CN110629647B - Method for acquiring road surface elevation data at any speed based on time triggering - Google Patents
Method for acquiring road surface elevation data at any speed based on time triggering Download PDFInfo
- Publication number
- CN110629647B CN110629647B CN201910907933.1A CN201910907933A CN110629647B CN 110629647 B CN110629647 B CN 110629647B CN 201910907933 A CN201910907933 A CN 201910907933A CN 110629647 B CN110629647 B CN 110629647B
- Authority
- CN
- China
- Prior art keywords
- time
- encoder
- road surface
- range finder
- laser range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to the field of road surface condition detection, and particularly relates to a time-triggered method for acquiring road surface elevation data at any speed. The invention adopts a coder and a laser range finder to form an acquisition system, the coder and the laser range finder cooperatively work on a uniform computer time axis to complete an acquisition task, and then the equal-interval distance acquisition is realized through the later data processing. According to the invention, the corresponding road surface relative elevation value is obtained through the corresponding relation between the time and the elevation value point, so that the equal-interval distance acquisition is realized.
Description
Technical Field
The invention belongs to the field of road surface condition detection, and particularly relates to a time-triggered method for acquiring road surface elevation data at any speed.
Background
The relative elevation data of the road surface is very important data in the detection of the road surface condition of the road, and important indexes such as the flatness of the road surface, the depth of the road surface structure, the road surface abrasion index, the road surface vehicle jumping index and the like can be calculated through the relative elevation data of the road surface. The general method for acquiring the relative elevation data of the road surface at present adopts a laser distance measuring machine based on point laser, is loaded on a vehicle, and uninterruptedly acquires the relative elevation value of the road surface during the traveling so as to realize the rapid detection of the relative elevation of the road surface.
At present, in domestic road detection regulations and related standards, values of relative elevation data of a road surface at equal intervals are generally required. Most of laser range finders based on point laser in the market acquire data uninterruptedly according to self-set internal time signals under a certain fixed frequency, the acquisition mode is time trigger acquisition, and the acquisition of relative height values of a road surface at equal intervals cannot be realized under the condition of variation of the traveling speed. The laser distance measuring machine works under a fixed collecting frequency, after collection is started, when the detection travelling speed is slow or the vehicle is stopped, a large amount of repeated data can exist in the relative elevation data of the road surface, the detection travelling speed is slow, the spacing distance between the relative elevation data of the road surface is small, the detection travelling speed is high, the spacing distance between the relative elevation data of the road surface is large, and a large measuring error is caused.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for acquiring any vehicle speed elevation data based on time triggering. The invention adopts a coder and a laser range finder to form an acquisition system, the coder and the laser range finder cooperatively work on a uniform computer time axis to complete an acquisition task, and then the equal-interval distance acquisition is realized through the later data processing. According to the invention, the corresponding road surface relative elevation value is obtained through the corresponding relation between the time and the elevation value point, so that the equal-interval distance acquisition is realized.
The technical scheme of the invention is as follows: a method for acquiring any vehicle speed elevation data based on time triggering is characterized by comprising the following steps: the method comprises the following steps:
step A, calibrating an encoder: determining the vehicle running distance corresponding to each pulse output by the encoder;
b, data acquisition: when the collection is started, the time t for the laser range finder to start measuring is recorded firstbKeeping the relative elevation value N of the road surface according to the smoothness; the laser range finder starts to record the current time t measured by the encoder after starting to measurekAnd the current driving distance skAnd keeping according to the sequence; time tbAnd time tkTaking the starting time of the computer as a reference;
step C, unifying the time axis: the laser range finder measurement starts and ends firstly, the encoder measurement starts and ends firstly, and the laser range finder measurement time axis and the encoder measurement time axis are unified to the computer time axis;
step D, calculating the time corresponding to a certain driving distance with precision, and aiming at s0-skAny point s of the intervaliFrom stored encoder measurement data<t0,s0>,<t1,s1>,···,<tk,sk>Find data satisfying s ini≥sjAnd si＜sj+1Data of (2)<tj,sj>,<tj+1,sj+1>At tjAnd tj+1Within a time period, then siCorresponding time point is
Step E, at tiAt the moment, the corresponding road surface relative elevation value NiSubscript i ═ ti-tb) f, f is the collection frequency of the laser range finder and the running distance siCorresponding road surface relative elevation value NiCan be directly usedFrom { N0,N1,···,NnDirectly taking the ith element; at s0-skRequired driving distance points { s) are selected at equal intervals in driving distance section0，s1，···，siFinding all the travel distance points { s }0，s1，···，siCorresponding time t0，t1，···，tiThen calculating subscript i, s of corresponding elevation valueiCorresponding elevation value Ni，si+1Corresponding elevation value Ni+1Finally directly from { N1,N2,···,NnSelecting a corresponding road surface relative elevation value { N }0,N1,···,Ni}。
The method for acquiring the elevation data of any vehicle speed based on time triggering is characterized by comprising the following steps: repeatedly calibrating the encoder 10 times in the step A, and averaging the distance coefficient delta of the encoder 10 times
As a reference value.
