CN111664830A - Road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning - Google Patents
Road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning Download PDFInfo
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- CN111664830A CN111664830A CN202010484028.2A CN202010484028A CN111664830A CN 111664830 A CN111664830 A CN 111664830A CN 202010484028 A CN202010484028 A CN 202010484028A CN 111664830 A CN111664830 A CN 111664830A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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Abstract
The invention discloses a road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning, which comprises the steps of obtaining initial road surface curve section elevation data by adopting a line laser emitter scanning and three-dimensional CCD camera capturing method, then removing abnormal data and road longitudinal section gradient and vertical curve trend through a filtering algorithm to obtain vertical deviation in a wheel track band, and finally calculating according to the vertical deviation degree data and an international flatness index algorithm and an algorithm in national standard to obtain an international flatness index IRI and a running quality index RQI. Compared with the prior art, the method for measuring the road vertical section elevation data by adopting the line laser emitter scanning and the three-dimensional CCD camera capturing is suitable for quickly measuring the road vertical section elevation and the road surface three-dimensional elevation, and the measuring speed is not influenced by the vehicle speed; the invention effectively eliminates the influence of vehicle vibration and the trend of the road surface longitudinal section, and the repeated stability and the precision of the measurement of the road surface longitudinal section elevation are obviously improved.
Description
Technical Field
The invention relates to the technical field of road measurement engineering, in particular to a road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning.
Background
The safety and the comfort of high-speed running vehicles are one of important indexes of road service level, and experiments show that more than 90 percent of road service performance is derived from the road flatness, so the road flatness is also one of the most important indexes in a plurality of projects of detecting and evaluating the road technical conditions.
The definition of road flatness is: the degree of vertical deviation of the surface of the road surface from the ideal plane. The existing detection equipment for the flatness of the road surface mainly comprises two types: the device comprises section type flatness detection equipment and response type flatness detection equipment, wherein the section type detection equipment directly acquires a pavement vertical section curve. Therefore, the elevation data of the road profile curve is the basis for calculating the flatness of the road surface.
At present, relatively advanced detection equipment is a vehicle-mounted point laser profiler, the equipment has high detection speed, reliable data and high precision, but has the following problems: 1) the measurement precision is greatly influenced by the jolt and the vibration of a detection vehicle, and the influence of the jolt of the vehicle is treated by using an accelerometer, so that the problem of asynchronism exists; 2) the requirement on the detection environment is high, and the influence on the detection precision is reduced; 3) the accuracy of the detection result is poor when the speed is lower than a certain speed, so that the vehicle needs to run at a constant speed in the detection process.
When the road surface flatness is calculated, the influence of the gradient of a longitudinal section of a route, a convex-concave vertical curve of the route and the transverse slope of a horizontal curve of the route needs to be removed, and the influence cannot be completely and accurately removed by the vehicle-mounted point laser profiler due to the fact that the vehicle-mounted point laser profiler is a discrete point of the relative elevation of the longitudinal section obtained by measuring along the running track of a vehicle.
Disclosure of Invention
The invention aims to provide a road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning, aiming at the defects in the prior art.
