KR20070013705A - Road flatness measuring device - Google Patents

Abstract

The present invention measures the data of the inclination angle by the 2-axis gravitational acceleration sensor and the distance or height by the encoder and converts it into a virtual measurement of the existing 7.6m profile meter. By acquiring the profile data, it is possible to reduce the size of the equipment, simplify the installation and movement, improve the measurement accuracy, and provide a more economical road surface flatness measuring device with low after-care costs. The measuring device includes a measuring wheel installed at a lower center portion and moving along a road surface, a four-wheeled support wheel installed at four corners of the distance measuring wheel for guiding during movement, and a real time movement of the measuring wheel. A main body including a tilt angle measuring sensor, a moving distance measuring sensor, or a height measuring sensor of the road; It is installed on the upper part of the main body and installed at the predetermined position to process the real-time inclination, moving distance or height data measured from the inclination angle measuring sensor, moving distance measuring sensor or height measuring sensor to profile the shape of the road measurement road surface. It consists of a signal processing unit to be created. The tilt angle measurement sensor uses a two-axis acceleration sensor that is not affected by vibration and acceleration during measurement.

Description

Apparatus for Measuring Pavement Roughness}

1 is a schematic side view of a 7.6m CP (Calibration Program) equipment by a conventional 7.6m profile meter.

2 is a perspective view of a flatness measurement apparatus of the road surface according to the present invention.

3 is a block diagram illustrating a signal processing system of a signal processing unit of a road surface flatness measuring device according to the present invention.

4 is an explanatory diagram for calculating an inclination angle value by a biaxial acceleration sensor used as a tilt measurement sensor according to the present invention.

5 is an explanatory diagram for calculating a PrI (Profile Index) value.

FIG. 6 is a graph showing distance and height data measured with a conventional 7.6m CP as a criterion for evaluating the reproducibility of a 1.5m profile meter according to the present invention.

7 is an exemplary view of a method of taking the average of two heights at the point of motion by the hinge.

FIG. 8 is a graph of virtual measurement of a true profile obtained as a result of integration using tilt angle data from a 1.5m profile meter according to the present invention and output of the result as measurement data.

Fig. 9 is a diagram showing the result of outputting the measurement result data on the screen as a profile graph on the PC.

Fig. 10 is a diagram showing how a PrI calculation result is output on A4 paper by a PC.

<Explanation of symbols for main parts of drawing>

1: device for measuring the flatness of the road surface according to the present invention

100: main body 110: measuring wheel

111: lever 120a, 120b, 120c, 120d: support wheel

130: tilt measurement sensor 140: height measurement sensor

150: moving distance measuring sensor 200: signal processing unit

210: control unit 220: signal processing module

230: encoder module 240: battery

250: PDA and PC 251: display unit

The present invention relates to an apparatus for measuring road flatness, and more particularly, to measure the data of a tilt angle by a 2-axis gravity acceleration sensor and a distance or height by an encoder with respect to the flatness measurement road, and the conventional 7.6m profile meter. By acquiring profile data for PrI analysis by a program that converts them into virtual measurements, the equipment can be miniaturized, easy to install and move, improve measurement accuracy, and have low post-management costs. A road surface flatness measuring apparatus.

In general, the flatness of the road pavement, which evaluates the pavement quality of the road surface, directly affects the ride comfort, safety, and pavement of various structures, such as driving a car, and is the most basic way of assessing road conditions from a road user's point of view. It is. The flatness of road pavement is the most important factor for evaluating pavement publicity. A conventional road surface flatness measuring device, which is a unique existing use meter for evaluating the pavement, has a 7.6m profile meter, that is, a manual 7.6, calibration program (CP).

1 is a schematic side view of a 7.6m CP (Calibration Program) equipment by a conventional 7.6m profile meter.

