CN116304583A - Road surface smoothness detection and evaluation method and device - Google Patents

Road surface smoothness detection and evaluation method and device Download PDF

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Publication number
CN116304583A
CN116304583A CN202310551597.8A CN202310551597A CN116304583A CN 116304583 A CN116304583 A CN 116304583A CN 202310551597 A CN202310551597 A CN 202310551597A CN 116304583 A CN116304583 A CN 116304583A
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acceleration
road surface
smoothness
acceleration signal
signal
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CN116304583B (en
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李成
钟继卫
刘源
王亚飞
许钊源
梅晓腾
杨宇
姜玉印
刘金龙
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China Railway Major Bridge Engineering Group Co Ltd MBEC
China Railway Bridge Science Research Institute Ltd
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China Railway Major Bridge Engineering Group Co Ltd MBEC
China Railway Bridge Science Research Institute Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract

The invention discloses a road smoothness detection and evaluation method and a device, and relates to the technical field of bridge engineering, wherein the method comprises the steps of intercepting an acceleration signal fragment and a road video fragment within a set time range before and after a set acceleration threshold moment from a vertical acceleration signal and a road video signal when a carrier moves in a detection area; determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment; and evaluating the road smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability, and identifying the road diseases according to the road video segment. The method of combining quantitative calculation evaluation with video image recognition is used for accurately evaluating the smoothness of the road surface, so that the problem that the road inspection vehicle adopted in the prior art can only perform macroscopic qualitative classification on the smoothness of the whole road surface and cannot accurately analyze and evaluate the smoothness of the local road surface diseases is solved.

Description

Road surface smoothness detection and evaluation method and device
Technical Field
The invention relates to the technical field of bridge engineering, in particular to a road surface smoothness detection and evaluation method and device.
Background
The bridge deck pavement can prevent wheels from directly wearing the bridge deck, and can spread the load of the wheels, thereby playing a role of leveling and skid resistance and being an important component of bridges. In addition, the smoothness of bridge deck pavement directly influences the comfort, safety and impact resistance of vehicles when passing through the bridge. Under the influence of bridge deflection effect, repeated load of vehicles and high-temperature load, fatigue cracking, plastic deformation and sliding are easy to occur on bridge deck pavement, so that diseases such as waves, ruts, pit-pools and the like are formed, and especially, vehicle jump occurs at pit-pool or expansion joint positions. Therefore, the method is quite important for detecting and evaluating bridge pavement diseases and smoothness.
In the prior art, the road inspection vehicle adopted generally can only carry out macroscopic qualitative classification on the smoothness of the whole road surface, and has the problem that the smoothness of the local road surface diseases cannot be accurately analyzed and evaluated.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a device for detecting and evaluating the smoothness of a road surface, which can solve the problems that a road inspection vehicle adopted in the prior art can only carry out macroscopic qualitative classification on the smoothness of the whole road surface and cannot accurately analyze and evaluate the smoothness of local diseases of the road surface.
In order to achieve the above purpose, the invention adopts the following technical scheme:
on one hand, the scheme provides a road surface smoothness detection and evaluation method, which comprises the following steps:
intercepting an acceleration signal fragment and a pavement video fragment in a set time range before and after the moment exceeding a set acceleration threshold value from a vertical acceleration signal and a pavement video signal when the carrier moves in a detection area;
determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment;
and evaluating the road smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability, and identifying the road diseases according to the road video segment.
In some alternatives, the formula is according to:
Figure SMS_1
determining the acceleration evaluation index;
wherein ,
Figure SMS_3
for the starting moment of the acceleration signal segment,
Figure SMS_5
for the end time of the acceleration signal segment,
Figure SMS_8
is that
Figure SMS_4
Is used for the acceleration signal of the vehicle,
Figure SMS_6
is that
Figure SMS_9
Is used for the acceleration evaluation index of (1),
Figure SMS_10
is that
Figure SMS_2
The number of data points of the acceleration signal segment,
Figure SMS_7
。
in some alternatives, the formula is according to:
Figure SMS_11
determining a dynamic load coefficient;
wherein ,
Figure SMS_13
the root mean square value is used as a root mean square value,
Figure SMS_15
for the dynamic load coefficient of the steel plate,
Figure SMS_18
the acceleration of the gravity is that,
Figure SMS_14
as the damping ratio of the vehicle,
Figure SMS_17
for the acceleration signal segment
Figure SMS_20
Integrating t once;
Figure SMS_21
for the overall rigidity of the carrier,
Figure SMS_12
for the acceleration signal segment
Figure SMS_16
The double integral of t is performed,
Figure SMS_19
is the mass of the carrier.
