plate and a second vertical plate are fixed to the top of the mounting frame, a mounting plate is fixed between the first vertical plate and the second vertical plate, a sliding groove is formed in the mounting plate in a penetrating mode, and a mounting block in sliding fit with the sliding groove is arranged on the mounting plate; the mounting block and the first vertical plate are jointly provided with a detection assembly. The detection assembly comprises a vertical rod which is arranged on the installation block in a penetrating mode and is in sliding fit with the installation block, a top plate fixed to the upper end of the vertical rod, a baffle fixed to the top of the top plate, a spring which is arranged on the vertical rod in a sleeving mode and is fixed between the bottom of the top plate and the top of the installation block, and a first infrared distance measuring sensor fixed to a first vertical plate. Second universal wheels are arranged at the lower ends of the vertical rods, the bottoms of the second universal wheels are flush with the bottoms of the first universal wheels, and a displayer, a controller and an alarm which are electrically connected with the first infrared distance measuring sensor are fixed to the first vertical plate. According to the invention, the road flatness can be conveniently detected.

The application is suitable for the field of bridge multi-order frequency identification method, and provides a bridge multi-order frequency indirect identification method based on vehicle-road-bridge information decoupling, which comprises the following steps: step S1: based on vehicle-bridge coupling dynamics equation, the coupling relationship among vehicle, road and bridge is established; step S2: by using dimensionless parameters, the road roughness information in the coupling system is completely eliminated from the difference between the front and rear wheel responses of the double-axle vehicle, and the vehicle and bridge information are separated; step S3: finally, according to the size of the driving speed, different subspace identification algorithms are selected to indirectly obtain the multi-order frequency of the bridge from the vehicle response. The technical problems of the adverse effect of road roughness in the process of indirectly identifying the bridge frequency through the vehicle response and the limitation of the vehicle driving speed are solved.

The invention discloses a method for testing a dry ground adhesion coefficient of an automobile tire. The method comprises the following steps: determining a test speed range; the tractor runs in the test road section at the first output power, and the surface temperature of tires and the speed of the tractor are detected; calculating a dynamic adhesive force coefficient, correcting the dynamic adhesive force coefficient, and recording the corrected dynamic adhesive force coefficient as a standard dynamic adhesive force coefficient; determining a correction coefficient; acquiring the surface roughness of the road surface on the driving path of the to-be-tested tire on the trailer, and the longitudinal force and the transverse force borne by the trailer; and calculating the standard dynamic adhesion coefficient of the tire to be tested, and correcting the standard dynamic adhesion coefficient by using the correction coefficient to obtain the dry ground adhesion coefficient of the tire. According to the method, the corresponding relation between the real-time roughness and the correction coefficient is established, the adhesive force deviation caused by pavement roughness changes is compensated in a targeted mode, and the high-precision requirements of tire basic performance evaluation and road safety monitoring can be met.

The invention relates to the technical field of suspensions, and discloses an active self-adaptive control method for a damping suspension, which comprises the following steps: acquiring parameters of a road to be driven and parameters of the suspension in the driving process, judging whether the damping force needs to be adjusted according to the acquired road flatness and the parameters of the suspension in the driving process, and if yes, judging whether the damping force needs to be adjusted; if adjustment is judged, an adjustment coefficient is obtained through fuzzy PID control based on particle swarm optimization optimization according to the road flatness and the ramp coefficient, the damping force is adjusted through the adjustment coefficient, and a damping force adjustment value is obtained; the damping force adjustment value is corrected according to the suspension performance evaluation index, if it is judged that correction is needed, a correction coefficient is obtained according to the evaluation index based on fuzzy PID control after particle swarm optimization, the damping force adjustment value is corrected according to the correction coefficient, and a damping force final value is obtained; and storing the to-be-driven road parameter, the vehicle driving parameter, the adjustment coefficient, the damping force adjustment value, the correction coefficient and the damping force final value. The active self-adaptive adjustment of the suspension is realized, and the driving smoothness and stability are improved.