In order to achieve the purpose, the invention is implemented according to the following technical scheme:
a road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning comprises the following steps:
s1, integrating the line laser emitter and the three-dimensional CCD camera into a closed control box 4, fixing the control box at the top of the rear end of the trolley, enabling the lenses of the line laser emitter and the three-dimensional CCD camera to face the ground of the rear end of the trolley, adjusting the installation angle of the line laser emitter to enable the focal point of the line laser emitter to be aligned with the wheel track belt of one rear wheel of the trolley, and then adjusting the lens of the line laser emitter to enable the line laser emitted by the line laser emitter to be distributed on the wheel track belt of one rear wheel along the advancing direction of the trolley;
s2, adjusting the shooting angle of the three-dimensional CCD camera to enable the focus to be aligned to the wheel track belt of one rear wheel of the trolley, adjusting the lens of the three-dimensional CCD camera to enable the scanning line width of the three-dimensional CCD camera to be the same as the length of the line laser emitted by the line laser emitter, and enabling two intersection points of two scanning lines on the outermost side of the three-dimensional CCD camera and the wheel track belt to be superposed with two end points of the line laser emitted by the line laser emitter;
s3, mounting a distance measuring device on a wheel axle or a tire of one of the rear wheels of the trolley, connecting the distance measuring device with a trigger, mounting a microprocessor interconnected with the trigger in the trolley, connecting a signal output line of the microprocessor to a linear laser emitter and a three-dimensional CCD camera, setting a trigger interval distance of the trigger through the microprocessor, enabling the microprocessor to control the linear laser emitter to emit linear laser when the trigger interval distance is reached along with the forward movement of the trolley, obtaining a curved section after the trigger is successfully triggered and is intersected with a wheel track of one of the rear wheels, controlling the three-dimensional CCD camera to capture all laser point information on the curved section, and processing the microprocessor to obtain elevation data on the complete curved section;
s4, selecting a track belt calculation length by the microprocessor according to the acquired elevation data on the curve section, and eliminating abnormal data to obtain the initial longitudinal section elevation information of the track belt at a certain interval;
s5, removing the gradient and the trend of a vertical curve of the vertical section through the processing of a microprocessor to obtain the vertical deviation degree of the surface of the road surface relative to an ideal plane;
s6, calculating an international flatness index by the microprocessor according to the obtained vertical deviation degree by adopting an international flatness IRI algorithm issued by the world bank organization;
s7, calculating the road surface driving quality index RQI by the microprocessor according to the technical condition evaluation standard of the road of the national existing standard JTG5210 and 2018.
As a further preferable aspect of the present invention, the scanning line width of the three-dimensional CCD camera and the length of the line laser emitted by the line laser emitter in step S2 are set to be 3 m.
As a further preferable embodiment of the present invention, the distance measuring device in step S3 is a distance measuring encoder.
As a further preferable aspect of the present invention, the trigger interval distance in the step S3 is set to 1cm to 3 m.
As a further preferable scheme of the present invention, the step S4 of removing abnormal data is to adopt a Butterworth filtering algorithm, that is, calculate an average value and a variance for all data on the laser line within the range of the track band, and remove abnormal data until the variance meets the calculation accuracy requirement, that is, the average value is considered to represent the elevation information of the measuring point of the track band.
As a further preferable embodiment of the present invention, the step S5 specifically comprises the following steps:
and intercepting scattered data according to the elevation data on the complete curve section obtained according to the trigger interval distance of 10cm in the step S3, selecting a certain interval to perform section curve fitting, wherein the fitting curve driving comprises a straight line and a vertical curve, when the fitting accuracy meets the requirement, the characteristic data is the road vertical section curve characteristic data, the vertical deviation degree of the road surface relative to an ideal plane is obtained by subtracting the vertical section curve elevation from the real vertical section elevation, and finally the vertical section vertical deviation degree data of the wheel track belt with a certain interval is obtained.
Compared with the prior art, the method for measuring the road vertical section elevation data by adopting the line laser emitter scanning and the three-dimensional CCD camera capturing is suitable for quickly measuring the road vertical section elevation and the road surface three-dimensional elevation, and the measuring speed is not influenced by the vehicle speed; the invention effectively eliminates the influence of vehicle vibration and the trend of the road surface longitudinal section, and the repeated stability and the precision of the measurement of the road surface longitudinal section elevation are obviously improved.
Drawings
FIG. 1 is a diagram of an apparatus arrangement according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an installation of the trigger according to the embodiment of the present invention.