In some alternatives, the formula is according to:
Figure SMS_22
determining the vehicle jump probability;
wherein ,
Figure SMS_23
in order to achieve the probability of a jump,
Figure SMS_24
is that
Figure SMS_25
The number of data points of the acceleration signal segment,
Figure SMS_26
is that
Figure SMS_27
Is the number of data points.
In some optional solutions, the estimating the smoothness of the road according to the acceleration estimation index, the dynamic load coefficient and the probability of vehicle jump includes:
when the acceleration evaluation index is smaller than or equal to a first set value, the road surface is a first grade road surface;
when the acceleration evaluation index is larger than the first set value and smaller than or equal to the second set value, the road surface is a second-level road surface;
when the acceleration evaluation index is larger than the second set value, the dynamic load coefficient is larger than the third set value, and the vehicle jump probability is larger than 0, the road surface is a third-level road surface.
In some alternatives, the capturing the acceleration signal segments within a set time range before and after the time of exceeding the set acceleration threshold includes:
moving the carrier in the detection area at a set speed, and acquiring a vertical acceleration signal of the carrier in real time;
when the vertical acceleration signal of the carrier exceeds a set acceleration threshold value, detecting an end point of the acceleration signal of the carrier, and determining a set time range before and after the moment exceeding the set acceleration threshold value;
and acquiring a carrier acceleration signal segment according to the front-back set time range.
In some optional solutions, when the vertical acceleration signal of the vehicle exceeds the set acceleration threshold, the endpoint detection is performed on the acceleration signal of the vehicle, and determining a set time range before and after the moment exceeding the set acceleration threshold includes:
when the vertical acceleration signal of the carrier exceeds a set acceleration threshold value, extracting acceleration signals within preset time before and after a trigger time as signal segments to be analyzed;
analyzing the signal fragments to be analyzed by adopting a wavelet transformation method, and obtaining a signal endpoint time stamp;
and determining a set time range before and after the moment exceeding the set acceleration threshold according to the signal endpoint time stamp.
In some alternative solutions, according to the pavement video clip, the identifying the disease of the pavement includes:
picking up peak points of the acceleration signal fragments by adopting a peak picking method, and determining peak point time stamps;
extracting a pavement image with a peak point time stamp from the pavement video segment, and identifying the pavement diseases;
and if the acceleration evaluation index is larger than the second set value, identifying the road surface diseases according to the road surface video clips.
In some alternative schemes, after disease identification is carried out on the road surface, the road surface video clips, acceleration evaluation indexes, dynamic load coefficients, the vehicle jump probability, peak point time stamps and carrier positions at the time of the peak point time stamps are written into a detection database.
On the other hand, the present disclosure provides a road surface smoothness checking and evaluating device, which is configured to implement the above road surface smoothness checking and evaluating method, and includes:
the signal interception module is used for intercepting acceleration signal fragments and road surface video fragments in a set time range before and after the moment exceeding a set acceleration threshold value from the vertical acceleration signals and the road surface video signals when the carrier moves in the detection area;
the calculation module is used for determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment;
and the identification evaluation module is used for evaluating the bridge pavement smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability and identifying the pavement diseases according to the pavement video segment.
