CN108547202A - A kind of road quality dynamic monitoring method based on sanitation cart - Google Patents
A kind of road quality dynamic monitoring method based on sanitation cart Download PDFInfo
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- CN108547202A CN108547202A CN201810231157.3A CN201810231157A CN108547202A CN 108547202 A CN108547202 A CN 108547202A CN 201810231157 A CN201810231157 A CN 201810231157A CN 108547202 A CN108547202 A CN 108547202A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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Abstract
A kind of road quality dynamic monitoring method based on sanitation cart, steps are as follows：The road model of target road is established, and is initialized；Using road quality dynamic monitor of the carry on sanitation cart, road quality detection is carried out to target road；Comparative analysis data variation according to testing result infers road quality change information.The present invention one is the characteristics of making full use of sanitation cart night work, periodic job by way of sanitation cart carry, is restricted by traffic environment when overcoming development detection and to the adverse effect that traffic is brought, has saved human cost；Second is that realizing the continuous monitoring of road periodically automation, overcome the disadvantage of traditional detection work period length, the quality state for reflecting road by the lasting situation of change of road internal structure solves the problems such as traditional working efficiency for needing manual analysis to understand detection data and bring is low, data deciphering is difficult；The three sensing point compensation method and compensation device there is provided a set of automation improves the accuracy of radar detection positioning, to improve the precision and availability of detection data.
Description
Technical field
The invention belongs to road condition detection technique fields, are related to a kind of road quality dynamic monitoring side based on sanitation cart
Method.
Background technology
Currently, to the method that the states such as town road, bridge pavement are detected mainly have road core detection method and
The lossless detection methods such as Ground Penetrating Radar, ultrasonic wave, image, surface wave detection.Road core detection method causes road pavement can not
Inverse damage.Lossless detection method belongs to the detection of the sampling to road structure, and generally use manually sets up an office detection or vehicle is taken
It carries equipment to be detected, one side constructing operation is complicated, and testing cost is high, efficiency is low, and the influence to traffic is bigger, and because white
Its road vehicle is more, and the interference brought is larger, influences detection result；On the other hand since urban road self structure is complicated,
Data are caused to understand difficult (for example, finding that there are holes for underground in primary detection, but can not only be obtained with a result of detection
Know that the hole is the intrinsic design of road or collapsing for later stage formation), it is not easy to realize the automatic detection of road condition and knot
Fruit judges, and these method detection cycles are longer, it is difficult to carry out road quality prediction of the development trend.
Invention content
It is an object of the invention to overcome the deficiencies of existing technologies, provide it is a kind of it is easy to operate, by transportation condition restrict it is small,
Detection cycle is short, at low cost, accuracy of detection is high, testing result is reliable, high degree of automation, can be carried out to road quality pre- in real time
Alert and long-term forecast the road quality dynamic monitoring method based on sanitation cart.
To achieve the above object, present invention employs following technical solutions：
A kind of road quality dynamic monitoring method based on sanitation cart, includes the following steps：(1) road of target road is established
Road model, and initialized；(2) utilize road quality dynamic monitor of the carry on sanitation cart, to target road into
The quality testing of trade road；(3) comparative analysis data variation, deduction road quality change information carry out road according to testing result
Collapse early warning；(4) step (2) to step (3) is repeated.
Further, the road model includes at least detection route, detects the GPS location letter for presetting test point on route
The road quality state value of the laser positioning a reference value of breath and each test point, each test point.
Further, the method for initialization road model is in the step (1)：Setting detection route and detection point by hand
It sets, first time positions the laser radar location data that each test point of target road is detected as the laser radar of model
A reference value, using testing result as the initial value of the road quality state of each test point position.
Further, include to the step of target road progress road quality detection in the step (2)：(2.1) sanitation cart
In traveling process, Primary Location is carried out by GPS module, is judged whether close to default test point；(2.2) sanitation cart is close default
When test point position, calculating is compared to obtain accurate position with laser radar positioning datum value by laser radar location data
Confidence ceases, and left and right position deviation of the judgement sanitation cart in track controls Ground Penetrating Radar by sensing point compensation device
Position compensation；(2.3) when sanitation cart reaches default test point, pass through Ground Penetrating Radar and carry out road quality detection；(2.4) record inspection
Survey result.
Further, further include to the step of target road progress road quality detection in the step (2)：It (2.5) will inspection
The road quality testing result and the road quality state value of the test point in road model for surveying the test point obtained are compared
Compared with if exceeding threshold value, judging at this that road quality mutates；(2.6) test point that road quality mutates is carried out
Early warning.
Further, the method that the step (3) carries out road collapsion early warning according to testing result is：It is somebody's turn to do detected
The road quality state value of nearest ten detections of the road quality testing result of test point and the test point in road model carries out
Compare, if without departing from threshold value, judges that the test point road quality is receiving in range；If certain detection exceeds threshold value, to this
Testing result is alarmed, and combines Other Engineering and environmental information comprehensive analysis to carry out road collapsion early warning by staff.
Further, the road quality dynamic monitoring method based on sanitation cart is further comprising the steps of：(5) it is directed to continuous
The road quality detection data of period draws the road quality change curve of test point, prejudges road quality development trend.
A kind of road quality dynamic monitoring method based on sanitation cart of the present invention, when by way of sanitation cart carry,
The characteristics of making full use of sanitation cart night work, periodic job is restricted and right when overcoming development detection by traffic environment
The adverse effect that traffic is brought, has saved human cost；It is detected from irregularly sampling property to short week second is that realizing Road Detection
The transformation that phase property continuously monitors is reflected the quality state of road by the lasting situation of change of road internal structure, realized
The automatic monitoring of road quality and long-term anticipation solve the traditional work for needing manual analysis to understand detection data and bring effect
Rate is low, data understand the problems such as difficult；Three there is provided the sensing point compensation device of a set of automation and compensation method, improves
The accuracy of radar detection positioning, to improving the precision and availability of detection data.
Description of the drawings
Fig. 1 is a kind of overall flow schematic diagram of the road quality dynamic monitoring method based on sanitation cart of embodiment 1；
Fig. 2 is a kind of overall structure diagram signal of the road quality dynamic monitor based on sanitation cart of embodiment 2
Figure；
Fig. 3 is a kind of the whole of the sensing point compensation device of the road quality dynamic monitor based on sanitation cart of embodiment 2
Body structural schematic diagram；
Fig. 4 is a kind of the another of the sensing point compensation device of the road quality dynamic monitor based on sanitation cart of embodiment 2
A kind of overall structure diagram.
Specific implementation mode
Below in conjunction with attached drawing 1 to 4, a kind of road quality dynamic monitoring method based on sanitation cart is further illustrated the present invention
Specific implementation mode.A kind of road quality dynamic monitoring method based on sanitation cart of the present invention is not limited to retouching for following embodiment
It states.
Embodiment 1：
As shown in Figure 1, be a kind of overall flow schematic diagram of the road quality dynamic monitoring method based on sanitation cart, including
Following steps：
1, the road model of target road is established, and is initialized.The road model includes at least detection route, inspection
It surveys on route and presets the GPS position information of test point and laser positioning a reference value, the road matter of each test point of each test point
Measure state value.
Initialization road model method be：Setting detection route and test point position by hand, by first time to target track
Laser radar positioning datum value of the laser radar location data that each test point in road is detected as model, testing result is made
For the initial value of the road quality state of each test point position.In practical operation, exercise on maps, initial setting can be first passed through
Detect route track and detection density (such as one test point of every 2 meters of settings)；When then carrying out first time Road Detection, keep
Sanitation cart at the uniform velocity travels and (is assumed to be 0.5 meter per second), then recorded in every 4 seconds test point information (including GPS position information,
The detected value of laser radar positioning datum value, road quality testing result, that is, Ground Penetrating Radar) it is used as initial value,.
2, the road quality dynamic monitor using carry on sanitation cart carries out road quality inspection to target road
It surveys.Specifically, the step of carrying out road quality detection to target road in the step (2) includes：
(2.1) environmental sanitation vehicle carries out Primary Location into the process by GPS module, judges whether close to default test point；
By GPS module Primary Location, the meter level positioning accuracy of sanitation cart may be implemented；
(2.2) when sanitation cart is close to default test point position, base is positioned by laser radar location data and laser radar
Quasi- value is compared calculating to obtain elaborate position information, and the precision of the location information can reach Centimeter Level；Pass through the position
Information and data analysis is combined, left and right position deviation of the judgement sanitation cart in track, by sensing point compensation device to visiting ground
Radar carries out left and right position compensation；The purpose of this step is, it is ensured that Ground Penetrating Radar is for a test point in repeated detection
Around position it is consistent as possible, to realize the test point duration data acquisition, sentence for the road quality of the test point
It is fixed that foundation is provided；
(2.3) when sanitation cart reaches default test point, pass through Ground Penetrating Radar and carry out road quality detection；
(2.4) testing result is recorded；
(2.5) by the road of the test point in the road quality testing result of the detected test point and road model
Quality state value is compared, if exceeding threshold value, judges that road quality mutates at this；For example, the radar of certain test point
Detection data shows occur hole suddenly below ground, and the test point is recorded as normal hard ground in model, then explanation exists
Occurs violent geologic change below ground during detecting twice, at this.This step uses the monitoring data of detection data and storage
The method compared carries out automatization judgement to whether the road quality of the test point mutates, overcomes traditional sampling Detection
The drawbacks of needing manually to understand detection data in method；
(2.6) early warning is carried out to the test point that road quality mutates；Local real-time early warning side may be used in the early warning
Formula, can also be by the way of remotely carrying out early warning to road quality monitoring center.
3, early warning is changed to road quality according to testing result, specific method is：By the road of the detected test point
Road quality measurements are compared with the road quality state value of nearest ten detections of the test point in road model, if not
Beyond threshold value, then it is assumed that the test point road quality is receiving in range；If certain detection exceed threshold value, to the testing result into
Row alarm combines Other Engineering and environmental information comprehensive analysis to carry out road collapsion early warning by staff.The mesh of this step
Be, eliminate road quality testing result because of the variation brought into of interference of the factors such as ambient noise, season, weather, temperature or mistake
Difference.
4, the period made in conjunction with environmental sanitation turner repeats step (2) to step (3), realizes the long term monitoring to road quality
It is acquired with the long term data of each test point road quality.
5, for the road quality detection data of continuous time section, the road quality change curve of test point is drawn, is prejudged
Road quality development trend.This step can periodically carry out on backstage, be completed by the means of manual or automaticization.
Embodiment 2：
The present embodiment provide it is a kind of can 1 the method for Application Example based on sanitation cart road quality dynamic monitoring dress
It sets.
As shown in Fig. 2, being a kind of road quality dynamic monitor carry based on sanitation cart of the present embodiment in sanitation cart
The overall structure diagram of tail portion specifically includes GPS module 1 of the carry on sanitation cart, for obtaining sanitation cart meter level position
Information；Laser radar 2, for obtaining sanitation cart Centimeter Level location information；Ground Penetrating Radar 3, for being detected to road quality；
Detecting location compensation device 4, for adjusting compensation because of sanitation cart Ground Penetrating Radar spy caused by being swung left and right during advancing
The left-right deviation that location is set；Controller 5, with GPS module 1,4 electricity of laser radar 2, Ground Penetrating Radar 3 and detecting location compensation device
Connection, the location information for receiving GPS module 1 and the generation of laser radar 2, to detecting location compensation device 4 and Ground Penetrating Radar 3
Working condition controlled, record road quality measurements.Controller 5 also have simultaneously receive user initialization directive,
The functions such as testing result record, in real time/distant early warning are exported by way of Local or Remote.
Prior art realization, example can be used in the specific method for carrying out centimeter-level positioning to sanitation cart using mobile lidar
Such as：Intelligent vehicle Study of location [D] Shanghai Communications Universitys of the Wu Shun happiness based on laser radar, 2008；And Lv Hao, king
Application [J] the laser magazines of blue laser radars in moving target positioning, 2016,37 (9)：72-75 etc..As a kind of optional
Embodiment, the quantity of the laser radar 2 is 3, three positions before, during and after being mounted at the top of sanitation cart；Or institute
The quantity for stating laser radar 2 is 6, and three positions before, during and after coming at the top of sanitation cart.The GPS module can
To be mounted at the top of sanitation cart together with laser radar, preferable signal reception has been obtained, it can also be with controller 5 together
On the holder 41 of sensing point compensation device 4, to reduce cabling when installing.The control controller 5 can be set to
In order to operating in sanitation cart driver's cabin, or it is arranged on the holder 41 of sensing point compensation device 4, walking when being installed with reducing
Line.
As shown in Figure 3 and Figure 4, it is the overall structure diagram of the sensing point compensation device 4.Sensing point compensation device 4
Generally rectangular configuration is internally provided with the coaster 42 of the rectangular box shape for installing 3 antenna of Ground Penetrating Radar 3 or Ground Penetrating Radar
(head cover that coaster 42 is not drawn into Fig. 2), the front and rear sides on the outside of coaster are respectively provided with two pulleys 421.Holder 41 is equipped with water
Flat two guide rails 43 for being arranged and being mutually parallel, pulley 421 are used cooperatively with guide rail 43, realize that coaster 42 is left in 43 upper edge of guide rail
Right direction moves (i.e. perpendicular to the left and right transverse shifting of sanitation cart direction of advance).
The controlled motion on guide rail 43 of coaster 42, the sensing point compensation device 4 is driven to be additionally provided with driving device for driving,
The driving device includes the rack 441 being arranged along 43 direction of guide rail, and the rack can be set up directly on a guide rail 43.Together
When, it is provided with bi-directional drive motor 442 on coaster 42, the output end of the bi-directional drive motor 442 is pierced by coaster 42 to downward
441 front of rack is extended to, output end is used cooperatively equipped with gear 443 with rack 441.When three-way motor rotates, output shaft band moving teeth
443 rotation of wheel, gear 443 are engaged with rack 441, can drive 42 or so transverse shifting of coaster.
The control process of the controller 5 is as follows：
Environmental sanitation vehicle is into the process, and controller 5 receives the meter level location information that GPS module 1 generates, to judge sanitation cart
Whether default test point is approached；
When sanitation cart is close to default test point position, controller 5 receives the Centimeter Level location information that laser radar 2 generates,
The exact position for obtaining sanitation cart is calculated, and judges that left and right position of the sanitation cart relative to default test point in track is inclined accordingly
Difference；
Left and right position deviation of the controller 5 according to sanitation cart in track, the bi-directional drive of control sensing point compensation device 4
Motor 442 acts, and driving coaster 42 moves left and right on guide rail, realizes Ground Penetrating Radar 3 or 3 antenna left and right position of Ground Penetrating Radar
Adjust compensation, it is ensured that the preset test point position of direction of advance face of Ground Penetrating Radar 3；
When sanitation cart reaches default test point position, controller 5 controls Ground Penetrating Radar 3 and is detected to test point, receives
And record the testing result of the generation of Ground Penetrating Radar 3；And judgement and early warning are carried out to the road quality situation of the test point.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (7)
1. a kind of road quality dynamic monitoring method based on sanitation cart, it is characterised in that：Include the following steps：
(1) road model of target road is established, and is initialized；
(2) road quality dynamic monitor of the carry on sanitation cart is utilized, road quality detection is carried out to target road；
(3) comparative analysis data variation, deduction road quality change information carry out road collapsion early warning according to testing result；
(4) step (2) to step (3) is repeated.
2. the road quality dynamic monitoring method according to claim 1 based on sanitation cart, it is characterised in that：The road
The laser positioning that model includes at least detection route, detects the GPS position information and each test point of presetting test point on route
The road quality state value of a reference value, each test point.
3. the road quality dynamic monitoring method according to claim 2 based on sanitation cart, it is characterised in that：The step
(1) method of initialization road model is in：
Setting detection route and test point position by hand, the laser radar that first time is detected each test point of target road
Laser radar positioning datum value of the location data as model, using testing result as the road quality shape of each test point position
The initial value of state.
4. the road quality dynamic monitoring method according to claim 1 based on sanitation cart, it is characterised in that：The step
(2) include to the step of target road progress road quality detection in：
(2.1) environmental sanitation vehicle carries out Primary Location into the process by GPS module, judges whether close to default test point；
(2.2) when sanitation cart is close to default test point position, pass through laser radar location data and laser radar positioning datum value
Calculating is compared to obtain elaborate position information, left and right position deviation of the judgement sanitation cart in track is mended by sensing point
It repays device and left and right position compensation is carried out to Ground Penetrating Radar；
(2.3) when sanitation cart reaches default test point, pass through Ground Penetrating Radar and carry out road quality detection；
(2.4) testing result is recorded.
5. the road quality dynamic monitoring method according to claim 4 based on sanitation cart, it is characterised in that：The step
(2) further include to the step of target road progress road quality detection in：
(2.5) by the road quality of the test point in the road quality testing result of the detected test point and road model
State value is compared, if exceeding threshold value, judges that road quality mutates at this；
(2.6) early warning is carried out to the test point that road quality mutates.
6. the road quality dynamic monitoring method according to claim 5 based on sanitation cart, it is characterised in that：The step
(3) method of progress road collapsion early warning is according to testing result：
By nearest ten roads of the test point in the road quality testing result of the detected test point and road model
Quality state value is compared, if without departing from threshold value, judges that the test point road quality is receiving in range；If certain is examined
Survey and exceed threshold value, alarm the testing result, by staff combine Other Engineering and environmental information comprehensive analysis into
Row road collapsion early warning.
7. the road quality dynamic monitoring method according to claim 6 based on sanitation cart, it is characterised in that：Further include with
Lower step：
(5) it is directed to the road quality detection data of continuous time section, draws the road quality change curve of test point, prejudges road
Quality Developing trend.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810231157.3A CN108547202B (en) | 2018-03-20 | 2018-03-20 | A kind of road quality dynamic monitoring method based on sanitation cart |
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| CN201810231157.3A CN108547202B (en) | 2018-03-20 | 2018-03-20 | A kind of road quality dynamic monitoring method based on sanitation cart |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111175742A (en) * | 2020-01-17 | 2020-05-19 | 中国矿业大学(北京) | Pendulum type ground penetrating radar data acquisition device |
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| CN108547202B (en) | 2019-03-29 |
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