The method for acquiring the elevation data of any vehicle speed based on time triggering is characterized by comprising the following steps: the acquisition frequency f of the laser range finder is more than or equal to 16 KHZ.
The method for acquiring the elevation data of any vehicle speed based on time triggering is characterized by comprising the following steps: the time reference is obtained using a QueryPerformanceCounter () function and a QueryPerformanceFrequency () function.
The method for acquiring the elevation data of any vehicle speed based on time triggering is characterized by comprising the following steps: the encoder is fixed on the wheel and rotates coaxially with the wheel.
The invention has the beneficial effects that: firstly, the requirement on the running speed of the vehicle in the data acquisition process is reduced, and the vehicle can run at any speed. Secondly, the measurement precision is improved. Thirdly, the data processing capacity of the system is reduced, a common computer can complete data processing, and the cost of equipment is reduced.
Drawings
FIG. 1 is a schematic diagram of a relative elevation acquisition system for a road surface used in the method of the present invention.
FIG. 2 is a diagram illustrating a relationship between the number of collected road surface relative elevation value points and time.
Fig. 3 is a diagram of the correspondence between the collected vehicle travel distance and the collected time.
FIG. 4 is a diagram illustrating the relationship between the number of relative elevation points on the road surface and the driving distance of the vehicle on a computer-based time axis.
Detailed Description
As shown in FIG. 1, the system for acquiring relative elevation values of a road surface used in the method of the present invention comprises a laser distance measuring machine, an acquisition card, an encoder, a control panel, a computer and a display, wherein the computer comprises data acquisition software. The relative elevation value acquisition system of the pavement used by the method is vehicle-mounted, the laser range finder is mounted on a chassis of the vehicle, the frequency of the laser range finder is f, the height from the ground is 300mm, the encoder is fixed on the wheel and coaxially rotates with the wheel, the acquisition card is mounted on an interface of a computer expansion slot, the control panel, the computer and the display are mounted in the vehicle, and personnel can work in the vehicle. The laser range finder receives the acquisition card through the connecting cable, and the acquisition card is responsible for transmitting the relative elevation value in road surface that the laser range finder gathered to the computer, and the control panel is received through the connecting cable to the encoder, and the control panel is connected with the computer serial ports through the connecting cable, and the control panel is responsible for counting the pulse number transmission that the encoder output transmitted to the computer.
When the relative elevation value acquisition system of the pavement acquires the relative elevation values, operating data acquisition software for acquisition, starting acquisition by the laser range finder, transmitting data to the computer through an acquisition card, and storing the starting time of the laser range finder and all the acquired relative elevation values of the pavement; the control panel starts counting the encoder pulse number and transmits the data to the computer, the encoder starts outputting the pulse when the vehicle starts to run, the current time and the running distance are recorded as the encoder starting time and the running distance starting point when the encoder outputs the first pulse, and the current time point and the corresponding running distance are recorded every 1 millisecond along with the running of the vehicle. When the collection is finished, the current time point and the corresponding running distance of the encoder are firstly stopped to be recorded, then all the relative elevation values of the road surface collected by the laser distance measuring machine are stopped to be recorded, then the vehicle is stopped, and finally the stored data collected by the laser distance measuring machine and the data collected by the encoder are calculated by the method of the invention to obtain the relative elevation values of the road surface at equal spacing distances.