Compared with the prior art, the invention has the advantages that: according to the scheme, from a vertical acceleration signal and a pavement video signal when a carrier moves in a detection area, an acceleration signal fragment and a pavement video fragment in a set time range before and after a set acceleration threshold moment are intercepted; determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment; and evaluating the road smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability, and identifying the road diseases according to the road video segment. The method of combining quantitative calculation evaluation with video image recognition is used for accurately evaluating the smoothness of the road surface, so that the problem that the road inspection vehicle adopted in the prior art can only perform macroscopic qualitative classification on the smoothness of the whole road surface and cannot accurately analyze and evaluate the smoothness of the local road surface diseases is solved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for detecting and evaluating smoothness of a road surface according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a road surface smoothness inspection and evaluation device according to an embodiment of the present invention;
FIG. 3 is a schematic top view of a functional module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a left side view of a functional module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a working procedure of a road surface smoothness check and evaluation device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a vertical acceleration signal according to an embodiment of the present invention;
in the figure: 1. a functional module; 2. a bracket; 21. a base; 22. a support leg; 23. a suction cup; 24. a support post; 3. a camera; 4. a positioning module; 5. a signal interception module; 6. a computing module; 7. identifying an evaluation module; 8. and a power supply module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
FIG. 2 is a schematic diagram of a road surface smoothness inspection and evaluation device according to an embodiment of the present invention. As shown in fig. 2, 3 and 4, the road surface smoothness check and evaluation device includes:
a functional module 1, comprising:
the signal interception module 5 is used for sensing a vertical acceleration signal when the carrier moves in the detection area, and intercepting an acceleration signal fragment and a road surface video fragment in a set time range before and after a set acceleration threshold moment from the vertical acceleration signal and the road surface video signal when the carrier moves in the detection area;
the calculation module 6 is used for determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment;
the recognition evaluation module 7 is used for evaluating the bridge pavement smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability and recognizing the pavement diseases according to the pavement video segment;
a stent 2 comprising:
a base 21 connected to the functional module 1 by a plurality of bolts;
a plurality of spaced apart legs 22 connected circumferentially to the base;
the number of the suckers 23 is equal to that of the supporting legs, and the suckers 23 are respectively connected to the lower ends of the supporting legs 22 and are used for being connected with a carrier;
a support column 24 having a bottom end connected to the base 21 and penetrating through the functional module 1;
a camera 3 rotatably connected to the top end of the pillar 24 for capturing road surface video;
and the positioning module 4 is arranged on the functional module 1 and is used for collecting position information.
In this embodiment, the camera 3 is connected to the support column 24 through a spherical hinge locking device, and can rotate 720 degrees to adjust the shooting angle. The functional module 1 can be leveled by adjusting bolts.
As shown in fig. 1, in one aspect, the present invention provides a method for detecting and evaluating road smoothness, including the following steps:
s1: and intercepting the acceleration signal fragments and the road surface video fragments within a set time range before and after the moment exceeding the set acceleration threshold value from the vertical acceleration signals and the road surface video signals when the carrier moves in the detection area.
S2: and determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment.
S3: and evaluating the road smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability, and identifying the road diseases according to the road video segment.
In some alternative embodiments, the formula is according to:
Figure SMS_28
determining the accelerationA degree evaluation index;
wherein ,
Figure SMS_31
for the starting moment of the acceleration signal segment,
Figure SMS_34
for the end time of the acceleration signal segment,
Figure SMS_36
is that
Figure SMS_30
Is used for the acceleration signal of the vehicle,
Figure SMS_33
is that
Figure SMS_35
Is used for the acceleration evaluation index of (1),
Figure SMS_37
is that
Figure SMS_29
The number of data points of the acceleration signal segment,
Figure SMS_32
。
in some alternative embodiments, the formula is according to:
Figure SMS_38
determining a dynamic load coefficient;
wherein ,
Figure SMS_41
the root mean square value is used as a root mean square value,
Figure SMS_43
for the dynamic load coefficient of the steel plate,
Figure SMS_46
the acceleration of the gravity is that,
Figure SMS_40
as the damping ratio of the vehicle,
Figure SMS_42
for the acceleration signal segment
Figure SMS_45
Integrating t once;
Figure SMS_48
for the overall rigidity of the carrier,
Figure SMS_39
for the acceleration signal segment
Figure SMS_44
The double integral of t is performed,
Figure SMS_47
is the mass of the carrier.
