System and method for detecting pavement evenness based on multiple sensors

Abstract

The invention discloses a system and a method for detecting pavement evenness based on multiple sensors. The system comprises a rigid detection beam, three displacement sensors, a gyroscope, a GPS and a rotary encoder, wherein the rigid detection beam is suspended at the bottom of the tail of an automobile or the front end of the automobile along the direction of the automobile body; the three displacement sensors are arranged on the rigid detection beam at intervals along the direction of the automobile body and used for obtaining the evenness of a pavement in a local range; the gyroscope is used for obtaining the attitude azimuth of the detection beam in the running process of the automobile; the rotary encoder is used for obtaining the travelled distance of the automobile; the GPS is used for obtaining the longitude, the latitude and the altitude of the automobile. The system and the method for detecting the pavement evenness based on multiple sensors have the advantages that small-wavelength detection on a vertical section under the conditions of variable speed and low speed is realized by use of the non-inertial vertical section detection theory of the small-step length standard transfer principle, meanwhile, large-wavelength accurate detection on the vertical section of the pavement is realized by use of a data fusion method of GPS elevation and gyroscope elevation, and full-wavelength accurate detection on the pavement is realized based on the small wavelength of the vertical section.

Description

technical field [0001] The invention belongs to the technical field of roads and bridges, and relates to a detection system and method for road surface roughness parameters, in particular to a detection system and method based on multi-sensor data fusion. Background technique [0002] (1) Existing road surface roughness detection technology [0003] Pavement roughness is an important index in pavement construction acceptance and pavement condition evaluation, which reflects the longitudinal unevenness of pavement and driving comfort. The main content of road surface roughness detection and evaluation is to calculate the international roughness index (IRI) according to the unevenness of the road surface longitudinal section detected, and determine the driving quality of the road according to the size of the IRI. [0004] At present, the road surface roughness testing equipment mainly includes a level, a three-meter ruler, a continuous flatness meter, a vehicle-mounted bump a...

AI Technical Summary

Problems solved by technology

The disadvantage is manual operation, low detection efficiency, generally only used for calibration work

The disadvantage of this equipment is that it is time-consuming and labor-intensive, and the test results are affected by human factors.

The disadvantage of this instrument is that it is greatly affected by road bumps and the repeatability is not ideal

Its disadvantage is that the instrument needs to be calibrated frequently, and the calibration work is a time-consuming and laborious work

The disadvantage is that the detection speed is slow, there are certain requirements for the tested road surface, and the price is expensive

Due to the limitation of the frequency response range of the accelerometer, in order to reduce the measurement error, the driving detection speed must be increased, but the detection speed of the vehicle is affected by many factors in the actual detection process, especially the municipal road conditions, when there is a red light at the intersection, you must stop

Therefore, this detection technology cannot detect low-speed and variable-speed driving.

[0012] 7. The non-inertial reference road surface roughness detection method and technology researched and developed by Chang'an University can realize slow and variable speed detection, but the detection beam installed with the laser displacement sensor is long (generally greater than 3 meters), and the system must be installed in the On vehicles with longer wheelbases

Due to the limitations of the current instrument hardware and sensor performance and detection accuracy, it is difficult to cover all road wavelengths with only a single sensor, so it is impossible to achieve full-band detection of the road profile. In addition, for changes in driving speed, special occasions and road sections The existing methods are not well satisfied with the detection of slow speed and stop at any time, as well as the stop of urban roads and forks.

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