FIG. 3 is a schematic diagram of a continuous measurement according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. The specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1 to fig. 3, a method for measuring the elevation and the flatness of a longitudinal section of a road based on three-dimensional laser scanning according to the present embodiment includes the following steps:
s1, integrating a line laser emitter 5 and a three-dimensional CCD camera 6 into a closed control box 4, fixing the control box 4 at the top of the rear end of a trolley 1 through a support 3, enabling lenses of the line laser emitter 5 and the three-dimensional CCD camera 4 to face the ground at the rear end of the trolley 1, adjusting the installation angle of the line laser emitter 5 to enable the focal point of the line laser emitter to be aligned with a wheel track 2 of a right rear wheel 101 of the trolley 1, and then adjusting the lens 5 of the line laser emitter to enable line laser 7 emitted by the line laser emitter 5 to be distributed on the wheel track 2 of the right rear wheel along the advancing direction of the trolley 1;
s2, adjusting the shooting angle of the three-dimensional CCD camera 6 to enable the focus to be aligned to the wheel track 2 of the right rear wheel of the trolley 1, adjusting the lens of the three-dimensional CCD camera 6 to enable the width of the scanning line 8 of the three-dimensional CCD camera 6 to be the same as the length of the line laser 7 emitted by the line laser emitter, namely 3m, and enabling two intersection points of the two scanning lines 8 on the outermost side of the three-dimensional CCD camera 6 and the wheel track 2 to be superposed with two end points of the line laser 7 emitted by the line laser emitter 5;
s3, mounting a distance measuring encoder 10 on an axle or a tire of the right rear wheel 101 of the trolley 1 (the distance measuring encoder can be directly mounted and used after being purchased in the market); a distance measuring encoder 10 is connected with a magnetic induction coil trigger 9 (the magnetic induction coil trigger can be directly installed and used after being purchased in the market, the connection relation between the magnetic induction coil trigger and a specific circuit of the distance measuring encoder and microprocessing can be carried out according to the conventional operation instruction, and the detailed description is not repeated in the embodiment), a microprocessor 11 which is interconnected with the magnetic induction coil trigger 9 is installed in the trolley 1, then the signal output line of the microprocessor 11 is connected with the linear laser emitter 5 and the three-dimensional CCD camera 6, the triggering separation distance of the magnetic induction coil trigger 9 is set by the microprocessor 11, and as the vehicle moves forward by different distances, the laser line elevation data of different distances can be obtained, the distance can be 1cm at the minimum, the minimum distance requirement is 10cm when the road surface flatness is calculated, and the measurement system can completely meet the requirement and is not influenced by the driving speed of a vehicle; the trigger successfully triggers the microprocessor to control the line laser emitter to emit a line laser to intersect with the wheel track of the right rear wheel to obtain a curved section, the three-dimensional CCD camera is controlled to capture all laser point information on the curved section, and the microprocessor obtains complete elevation data on the curved section after processing; along with the forward movement of the vehicle, complete laser line elevation data can be obtained, and the measuring system can completely meet the requirements and is not influenced by the driving speed of the vehicle.
S4, selecting the calculation length of the wheel track according to the acquired elevation data on the curve section by the microprocessor 11, and eliminating abnormal data by using a Butterworth filtering algorithm, namely calculating the average value and the variance of all data on the laser line within the range of the wheel track, and eliminating the abnormal data until the variance meets the calculation precision requirement, namely considering that the average value represents the elevation information of the measuring point of the wheel track, wherein the Butterworth filtering algorithm is an algorithm known in the field, and the Butterworth filtering algorithm can be directly applied, so that the embodiment only performs function description on the average value; obtaining the elevation information of the preliminary longitudinal section of the wheel track belt at a certain interval;
s5, removing the vertical section gradient and the vertical curve trend through the processing of the microprocessor 11, and obtaining the vertical deviation degree of the road surface relative to the ideal plane, wherein the specific process is as follows:
intercepting scattered data according to the elevation data on the complete curve section obtained according to the trigger interval distance of 10cm in the step S3, selecting a certain interval to perform section curve fitting, wherein the fitting curve driving comprises a straight line and a vertical curve, when the fitting accuracy meets the requirement, the characteristic data of the road vertical section curve is obtained, the vertical deviation degree of the road surface relative to an ideal plane is obtained by subtracting the vertical section curve elevation from the real vertical section elevation, and finally, the vertical section vertical deviation degree data of the wheel track belt with a certain interval is obtained;
s6, calculating an international flatness index by the microprocessor according to the obtained vertical deviation degree by adopting an international flatness IRI algorithm issued by the world bank organization, wherein the algorithm is as follows:
in 1986, the world bank issued a definition and calculation method of IRI, which was widely recognized as the ratio of the vertical displacement (m) of a standard body suspension to the distance traveled (km) during measurement. After this, a number of models and methods for calculating body suspension displacement have been derived, where Sayers considers the accumulation of simulated vertical motion by modeling a quarter of the vehicle along the distance traveled. The model basis still belongs to the reaction class, but after a large amount of experiments and analysis, parameters in the model are standardized and are simulated into IRI values measured when a standard vehicle runs at a constant speed of 80 km/h. The kinetic calculation formula is as follows:
in the formula, ZsIs the absolute displacement of the sprung part, c is the ratio of the damping coefficient of the spring to the sprung mass, ZuIs the absolute displacement of the unsprung portion, k2Is the ratio of the stiffness of the spring 2 to the sprung mass, u is the unsprung mass to the sprung mass, h1Is the ratio of the rigidity of the spring 1 to the sprung mass, and y is the section elevation.