In some alternative embodiments, the formula is according to:
Figure SMS_49
determining the vehicle jump probability;
wherein ,
Figure SMS_50
in order to achieve the probability of a jump,
Figure SMS_51
is that
Figure SMS_52
The number of data points of the acceleration signal segment,
Figure SMS_53
is that
Figure SMS_54
Is the number of data points.
In some optional embodiments, the estimating the bridge road smoothness according to the acceleration estimation index, the dynamic load coefficient and the vehicle jump probability includes:
when the acceleration evaluation index is smaller than or equal to a first set value, the road surface is a first grade road surface;
when the acceleration evaluation index is larger than the first set value and smaller than or equal to the second set value, the road surface is a second-level road surface;
when the acceleration evaluation index is larger than the second set value, the dynamic load coefficient is larger than the third set value, and the vehicle jump probability is larger than 0, the road surface is a third-level road surface.
In this embodiment, according to the test, the first set value is selected to be 1, the second set value is selected to be 1.4, and the third set value is selected to be 1.4. The first grade road surface comprises a A, B grade road surface, the second grade road surface comprises a C, D grade road surface, and the third grade road surface comprises a lower smoothness grade road surface than the D grade road surface.
In some alternative embodiments, the capturing the acceleration signal segments within a set time range before and after the time of exceeding the set acceleration threshold comprises:
moving the carrier in the detection area at a set speed, and acquiring a vertical acceleration signal of the carrier in real time;
when the vertical acceleration signal of the carrier exceeds a set acceleration threshold value, detecting an end point of the acceleration signal of the carrier, and determining a set time range before and after the moment exceeding the set acceleration threshold value;
and acquiring a carrier acceleration signal segment according to the front-back set time range.
In this embodiment, a schematic diagram of the vertical acceleration signal is shown in fig. 6.
In some optional embodiments, when the vehicle vertical acceleration signal exceeds the set acceleration threshold, the detecting the end point of the vehicle acceleration signal, determining a set time range before and after the moment exceeding the set acceleration threshold, includes:
when the vertical acceleration signal of the carrier exceeds a set acceleration threshold value, extracting acceleration signals within preset time before and after a trigger time as signal segments to be analyzed;
analyzing the signal fragments to be analyzed by adopting a wavelet transformation method, and obtaining a signal endpoint time stamp;
and determining a set time range before and after the moment exceeding the set acceleration threshold according to the signal endpoint time stamp.
In this embodiment, the preset time is selected to be 0.5s. From the original signal
Figure SMS_55
Extracting acceleration signals of 0.5s before and after the moment when the vertical acceleration signals of the carrier exceed the set acceleration threshold value
Figure SMS_58
As signal fragment to be analyzed, wherein
Figure SMS_61
And (5) setting the moment when the vertical acceleration signal of the carrier exceeds the acceleration threshold value. Further to more accurately detect the end point of the signal segment to be analyzed and filter noise, the signal segment is subjected to one-dimensional discrete wavelet transformation
Figure SMS_56
Layer decomposition
Figure SMS_60
, wherein
Figure SMS_63
Is the first
Figure SMS_64
The layer wavelet high-frequency signal is used for the high-frequency signal,
Figure SMS_57
is the first
Figure SMS_59
Layer wavelet low frequency signal and high frequency signal is used to detect signal end point, in the embodiment 3 rd layer high frequency signal
Figure SMS_62
The signal endpoint timestamp is recorded.
In some optional embodiments, the identifying the disease on the road according to the road video segment includes:
picking up peak points of the acceleration signal fragments by adopting a peak picking method, and determining peak point time stamps;
extracting a pavement image with a peak point time stamp from the pavement video segment, and identifying the pavement diseases;
and if the acceleration evaluation index is larger than the second set value, identifying the road surface diseases according to the road surface video clips.
In the present embodiment, the peak point time stamp picks up the layer 3 high frequency signal by the peak picking method
Figure SMS_65
The maximum peak of (2) and the peak point timestamp are recorded. When the disease identification is carried out on the road surface image and the road surface video fragment, the identification is carried out by adopting a machine learning method.