The invention discloses a method for acquiring any vehicle speed elevation data based on time triggering, which comprises the following steps:
step A, calibrating an encoder: and determining the vehicle running distance corresponding to each pulse output by the encoder. For example: the encoder is set to rotate a circle to output 8192 pulses, a straight line section with the length L equal to 2000 meters is selected, starting point marks and end point marks are marked at the two ends of the road section respectively, a vehicle starts to run from the starting point and runs to the end point at a constant speed as far as possible, the total pulse number N output by the encoder from the starting point to the end point is counted, and then the distance coefficient delta of the encoder is obtained equal to N/L; to reduce the error, the encoder is repeatedly calibrated 10 times, and the average value of the distance coefficient delta of the encoder is calculated 10 times
As a reference value, the vehicle travel distance per output pulse is 1/δ.
B, data acquisition: when the collection is started, the computer runs the data collection software and firstly starts to record the time t for the laser range finder to start measuringbAnd the laser range finder collects f points of the relative elevation value of the road surface every second, the frequency value of f is generally more than 16KHZ, and the frequency value is stored as { N0,N1,···,NnSubscripts of N represent acquisition sequence numbers, each road surface relative elevation value N corresponds to a unique subscript N, and the relation between N and time is that N is (t-t)b) f; and then starts to record the current time t measured by the encoderkAnd the current driving distance skThe subscript k denotes the acquisition order number, s, for each distance traveledkCorrespond to a unique time tkThe preservation form is<t0,s0>,<t1,s1>,···,<tk,sk>}; and after the acquisition is finished, stopping recording the data of the encoder and then stopping recording the data of the laser range finder. Time t in the inventionbAnd time tkThe method takes the starting time of the computer as a reference, the recorded time is obtained by adopting the time from the starting of the computer to the current time and by adopting a QueryPerformanceCounter () function and a QueryPerformanceFrequency () function, and the time precision can reach microsecond level. The relationship between n and time is shown in fig. 2, and the relationship between the travel distance s and time is shown in fig. 3.
Step C, unifying the time axis: the laser distance measuring machine starts and ends measuring first, and the encoder starts and ends measuring first; therefore, the time axis measured by the laser distance measuring machine is longer than that measured by the encoder, so that all distance units are ensured to have elevation data, and the distance without data can not occur. Because the elevation acquisition data and the distance acquisition data of the invention both take the starting time of the computer as the measurement time and belong to one part of the time axis of the computer; therefore, the measuring time axis of the laser range finder and the measuring time axis of the encoder can be unified to the time axis of the computer, and the intersection of the measuring time axis of the laser range finder and the measuring time axis of the encoder is t0-tkTime period (t)kMay be t in FIG. 40At any time later, skIs tkDistance corresponding to time) at t0-tkIn the time period, any encoder measures the time point t and the laser distance measuring machine at the same moment measures the time point tiEqual, time t and time tiAll correspond to respective unique road surface relative elevation value NiAnd a running distance siThus N isiI.e. the driving distance siThe relative elevation value of the road surface of the point. On a uniform time axis, NiAnd siThe relationship is shown in fig. 4.
And D, accurately calculating the time corresponding to a certain driving distance. For s0-skAny point s of the intervaliFrom stored encoder measurement data<t0,s0>,<t1,s1>,···,<tk,sk>Find data satisfying s ini≥sjAnd si＜sj+1Data of (2)<tj,sj>,<tj+1,sj+1>At tjAnd tj+1In the time period, the time is extremely short, the vehicle speed change is small, and therefore the vehicle can be treated as a constant speed sjTo sj+1Is linearly increasing in between, then siCorresponding time point is
Step E, at tiAt the moment, the corresponding road surface relative elevation value NiSubscript i ═ ti-tb) f, f is the collection frequency of the laser range finder and the running distance siCorresponding road surface relative elevation value NiCan be directly selected from { N0,N1,···,NnDirectly taking the ith element; at s0-skRequired driving distance points { s) are selected at equal intervals in driving distance section0，s1，···，siFinding all the travel distance points { s }0，s1，···，siCorresponding time t0，t1，···，tiThen calculating subscript i, s of corresponding elevation valueiCorresponding elevation value Ni，si+1Corresponding elevation value Ni+1Finally directly from { N1,N2,···,NnSelecting a corresponding road surface relative elevation value { N }0,N1,···,NiThus realizing s0-skAnd the equal-interval distance acquisition is realized by adopting a laser range finder based on time triggering on the driving distance section.