The normalized parameters of the equation for power are as follows: k is a radical of1＝653s-2，k2＝63.3s-2，u＝0.15，c＝6.00s-1。
According to the IRI definition issued by world bank, the formula is as follows:
wherein L is the longitudinal distance of the detected link.
S7, calculating the road surface driving quality index RQI by the microprocessor according to the technical condition evaluation standard of the road of the national existing standard JTG5210 and 2018, wherein the calculation method comprises the following steps:
the road running quality index RQI is calculated according to the following formula:
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.
Claims (6)
1. A road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning is characterized by comprising the following steps:
s1, integrating the line laser emitter and the three-dimensional CCD camera into a closed control box 4, fixing the control box at the top of the rear end of the trolley, enabling the lenses of the line laser emitter and the three-dimensional CCD camera to face the ground of the rear end of the trolley, adjusting the installation angle of the line laser emitter to enable the focal point of the line laser emitter to be aligned with the wheel track belt of one rear wheel of the trolley, and then adjusting the lens of the line laser emitter to enable the line laser emitted by the line laser emitter to be distributed on the wheel track belt of one rear wheel along the advancing direction of the trolley;
s2, adjusting the shooting angle of the three-dimensional CCD camera to enable the focus to be aligned to the wheel track belt of one rear wheel of the trolley, adjusting the lens of the three-dimensional CCD camera to enable the scanning line width of the three-dimensional CCD camera to be the same as the length of the line laser emitted by the line laser emitter, and enabling two intersection points of two scanning lines on the outermost side of the three-dimensional CCD camera and the wheel track belt to be superposed with two end points of the line laser emitted by the line laser emitter;
s3, mounting a distance measuring device on a wheel axle or a tire of one of the rear wheels of the trolley, connecting the distance measuring device with a trigger, mounting a microprocessor interconnected with the trigger in the trolley, connecting a signal output line of the microprocessor to a linear laser emitter and a three-dimensional CCD camera, setting a trigger interval distance of the trigger through the microprocessor, enabling the microprocessor to control the linear laser emitter to emit linear laser when the trigger interval distance is reached along with the forward movement of the trolley, obtaining a curved section after the trigger is successfully triggered and is intersected with a wheel track of one of the rear wheels, controlling the three-dimensional CCD camera to capture all laser point information on the curved section, and processing the microprocessor to obtain elevation data on the complete curved section;
s4, selecting a track belt calculation length by the microprocessor according to the acquired elevation data on the curve section, and eliminating abnormal data to obtain the initial longitudinal section elevation information of the track belt at a certain interval;
s5, removing the gradient and the trend of a vertical curve of the vertical section through the processing of a microprocessor to obtain the vertical deviation degree of the surface of the road surface relative to an ideal plane;
s6, calculating an international flatness index by the microprocessor according to the obtained vertical deviation degree by adopting an international flatness IRI algorithm issued by the world bank organization;
and S7, calculating the road surface driving quality index RQI by the microprocessor according to the state existing standard JTG5210-2018 road technical condition evaluation standard.
2. The method for measuring the elevation and the flatness of the longitudinal section of the road based on the three-dimensional laser scanning as claimed in claim 1, wherein: the scanning line width of the three-dimensional CCD camera and the length of the line laser emitted by the line laser emitter in step S2 are set to 3 m.
3. The method for measuring the elevation and the flatness of the longitudinal section of the road based on the three-dimensional laser scanning as claimed in claim 1, wherein: the distance measuring device in step S3 is a distance measuring encoder.
4. The method for measuring the elevation and the flatness of the longitudinal section of the road based on the three-dimensional laser scanning as claimed in claim 1, wherein: the trigger interval distance in the step S3 is set to 1cm to 3 m.
5. The method for measuring the elevation and the flatness of the longitudinal section of the road based on the three-dimensional laser scanning as claimed in claim 1, wherein: in the step S4, the step of removing the abnormal data is to adopt a Butterworth filtering algorithm, that is, calculate an average value and a variance of all data on the laser line within the range of the wheel track, and remove the abnormal data until the variance meets the calculation accuracy requirement, that is, the average value is considered to represent the elevation information of the measuring point of the wheel track.
6. The method for measuring the elevation and the flatness of the longitudinal section of the road based on the three-dimensional laser scanning as claimed in claim 4, wherein: the step S5 specifically includes the following steps:
and intercepting scattered data according to the elevation data on the complete curve section obtained according to the trigger interval distance of 10cm in the step S3, selecting a certain interval to perform section curve fitting, wherein the fitting curve driving comprises a straight line and a vertical curve, when the fitting accuracy meets the requirement, the characteristic data is the road vertical section curve characteristic data, the vertical deviation degree of the road surface relative to an ideal plane is obtained by subtracting the vertical section curve elevation from the real vertical section elevation, and finally the vertical section vertical deviation degree data of the wheel track belt with a certain interval is obtained.
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Cited By (8)
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| CN112880599A (en) * | 2021-01-26 | 2021-06-01 | 武汉市市政建设集团有限公司 | Roadbed flatness detection system based on four-foot robot and working method |
| CN113466960A (en) * | 2021-05-21 | 2021-10-01 | 山东威鼎航检测设备有限公司 | Method, system and equipment for detecting foreign matters on airport road |
| CN113483684A (en) * | 2021-07-02 | 2021-10-08 | 桂林理工大学 | Track gauge online measurement system |
| CN113551636A (en) * | 2021-07-02 | 2021-10-26 | 武汉光谷卓越科技股份有限公司 | Flatness detection method based on abnormal data correction |
| CN113701678A (en) * | 2021-09-18 | 2021-11-26 | 武汉光谷卓越科技股份有限公司 | Road surface flatness detection method based on line scanning three-dimension |
| CN114754708A (en) * | 2022-04-22 | 2022-07-15 | 中路高科交通检测检验认证有限公司 | Road flatness detection method and system based on three-dimensional laser scanning technology |
| CN114910046A (en) * | 2022-04-26 | 2022-08-16 | 同济大学 | Road surface three-dimensional detection system and method based on bidirectional line structured light |
| CN115077423A (en) * | 2022-06-16 | 2022-09-20 | 西南交通大学 | Portable high-speed turnout detection trolley and method based on line laser technology |
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| CN113701678A (en) * | 2021-09-18 | 2021-11-26 | 武汉光谷卓越科技股份有限公司 | Road surface flatness detection method based on line scanning three-dimension |
| CN113701678B (en) * | 2021-09-18 | 2024-07-12 | 武汉光谷卓越科技股份有限公司 | Road surface flatness detection method based on line scanning three-dimension |
| CN114754708A (en) * | 2022-04-22 | 2022-07-15 | 中路高科交通检测检验认证有限公司 | Road flatness detection method and system based on three-dimensional laser scanning technology |
| CN114754708B (en) * | 2022-04-22 | 2024-05-03 | 中路高科交通检测检验认证有限公司 | Road flatness detection method and system based on three-dimensional laser scanning technology |
| CN114910046B (en) * | 2022-04-26 | 2023-09-26 | 同济大学 | Pavement three-dimensional detection system and method based on bidirectional line structured light |
| CN114910046A (en) * | 2022-04-26 | 2022-08-16 | 同济大学 | Road surface three-dimensional detection system and method based on bidirectional line structured light |
| CN115077423B (en) * | 2022-06-16 | 2023-03-14 | 西南交通大学 | Portable high-speed turnout detection trolley and method based on line laser technology |
| CN115077423A (en) * | 2022-06-16 | 2022-09-20 | 西南交通大学 | Portable high-speed turnout detection trolley and method based on line laser technology |
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Application publication date: 20200915 |