In some alternative embodiments, after disease identification is performed on the road, the road video clip, the acceleration assessment index, the dynamic load coefficient, the trip probability, the peak point timestamp, and the time-stamp-peak carrier position are written into the detection database.
In another aspect, the present invention provides a road surface smoothness inspection and evaluation device, which is configured to implement the above road surface smoothness inspection and evaluation method, including:
the signal interception module 5 is used for intercepting acceleration signal fragments and road surface video fragments in a set time range before and after the moment exceeding a set acceleration threshold value from the vertical acceleration signals and the road surface video signals when the carrier moves in the detection area;
the calculation module 6 is used for determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment;
and the identification evaluation module 7 is used for evaluating the bridge pavement smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability and identifying the pavement diseases according to the pavement video segment.
In this embodiment, as shown in fig. 3 and 4, the layout of the functional module 1 in the road surface smoothness inspection and evaluation device is schematically shown. The signal interception module 5 comprises a three-way acceleration sensor, the calculation module 6 and the identification evaluation module 7 are integrated together, and the signal interception module further comprises a power supply module for supplying power to the functional module 1.
In summary, fig. 5 is a schematic workflow diagram of the road surface smoothness inspection and evaluation device. In the invention, the road surface smoothness checking and evaluating device is adsorbed on the carrier through the sucking disc 23, and the angle of the supporting leg 22 is adjusted so that the base 21 is kept horizontal. The functional module 1 is kept horizontal by adjusting the connecting bolts and according to the leveling level.
The positioning module 4 is started to record the road surface information and the carrier position information.
The carrier moves in the detection area at a set speed, the camera 3 of the movement detection device and the three-way acceleration sensor in the functional module 1 are triggered through the geofence, and the pavement video and the three-way acceleration signal of the carrier are collected in real time.
When the carrier passes through the positions of the road surface pit, the damage or the expansion joint, and the like, the acceleration of the carrier is increased and then reduced, and the related parameters constructed by the acceleration can reflect the smoothness of the bridge road surface or the expansion joint.
Intercepting acceleration signal fragments in a set time range before and after the moment exceeding a set acceleration threshold value from vertical acceleration signals when the carrier moves in a detection area; determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment; and evaluating the smoothness of the bridge pavement according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability. The method for quantitatively calculating and evaluating the smoothness of the road surface accurately evaluates the smoothness of the road surface, and solves the problems that the road inspection vehicle adopted in the prior art can only carry out macroscopic qualitative classification on the smoothness of the whole road surface and cannot accurately analyze and evaluate the smoothness of the local road surface diseases.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that in this application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The road surface smoothness detection and evaluation method is characterized by comprising the following steps of:
intercepting an acceleration signal fragment and a pavement video fragment in a set time range before and after the moment exceeding a set acceleration threshold value from a vertical acceleration signal and a pavement video signal when the carrier moves in a detection area;
determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment;
and evaluating the road smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability, and identifying the road diseases according to the road video segment.
2. The method for detecting and evaluating the smoothness of a road surface according to claim 1, wherein according to the formula:
Figure QLYQS_1
determining the acceleration evaluation index;
wherein ,
Figure QLYQS_4
for the start time of the acceleration signal segment, +.>
Figure QLYQS_7
For the end time of the acceleration signal segment, +.>
Figure QLYQS_9
Is->
Figure QLYQS_3
Acceleration signal of>
Figure QLYQS_6
Is->
Figure QLYQS_8
Acceleration evaluation index of->
Figure QLYQS_10
Is->
Figure QLYQS_2
Data point number of acceleration signal segment, +.>
Figure QLYQS_5
。
3. The method for detecting and evaluating the smoothness of a road surface according to claim 1, wherein according to the formula:
Figure QLYQS_11
determining a dynamic load coefficient;
wherein ,
Figure QLYQS_13
is root mean square value>
Figure QLYQS_16
Is dynamic load coefficient->
Figure QLYQS_18
Acceleration of gravity, ++>
Figure QLYQS_14
As the damping ratio of the vehicle,
Figure QLYQS_15
for acceleration signal segment->
Figure QLYQS_20
Integrating t once; />
Figure QLYQS_21
For the overall rigidity of the carrier,
Figure QLYQS_12
for acceleration signal segment->
Figure QLYQS_17
Double integration of t>
Figure QLYQS_19
Is the mass of the carrier.