In the invention, the sampling rate of the elevation value is very high, and because the limit of the speed of the computer acquisition card and the processing speed makes it difficult to simultaneously correspond to the distance value while sampling the elevation value, the vehicle is generally required to run stably in the field. After the method is adopted, data can be accurately acquired no matter the running speed of the vehicle in the acquisition process, the running speed of the vehicle is not required, and measurement errors cannot be caused even if the vehicle stops.
The method realizes the equal interval distance acquisition of the road surface elevation based on the time-triggered method for acquiring the road surface elevation data at any speed, realizes the equal interval distance acquisition of the road surface relative elevation value under the condition of no distance trigger signal through unified reference time, reduces the requirement of the distance trigger signal required by the equal interval distance acquisition, reduces the requirement of an acquisition card of a road surface relative elevation value acquisition system, saves the equipment cost, and ensures that the road surface relative elevation value acquisition system is more universal and is easier to realize.
Claims (5)
1. A method for acquiring any vehicle speed elevation data based on time triggering is characterized by comprising the following steps: the method comprises the following steps:
step A, calibrating an encoder: determining the vehicle running distance corresponding to each pulse output by the encoder;
b, data acquisition: when the collection is started, the time t for the laser range finder to start measuring is recorded firstbKeeping the relative elevation value N of the road surface in sequence; the laser range finder starts to record the current time t measured by the encoder after starting to measurekAnd the current driving distance skAnd are maintained in sequence; time tbAnd time tkTaking the starting time of the computer as a reference;
step C, unifying the time axis: the laser range finder measurement starts and ends firstly, the encoder measurement starts and ends firstly, and the laser range finder measurement time axis and the encoder measurement time axis are unified to the computer time axis;
step D, calculating the time corresponding to a certain driving distance with precision, and aiming at s0-skAny point s of the intervaliFrom stored encoder measurement data<t0,s0>,<t1,s1>,···,<tk,sk>Find data satisfying s ini≥sjAnd si＜sj+1Data of (2)<tj,sj>,<tj+1,sj+1>At tjAnd tj+1Within a time period, then siCorresponding time point is
Step E, at tiAt the moment, the corresponding road surface relative elevation value NiSubscript i ═ ti-tb) f, f is the collection frequency of the laser range finder and the running distance siCorresponding road surface relative elevation value NiCan be directly selected from { N0,N1,···,NnDirectly taking the ith element; at s0-skRequired driving distance points { s) are selected at equal intervals in driving distance section0，s1，···，siFinding all the travel distance points { s }0，s1，···，siCorresponding time t0，t1，···，tiThen calculating subscript i, s of corresponding elevation valueiCorresponding elevation value Ni，si+1Corresponding elevation value Ni+1Finally directly from { N1,N2,···,NnSelecting a corresponding road surface relative elevation value { N }0,N1,···,Ni}。
2. The method for any vehicle speed elevation data acquisition based on time triggering according to claim 1, wherein the method comprises the following steps: repeatedly calibrating the encoder 10 times in the step A, and averaging the distance coefficient delta of the encoder 10 times
As a reference value.
3. The method for any vehicle speed elevation data acquisition based on time triggering according to claim 1, wherein the method comprises the following steps: the acquisition frequency f of the laser range finder is more than or equal to 16 KHZ.
4. The method for any vehicle speed elevation data acquisition based on time triggering according to claim 1, wherein the method comprises the following steps: and acquiring a time reference by adopting a QueryPerformancecounter () function and a QueryPerformancefrequency () function, wherein the time reference is the starting time.