This utility model provides a traffic road smoothness detection device, including a mounting frame; a mounting groove is provided at the top of the mounting frame, through which a control module passes, and a display is also installed in the mounting groove, electrically connected to the control module; an infrared detector is also provided on one side of the mounting frame, electrically connected to the control module; multiple sets of mounting parts and multiple sets of clips and slots are evenly arranged inside the mounting frame, and a connecting frame is rotatably provided in each of the multiple sets of mounting parts; distance sensors are installed in each of the multiple sets of clips and slots, and the multiple sets of distance sensors are connected to the control module through connectors; an assembly is also connected to the connecting frame, and a positioning rod is rotatably provided at the top of the assembly; a positioning plate is also provided inside the mounting frame, and the positioning plate has through holes corresponding to the clips and slots, with the positioning rod passing through the through holes. The device connects the infrared detector and multiple sets of distance sensors to the control module, and the two work together to detect smoothness, rut depth, crack width, etc., thereby improving detection accuracy and efficiency.

The invention discloses a lane selection and lane change control method based on lane level road flatness information. The method is executed when a vehicle intelligent driving or auxiliary driving system is started and a vehicle runs on a one-way multi-lane road. The system obtains lane-level positioning results regularly or irregularly, collects data, evaluates the road flatness of a current driving lane, and uploads the road flatness to a map provider. The system also regularly or irregularly queries and controls the vehicle to keep or change to the optimal lane for driving according to the road flatness information of each traffic lane of the current road provided by the map provider. Meanwhile, the system receives a voice lane change instruction sent by a driver based on visual observation and / or somatosensory perception of road flatness, and controls the vehicle to execute lane change. And when the vehicle changes the lane due to the reason that the vehicle does not drive out of the road, evaluating the road flatness of the lane after lane change, comparing the road flatness with the original lane before lane change, and controlling the vehicle to turn back to the original lane if the lane change is poor.

The invention relates to the technical field of vehicle driving control, and discloses an active self-adaptive vehicle damping control method and system.The method comprises the steps that parameters of a road to be driven and vehicle driving parameters are collected; whether the driving speed is adjusted or not is judged according to the road flatness and the driving speed, if adjustment is judged, an adjustment coefficient is obtained according to the road flatness and the road slope, the driving speed is adjusted through the adjustment coefficient, and a driving speed adjustment value is obtained; whether the driving speed adjustment value is corrected or not is judged according to the vehicle load weight, if yes, a correction coefficient is obtained according to the load weight, the driving speed adjustment value is corrected according to the correction coefficient, and a driving speed final value is obtained; and storing the to-be-driven road parameter, the vehicle driving parameter, the adjustment coefficient, the driving speed adjustment value, the correction coefficient and the driving speed final value. Accurate damping control of the vehicle is achieved.

The utility model discloses a simple adjustable well lid installing and positioning device which comprises a door-shaped frame body structure, adjustable limiting grooves are formed in the two ends of the top of the frame body structure, harness screws are horizontally arranged in the adjustable limiting grooves in a sliding mode, the harness screws are vertically arranged, the top ends of the harness screws are in threaded connection with adjusting nuts, and the top ends of the adjusting nuts are in threaded connection with the door-shaped frame body structure. Harness screw rods are arranged on the two sides of the frame body structure, the distance between the harness screw rods located on the two sides of the frame body structure is smaller than the outer diameter of the well lid, and the width of the frame body structure is larger than the outer diameter of the well lid. The manhole cover is simple in structure and convenient to mount and demount, effectively avoids unevenness of the manhole cover, improves road flatness, reduces noise pollution and greatly reduces follow-up operation and maintenance cost.

The utility model discloses a road flatness detection sensing device, which relates to the technical field of road flatness detection and comprises a movable seat and a protective assembly, a fixed seat is mounted at the rear end of the upper surface of the movable seat, a pushing handrail is arranged on the upper surface of the fixed seat, and the protective assembly is arranged on the surface of the movable seat. And the protection assembly comprises a fixed frame, limiting sliding grooves, limiting sliding blocks, a protection sliding cover, a protection box, a protection cover, a heat dissipation opening, a heat dissipation cavity and a dustproof net, the fixed frame is arranged on the lower side of the movable seat, the limiting sliding grooves are formed in the surfaces of the two sides of the fixed frame, and the limiting sliding blocks are slidably connected to the inner sides of the limiting sliding grooves. According to the road flatness detection sensing device, the detection sensing mechanism can be protected by the device through the protection assembly, the detection mechanism can be prevented from being damaged, garbage can be pushed away by the device through the baffle assembly in the pushing process, and the influence of garbage, stones and the like on the ground on a detection result is avoided.