4. The method for detecting and evaluating the smoothness of a road surface according to claim 1, wherein according to the formula:
Figure QLYQS_22
determining the vehicle jump probability;
wherein ,
Figure QLYQS_23
for the probability of jumping, ->
Figure QLYQS_24
Is->
Figure QLYQS_25
Data point number of acceleration signal segment, +.>
Figure QLYQS_26
Is that
Figure QLYQS_27
Is the number of data points.
5. The method for detecting and evaluating the smoothness of a road surface according to claim 1, wherein the evaluating the smoothness of the road surface according to the acceleration evaluation index, the dynamic load coefficient and the probability of jumping comprises:
when the acceleration evaluation index is smaller than or equal to a first set value, the road surface is a first grade road surface;
when the acceleration evaluation index is larger than the first set value and smaller than or equal to the second set value, the road surface is a second-level road surface;
when the acceleration evaluation index is larger than the second set value, the dynamic load coefficient is larger than the third set value, and the vehicle jump probability is larger than 0, the road surface is a third-level road surface.
6. The method for detecting and evaluating the smoothness of a road surface according to claim 1, wherein said intercepting the acceleration signal segments within a set time range before and after the time exceeding the set acceleration threshold value comprises:
moving the carrier in the detection area at a set speed, and acquiring a vertical acceleration signal of the carrier in real time;
when the vertical acceleration signal of the carrier exceeds a set acceleration threshold value, detecting an end point of the acceleration signal of the carrier, and determining a set time range before and after the moment exceeding the set acceleration threshold value;
and acquiring a carrier acceleration signal segment according to the front-back set time range.
7. The method for detecting and evaluating the smoothness of a road surface according to claim 6, wherein when the vertical acceleration signal of the vehicle exceeds the set acceleration threshold value, detecting the end point of the acceleration signal of the vehicle, determining the set time range before and after the time exceeding the set acceleration threshold value, comprises:
when the vertical acceleration signal of the carrier exceeds a set acceleration threshold value, extracting acceleration signals within preset time before and after a trigger time as signal segments to be analyzed;
analyzing the signal fragments to be analyzed by adopting a wavelet transformation method, and obtaining a signal endpoint time stamp;
and determining a set time range before and after the moment exceeding the set acceleration threshold according to the signal endpoint time stamp.
8. The method for detecting and evaluating the smoothness of a road surface according to claim 1, wherein identifying the damage to the road surface based on the video segment of the road surface comprises:
picking up peak points of the acceleration signal fragments by adopting a peak picking method, and determining peak point time stamps;
extracting a pavement image with a peak point time stamp from the pavement video segment, and identifying the pavement diseases;
and if the acceleration evaluation index is larger than the second set value, identifying the road surface diseases according to the road surface video clips.
9. The method for detecting and evaluating the smoothness of a road surface according to claim 8, wherein after identifying the defect of the road surface, the video segments of the road surface, the acceleration evaluation index, the dynamic load coefficient, the probability of jumping, the peak point time stamp, and the carrier position at the peak point time stamp are written into the detection database.
10. A road surface smoothness inspection and evaluation device for implementing the road surface smoothness inspection and evaluation method according to claim 1, comprising:
the signal interception module is used for intercepting acceleration signal fragments and road surface video fragments in a set time range before and after the moment exceeding a set acceleration threshold value from the vertical acceleration signals and the road surface video signals when the carrier moves in the detection area;
the calculation module is used for determining an acceleration evaluation index, a dynamic load coefficient and a vehicle jump probability according to the acceleration signal segment;
and the identification evaluation module is used for evaluating the bridge pavement smoothness according to the acceleration evaluation index, the dynamic load coefficient and the vehicle jump probability and identifying the pavement diseases according to the pavement video segment.
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