5. The method for any vehicle speed elevation data acquisition based on time triggering according to claim 1, wherein the method comprises the following steps: the encoder is fixed on the wheel and rotates coaxially with the wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910907933.1A CN110629647B (en) | 2019-09-25 | 2019-09-25 | Method for acquiring road surface elevation data at any speed based on time triggering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910907933.1A CN110629647B (en) | 2019-09-25 | 2019-09-25 | Method for acquiring road surface elevation data at any speed based on time triggering |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110629647A CN110629647A (en) | 2019-12-31 |
| CN110629647B true CN110629647B (en) | 2021-06-08 |
Family
ID=68974104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910907933.1A Active CN110629647B (en) | 2019-09-25 | 2019-09-25 | Method for acquiring road surface elevation data at any speed based on time triggering |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110629647B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111239433B (en) * | 2020-02-18 | 2022-03-15 | 日立楼宇技术（广州）有限公司 | Rate sampling method and device and rate sampling equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB220659A (en) * | 1923-08-17 | 1925-02-26 | Naamlose Vennootschap Nederlandsche Instrumenten Compagnie | |
| SU777419A1 (en) * | 1978-06-28 | 1980-11-07 | Московский Институт Инженеров Землеустройства | Method of determining the command between points with known plane coordinates |
| CN101126638A (en) * | 2007-09-29 | 2008-02-20 | 张小虎 | Pick-up measuring method for checking road surface planeness |
| CN102663893A (en) * | 2012-04-16 | 2012-09-12 | 公安部第三研究所 | Method for acquiring road information based on laser ranging node system |
-
2019
- 2019-09-25 CN CN201910907933.1A patent/CN110629647B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB220659A (en) * | 1923-08-17 | 1925-02-26 | Naamlose Vennootschap Nederlandsche Instrumenten Compagnie | |
| SU777419A1 (en) * | 1978-06-28 | 1980-11-07 | Московский Институт Инженеров Землеустройства | Method of determining the command between points with known plane coordinates |
| CN101126638A (en) * | 2007-09-29 | 2008-02-20 | 张小虎 | Pick-up measuring method for checking road surface planeness |
| CN102663893A (en) * | 2012-04-16 | 2012-09-12 | 公安部第三研究所 | Method for acquiring road information based on laser ranging node system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110629647A (en) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110329309B (en) | Method for realizing wheel diameter calibration by satellite positioning | |
| CN111998828B (en) | Road gradient estimation method based on portable GPS | |
| CN112304331B (en) | Ultrasonic-based train odometer and mileage calculation method | |
| CN110887460B (en) | Tunnel deformation monitoring method and system based on laser scanner and odometer | |
| CN102662083A (en) | Accelerometer calibration method based on GPS velocity information | |
| CN102227345A (en) | Method and device for distance measurement | |
| CN104880172B (en) | Measuring flatness of road surface method and device based on Kalman filtering | |
| CN201016845Y (en) | Distance measuring equipment for measuring automobile putting angle by using laser scanning telemetry | |
| CN103290768A (en) | Flatness Measuring Instrument and Measuring Method | |
| CN104047212B (en) | A kind of track sedimentation self-operated measuring unit based on angle measurement and method | |
| CN103674963A (en) | Tunnel detection device based on digital panoramic photography and detection method thereof | |
| CN102004246A (en) | Fault diagnosis and reading speed correction method of antenna included angle deviation of train vehicle-mounted radar speed sensor and | |
| CN110629647B (en) | Method for acquiring road surface elevation data at any speed based on time triggering | |
| CN104005324B (en) | A kind of detection system of pavement structure information | |
| CN100419810C (en) | Device for collecting information of road section | |
| CN112030683A (en) | Road surface flatness detection method | |
| CN113415308B (en) | Rail corrugation detection method and device | |
| CN205839560U (en) | Laser evenness construction depth track detection system | |
| CN202055155U (en) | Laser inertia high-speed pavement smoothness detection instrument | |
| CN106908800B (en) | Method for improving pulse ranging precision and pulse ranging equipment | |
| CN109693686A (en) | A kind of track alignment irregularity measurement method based on double antenna GNSS/INS | |
| CN103993530B (en) | A kind of track settlement measurement device based on angle measurement and method for measurement | |
| CN105133472B (en) | Road surface roughness measurement method and inertial detector | |
| CN110440826B (en) | Odometer data processing method for position and attitude measurement system | |
| CN204626214U (en) | A kind of Benkleman beam deflectometer data collecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191231 Address after: No. 103-2, Hong Kong Road, Jiang'an District, Wuhan City, Hubei Province Applicant after: Xu Huamin Address before: 430205 No. 51, Liu Fang Road, East Lake New Technology Development Zone, Wuhan, Hubei Applicant before: Wuhan Binhu Electronic Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200610 Address after: 51 No. 430205 Hubei province Wuhan City Liufang high tech Development Zone East Lake Road Applicant after: WUHAN BINHU ELECTRONIC Co.,Ltd. Address before: No. 103-2, Hong Kong Road, Jiang'an District, Wuhan City, Hubei Province Applicant before: Xu Huamin |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |