CN108547202B - 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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- CN108547202B CN108547202B CN201810231157.3A CN201810231157A CN108547202B CN 108547202 B CN108547202 B CN 108547202B CN 201810231157 A CN201810231157 A CN 201810231157A CN 108547202 B CN108547202 B CN 108547202B
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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: establishing the road model of target road, 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 is first is that by way of sanitation cart carry, the characteristics of making full use of sanitation cart night work, periodic job, is restricted when overcoming development detection by traffic environment and is adversely affected to traffic bring, saved human cost；Second is that realizing the continuous monitoring of road periodically automation, overcome the disadvantage of traditional detection duty cycle length, the quality state for reflecting road by the lasting situation of change of road internal structure, solves that tradition needs that detection data is interpreted in manual analysis and bring working efficiency is low, data interpret the problems such as 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 technique
Currently, the method states such as town road, bridge pavement 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, generallys use and 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 height, low efficiency, the influence to traffic is bigger, and because white
Its road vehicle is more, and bring interference is larger, influences detection effect；On the other hand since urban road self structure is complicated,
Data are caused to interpret difficult (for example, there are holes for discovery underground in primary detection, but can not only obtain with a detection result
Know that the hole is the intrinsic design of road or collapsing for later period formation), it is not easy to realize the automatic detection of road condition and knot
Fruit determines, and these method detection cycles are longer, it is difficult to carry out road quality prediction of the development trend.
Summary of the invention
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, detection accuracy is high, testing result is reliable, high degree of automation, can carry 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: that (1) establishes the road of target road
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) are 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 road model is initialized in the step (1) are as follows: setting detects route and detects point by hand
It sets, first time positions the laser radar location data that each test point of target road detects as the laser radar of model
A reference value will test initial value of the result as the road quality state of each test point position.
Further, the step of carrying out road quality detection to target road in the step (2) includes: (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 with laser radar positioning datum value to obtain accurate position by laser radar location data
Confidence breath determines left-right position deviation of the sanitation cart in lane, is controlled by sensing point compensation device to Ground Penetrating Radar
Position compensation；(2.3) when sanitation cart reaches default test point, road quality detection is carried out by Ground Penetrating Radar；(2.4) record inspection
Survey result.
Further, the step of road quality detection being carried out to target road in the step (2) further include: (2.5) will inspection
It surveys the road quality testing result of the test point obtained and the road quality state value of the test point in road model is compared
Compared with if determining that road quality mutates at this beyond threshold value；(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 are as follows: will test being somebody's turn to do for acquisition
The road quality state value of the test point nearest ten times detections carries out in the road quality testing result and road model of test point
Compare, if judging that the test point road quality is receiving in range without departing from threshold value；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) are for 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, first is that 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
Traffic bring adverse effect, 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 tradition and manual analysis are needed to interpret detection data and bring work effect
Rate is low, data interpret 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 improve the precision and availability of detection data.
Detailed description of the invention
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 embodiment
Below in conjunction with attached drawing 1 to 4, a kind of road quality dynamic monitoring method based on sanitation cart of the present invention is further illustrated
Specific embodiment.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 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.
The method for initializing road model are as follows: 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 will test result work
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 drives at a constant speed and (is assumed to be 0.5 meter per second), then recorded in every 4 seconds test point information (including GPS position information,
Laser radar positioning datum value, road quality testing result, that is, Ground Penetrating Radar detected value) 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 by GPS module into the process, 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 approaches default test point position, pass through laser radar location data and laser radar positions base
Quasi- value is compared calculating to obtain elaborate position information, and the precision of the location information can achieve Centimeter Level；Pass through the position
Information and combined data analysis, determine left-right position deviation of the sanitation cart in lane, by sensing point compensation device to spy ground
Radar carries out left-right position compensation；The purpose of this step is, it is ensured that Ground Penetrating Radar is for a test point in repeated detection
Front and rear, left and right position it is consistent as far as possible, thus 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, road quality detection is carried out by Ground Penetrating Radar；
(2.4) testing result is recorded；
(2.5) it will test the road of the test point in the road quality testing result and road model of the test point of acquisition
Quality state value is compared, if exceeding threshold value, determines 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 manually interpreting to detection data is needed in method；
(2.6) early warning is carried out to the test point that road quality mutates；The early warning can be using local real-time early warning side
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, method particularly includes: it will test the road of the test point of acquisition
Road quality measurements are compared with the road quality state value of the test point nearest ten times detections 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 the factors such as ambient noise, season, weather, temperature interfere the variation or mistake brought into
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 period, 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 the road quality dynamic monitoring dress based on sanitation cart
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 sanitation cart caused by being swung left and right during traveling visit by Ground Penetrating Radar
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, for receiving the location information of 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 simultaneously also have receive user's initialization directive,
The functions such as testing result record, in real time/distant early warning are exported by way of Local or Remote.
It can be implemented by using the prior art using the specific method that mobile lidar carries out centimeter-level positioning to sanitation cart, example
Such as: intelligent vehicle Study of location [D] Shanghai Communications University of the Wu Shunxi based on laser radar, 2008；And Lv Hao, king
Application [J] laser magazine of the blue laser radar 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
State laser radar 2 quantity be 6, and come be mounted at the top of sanitation cart before, during and after three positions.The GPS module can
Be mounted on together at the top of sanitation cart with laser radar, preferable signal reception has been obtained, it can also be with controller 5 together
It is mounted on the bracket 41 of sensing point compensation device 4, to reduce cabling when installation.The control controller 5 can be set in
In order to operating in sanitation cart driver's cabin, or it is arranged on the bracket 41 of sensing point compensation device 4, walking when reducing installation
Line.
It as shown in Figure 3 and Figure 4, is the overall structure diagram of the sensing point compensation device 4.Sensing point compensation device 4
Generally rectangular configuration, inside are equipped with the coaster 42 for installing the rectangular box shape of 3 antenna of Ground Penetrating Radar 3 or Ground Penetrating Radar
(top cover of 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.Bracket 41 is equipped with water
Flat two guide rails 43 for being arranged and being parallel to each other, pulley 421 are used cooperatively with guide rail 43, realize coaster 42 on guide rail 43 along a left side
Right direction is mobile (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 is driven for driving, the sensing point compensation device 4 is additionally provided with driving device,
The driving device includes the rack gear 441 along the setting of 43 direction of guide rail, and the rack gear 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 gear is extended to, output end is equipped with gear 443 and is used cooperatively with rack gear 441.When three-way motor rotates, output shaft band movable tooth
443 rotation of wheel, gear 443 are engaged with rack gear 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；
For sanitation cart close to when presetting 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-right position of the sanitation cart in lane relative to default test point is inclined accordingly
Difference；
Left-right position deviation of the controller 5 according to sanitation cart in lane controls the bi-directional drive of 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-right position of Ground Penetrating Radar
Adjust compensation, it is ensured that the preset test point position of the 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 detects 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
Specific implementation of the invention is only limited to these instructions.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 of the invention
Protection scope.
Claims (6)
1. a kind of road quality dynamic monitoring method based on sanitation cart, characterized by 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) are repeated；
Wherein, include: to the step of target road progress road quality detection in the step (2)
(2.1) environmental sanitation vehicle carries out Primary Location by GPS module into the process, judges whether close to default test point；
(2.2) sanitation cart passes through laser radar location data and laser radar positioning datum value close to when presetting test point position
Calculating is compared to obtain elaborate position information, left-right position deviation of the sanitation cart in lane is determined, is mended by sensing point
It repays device and left-right position compensation is carried out to Ground Penetrating Radar；
(2.3) when sanitation cart reaches default test point, road quality detection is carried out by Ground Penetrating Radar；
(2.4) testing result is recorded；
The sensing point compensation device is by bracket carry in sanitation cart tail portion；It is equipped with inside sensing point compensation device for installing
The coaster of Ground Penetrating Radar, coaster outside are equipped with pulley；Pulley is used cooperatively with the guide rail being arranged on bracket, realizes that coaster is being led
It is moved in left-right direction on rail；The sensing point compensation device is additionally provided with the driving for driving coaster controlled motion on guide rail
Device, the driving device includes the rack gear along guide rail direction setting, and setting is in supratrochlear bi-directional drive motor, described
The output end of bi-directional drive motor is equipped with the gear being used cooperatively with rack gear.
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 in are as follows:
Setting detection route and test point position by hand, the laser radar that first time detects each test point of target road
Laser radar positioning datum value of the location data as model, will test road quality shape of the result as each test point position
The initial value of state.
4. the road quality dynamic monitoring method according to claim 3 based on sanitation cart, it is characterised in that: the step
(2) the step of road quality detection is carried out to target road in further include:
(2.5) it will test the road quality of the test point in the road quality testing result and road model of the test point of acquisition
State value is compared, if exceeding threshold value, determines that road quality mutates at this；
(2.6) early warning is carried out to the test point that road quality mutates.
5. the road quality dynamic monitoring method according to claim 4 based on sanitation cart, it is characterised in that: the step
(3) method of road collapsion early warning is carried out according to testing result are as follows:
It will test the test point nearest ten times in the road quality testing result and road model of the test point of acquisition roads
Quality state value is compared, if judging that the test point road quality is receiving in range without departing from threshold value；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.
6. the road quality dynamic monitoring method according to claim 5 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 period, draws the road quality change curve of test point, prejudges road
Quality Developing trend.
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| CN111175742B (en) * | 2020-01-17 | 2021-11-19 | 中国矿业大学(北京) | Pendulum type ground penetrating radar data acquisition device |
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| CN203270425U (en) * | 2013-04-16 | 2013-11-06 | 王文齿 | Anti-interference type road detection vehicle |
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| CN107705234A (en) * | 2017-08-31 | 2018-02-16 | 昆明理工大学 | A kind of system supervised using vehicle road pavement quality and its monitoring and managing method |
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| US8935057B2 (en) * | 2012-01-17 | 2015-01-13 | LimnTech LLC | Roadway mark data acquisition and analysis apparatus, systems, and methods |
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|---|---|---|---|---|
| KR20090010461A (en) * | 2007-07-23 | 2009-01-30 | 이광주 | Apparatus to dry road |
| CN203270425U (en) * | 2013-04-16 | 2013-11-06 | 王文齿 | Anti-interference type road detection vehicle |
| CN204059168U (en) * | 2014-08-22 | 2014-12-31 | 丽水至临高科信息科技有限公司 | A kind of earth subsidence probe vehicles |
| CN107705234A (en) * | 2017-08-31 | 2018-02-16 | 昆明理工大学 | A kind of system supervised using vehicle road pavement quality and its monitoring and managing method |
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