As shown in FIG. 1, the 7.6 m CP equipment 1 ′ is installed at a lower center portion of the main body 100 ′ consisting of five equal parts and moves along a road surface, and a measurement wheel 110. Paved road surface state of the road connected by six support wheels 120 'installed at the front and rear of the main body 100', and the measuring wheel 110 'and the rotation transmission shaft 111' According to the present invention, the recorder box 200 'is configured to record the up and down and rotational movements of the measurement wheel 110' as uneven waveform to manually measure the flatness of the pavement.

However, the flatness test apparatus according to the conventional 7.6m CP equipment 1 'having the above configuration has the following problems.

First, since the main body 100 'has a long length, when the main body is disassembled into 5 parts and the wheel is divided into 6 parts, it takes a long time to move, assemble and install, and it is difficult to manage and maintain.

Second, the mechanical recording device by the recorder box 200 'only has a function of checking the accuracy, and there is no error correction function so that the measurement is always carried out with an error. There is a problem.

Third, since the operating part of the recording pen is manufactured in a structure that generates a lot of mechanical friction, it is not responsive to the operation. Therefore, the recording device accurately records the vertical movement of the measuring wheel, which is the uneven state of the pavement road surface. There is a problem that can not be achieved.

Fourth, in the calculation of the flatness result, the investigator should analyze according to the regulations by using a ruler and a calculator. Therefore, when the measurement interval is 10 km, the analysis may take about 7 days (one person, 10 hours per day). There is a problem that takes time.

Fifth, if the amount of graph paper (recording paper) increases when the measurement interval is long, data management may be damaged and lost due to difficult management.

Finally, if the test staff changes during the measurement, individual errors may occur because the calculation of the flatness results is manual.

The present invention has been made to solve the conventional problems as described above, the object of the present invention, by the two-axis gravity acceleration sensor is not affected by the vibration and acceleration of 1.5m profiler equipment for the flatness measurement road The program measures real-time inclination angle, measures real-time distance or height data by encoder, integrates the measured inclination data value to form a true profile, and converts it into virtual measurement of existing 7.6m profile meter. By acquiring profile data for PrI analysis, the equipment can be miniaturized, its installation and movement can be simplified, measurement accuracy can be improved, and after-care costs are low, providing a more economic road surface flatness measuring device. It is.

Road flatness measuring device according to the present invention for achieving the above object is provided in the lower center portion and the measurement wheel to move along the road surface, and installed at four corners around the distance measuring wheel for guiding when moving A main body including a four-wheeled support wheel, an inclination angle measurement sensor, a moving distance measurement sensor, or a height measurement sensor on a road surface according to the movement of the measurement wheel in real time; It is installed on the upper part of the main body and installed at the predetermined position to process the real-time inclination, moving distance or height data measured from the inclination angle measuring sensor, moving distance measuring sensor or height measuring sensor to profile the shape of the road measurement road surface. Characterized in that it comprises a signal processing section to be created.

In addition, the inclination angle measuring sensor may acquire the inclination angle without being affected by the vibration and acceleration of the device during the flatness measurement by using the two-axis acceleration sensor.

In addition, as the moving distance measuring sensor and the height measuring sensor, an encoder coupled to the measuring wheel is preferable.

The signal processor may be applied to the encoder module to which a pulse signal is applied by measuring a moving distance or height in real time from the moving distance measuring sensor or the height measuring sensor, and the tilt angle value detected by the tilt measuring sensor and the encoder module. And a signal processing module for automatically calculating a PrI (Profile Index) value from the moved distance or height value.

In addition, the flatness measurement device of the road surface is a profile meter of 1.5m or more or less, the height h (x) of the true profile according to the inclination angle value in the signal processing module is virtual through the program The PrI (Profile Index) value is calculated in terms of 7.6m CP.

In addition, the signal processing unit includes a personal digital assistant (PDA) and a personal computer (PC), including simulation of the calculated PrI, simulation of PrI, simulation for decision making on the position and part of the repair, profile graph output and database management. It plays a role and displays the profile graph on the display.

In addition, the personal digital assistant (PDA) and the PC may be connected to the signal processor through RS232C or USB communication.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view of a flatness measurement apparatus of the road surface according to the present invention.

As shown in FIG. 2, the flatness measurement apparatus 1 of a road surface according to the present invention may move data and a main body 100 for measuring a true profile while moving a surface of a road surface to measure flatness greatly. The signal processing unit 200 is configured to process and create a profile of a road measurement road surface shape. Here, the main body 100 according to the present invention forms a body connected by a plurality of frames (not shown in the figure), and the material is made of aluminum in consideration of rigidity and weight to minimize the weight of the device. However, in the present invention, the material is not limited.

The main body 100 of the road surface flatness measuring apparatus 1 according to the present invention is installed in the lower center portion and moved along the road surface, the measurement wheel 110 and the measurement wheel 110 spaced apart from the four corners. Tilt measurement sensor that measures the installed four-wheel support wheels 120a, 120b, 120c, and 120d and the measurement wheel, that is, the inclination, the moving distance, or the height of the road surface, respectively, according to the movement of the measurement wheel 110 in real time. 130, the moving distance measuring sensor 150 and the height measuring sensor 140 are configured.

Here, when the support wheel according to the present invention is manufactured in a multi-wheel type (6 pieces) as in the conventional 7.6m flatness test apparatus, it is difficult to accurately measure the angle of the inclination. In addition, the overall length is reduced to about 1.5m from the conventional 7.6m to further reduce the weight.

The measuring wheel 110 is configured to be able to move up and down by the lever 111, and in actual operation is to move along the surface of the road surface having a certain angle and unevenness. At this time, the movement distance measurement sensor 150 or the height measurement sensor 140 is attached to the measurement wheel 110 so that the movement distance or height is measured in real time when the measurement wheel 110 is moved. Such a measuring sensor is attached in the form of an encoder (encoder) to detect the number of pulses according to the movement of the measuring wheel 110 to measure the moving distance and height of the road surface, but in the present invention is limited to the sensor type It doesn't happen. Here, since the height can be measured from the tilt angle value, the height measurement sensor 150 is optional and not required for the present invention.

In addition, the four-wheel support wheel (120a) (120b) (120c) (120d) is in consideration of the occurrence of the angular error of the equipment due to the play during the movement so that the play does not occur during the movement measurement and to enable left / right rotation It is preferable to apply a double row angular contact ball bearing, but is not limited thereto.

In addition, in order to improve steering of the road surface flatness measuring apparatus 1 according to the present invention, the steering wheel 160 is installed at the rear center, and the signal processor 200 can easily measure the measurement state during the measurement by the measurer. Is installed in front of the meter.

In the illustrated example, the inclination measurement sensor 130 is provided below the signal processing unit 200, but is not limited to the installation position in the present invention. In addition, a type of inclination measurement sensor 130 uses a conventional two-axis acceleration sensor, because the inclination data can be obtained without being affected by vibration and acceleration of the device during the movement for the flatness measurement. However, in the present invention, a tilt sensor, a gyro sensor, an ultrasonic sensor, a laser sensor, or the like may be used.

3 is a block diagram illustrating a signal processing system of a signal processing unit of a road surface flatness measuring device according to the present invention.

As shown in FIG. 3, the measuring wheel 110 of the flatness measuring device 1 is moved along the road surface to test the flatness of the road surface, and at this time, a moving distance measuring sensor connected to the measuring wheel 110 ( 150 and the height measuring sensor 140 measure the moving distance and height in real time, and a pulse signal is applied to the controller 220 via the encoder module 230 and detected by the tilt measuring sensor 130 which is a 2-axis acceleration sensor. The received signals are also connected to be applied to the controller 210.

In addition, the signal processor 200 of the road surface flatness measuring apparatus 1 according to the present invention has a battery 240 built-in to supply power. However, the power supply source is not limited to the battery.

The signal processor 200 may include a portable computer such as a PDA and a PC 250, and the processed data may be output to the display unit 251. The PDA and the PC 250 and the display unit 251 may be embedded in the signal processing unit 200 itself, and may store data recorded and stored in the signal processing unit 200 using predetermined communication means (for example, RS232C or USB communication). You can also receive input from outside.

Referring to the process of measuring the profile using the flatness measurement device (1) of the road surface according to the present invention configured as described above are as follows.

First, when the flatness measuring device 1 of the road surface according to the present invention is placed on the surface of the road surface to be measured, the main body 100 is driven by the four-wheel supporting wheels 120a, 120b, 120c, and 120d. It is free to move forward or backward along the surface. Of course, the measurer can adjust the steering wheel 160 in a predetermined direction

At this time, since the measuring wheel 110 rotates along the road surface to operate the movement distance measuring sensor 150 and the height measuring sensor 140, the number of pulses is counted by the encoder module 230 and provided to the controller 210. As a result, the control unit 210 calculates the measurement moving distance and height by the main body in real time.

The inclination of the road surface is measured in real time by the inclination measurement sensor 130 which is a two-axis acceleration sensor together with the movement distance and height measurement of the main body 100 of the road surface flatness measuring device 1 as described above. Is provided.

The controller 210 receives the distance movement value, the height value and the tilt angle value through the signal processing module 220 and is processed by the program according to the present invention to automatically calculate the PrI (Profile Index) value. The data is stored and recorded in the PDA and the PC 250, and the profile graph is displayed on the display unit 251. An algorithm for automatically calculating PrI from the measured moving value, height value, and tilt angle value will be described later.

The PrI is a flatness index standardized by the KS standard F2373 using the uneven height, which is the primary physical meaning of the flatness of the road surface, using a recording result measured by a 7.6m CP (Calibration Program) device. Similarly, a virtual 7.6m CP is created through the program, and the measured angle is measured by 1.5m profile meter.

On the other hand, the applicant of the present invention, in order to apply the algorithm for predicting the motility of the 7.6m flatness tester, the flatness measuring device 1 of the road surface according to the present invention, that is, the support wheel of 1.5m profile meter (may be 1.5m or less) Has been tested in the multi-wheel type, and the result of taking the average value of the uneven height at the hinge part of the support wheel while reading the true profile of the road surface by the angle data, and accurately measuring the 1.5m profile meter In this difficult case, the front and rear four-wheel supporting wheel structure with the hinge portion removed was applied. As a result of this study, it was impossible to calculate the exact slope of the equipment as the results of the data analysis showed that the influence of acceleration and deceleration of the road surface irregularities and measurement speed generated vibration and acceleration on the mercury-type angle sensor attached to the 1.5m profile meter. In order to solve this problem, the device was configured and tested so as not to be affected by vibration and acceleration mechanically, but satisfactory results were not obtained. Therefore, as a result of a lot of time in order to obtain the angle data unaffected by vibration and acceleration, it is possible to apply the 2-axis acceleration sensor to obtain the angle data without the influence of vibration and acceleration from the measured angle data through a mathematical method. So that the tilt measurement sensor 130 is using a two-axis acceleration sensor.

4 is an explanatory diagram for calculating an inclination angle value by a biaxial acceleration sensor used as a tilt measurement sensor according to the present invention. Where α is the tilt angle, V is the vertical unit vector, H is the horizontal unit vector, Ach1 is the first acceleration sensor unit vector, Ach2 is the second acceleration sensor unit vector, N is an arbitrary vector, and θ is the acceleration sensor. Sensor mounting angle.

As shown in FIG. 4, when the flatness measuring device 1 of the road surface on which the two-axis acceleration sensor 130 is mounted is inclined at an angle α, the output values of the two-axis acceleration sensor 130 are the angle α and the horizontal acceleration. It is affected by the component h . If the machine is moving at constant speed, h is zero, but if the speed changes due to acceleration / deceleration and vibration of the running speed, h is not zero. Therefore, the absolute angle α of which is not affected by the acceleration device obtains a vector sum of N and the Ach1 Ach2 drawn a circle of the gravity acceleration h and then size If you connect the intersection point of the circle with the center in parallel, it becomes the direction of gravity, and the angle between the direction of gravity and the vertical axis of the coordinate is the absolute angle α of the machine. The angle α can be obtained by the following Equations 1 and 2 using v , the vertical acceleration component, and gravitational acceleration (g) (9.8 kW).

Where ach1 is an output value (gravity) of the first acceleration sensor, ach2 is an output value (gravity) of the second acceleration sensor, h is a horizontal acceleration component (gravity), and v is a vertical acceleration component.

5 is an explanatory diagram for calculating a PrI (Profile Index) value.

As shown in FIG. 5, a blank band of a predetermined width (5 mm) is drawn on the measured profile of the road surface, and then all upper and lower profiles outside the band are summed and calculated in mm. At this time, unevenness of less than 1mm in height and less than 2mm in width is considered to be due to foreign matter on the road surface or the momentary vibration of the equipment and is excluded from the summation. The value of PrI is shown in Equation 3 below.

On the other hand, the algorithm for applying to the virtual 7.6m CP equipment from the 1.5m profile meter according to the present invention will be described.

Simulation results based on the angular data measured by the tilt sensor and the mechanical characteristics of the 7.6 m CP equipment. The results measured with the m CP instrument were compared, but the reproducibility of the 1.5 m profilometer did not meet expectations. FIG. 6 is a graph illustrating distance and height data measured with a conventional 7.6m CP, and serves as a criterion for evaluating the reproducibility of a 1.5m profile meter.

Therefore, in order to compare the reproducibility with the profile measured with the 7.6m CP device, first, read the distance and the tilt angle data measured with the 1.5m profile meter and integrate it to obtain the true profile represented by the distance and height data. Form of the calculation process. The height of the true profile using the integration according to the distance movement is as shown in Equation 4 below according to the movement distance x.

Here, θ (x) is the measured tilt angle data (see Equation 2) according to the moving distance (x), h (x) is the height of the true profile (that is, the height of the measuring wheel) according to the moving distance, h (0) is the height of the measurement starting point, and is set to 0 in this equation.

Finally, in order to satisfy the reproducibility of the 1.5m profilometer for the measurement results by the 7.6m CP equipment, a virtual measurement program was developed to apply the kinematic analysis of the 7.6m CP equipment. The mechanical analysis algorithm of 7.6m CP equipment applied to the program is as follows.

Figure 6 shows the definition of the motion point, the fixed point and the center point by the hinge of the 7.6m profile meter needed to configure the present algorithm.

As shown in FIG. 6, defined HFRP (Height Front Right Point), HFLP, (Height Front Light Point), HRLP (Height Rear Left Point), HFP (Height Front Point), HRP (Height Rear Point), HRRO (Height Rear Right Point) and HCntr (Hight Center Pont) are defined to represent the movement point, fixed point and center point of the six support wheels and the center measuring wheel in the conventional 7.6m flatness test apparatus.

 FIG. 7 shows an example of a method of taking an average of two points of height h1 and h2 on the axis of rotation, ie, the axis of rotation, by applying a cubic spline to increase precision in virtual measurement. The height average (hc) by the hinge is shown in Equation 5 below.

Where hc is the average of the heights by the hinge, h1 and h2 are the two heights by the hinge, and l1 and l2 are the distances to h1 and h2 and hc respectively.

HFRP (Height Front Right Point), HFLP, (Height Front Light Point), HRLP (Height Rear Left Point), HFP (Height Front Point), HRP (Height Rear Point), And HRRO (Height Rear Right Point), and finally, the height at HCntr (Hight Center Pont), which is the position of the measurement wheel, is the measured value at an arbitrary position.

In other words, if a virtual 7.6m CP is created through a program and the true profile obtained as a result of the integration is measured by using the tilt angle data from the 1.5m profile meter according to the present invention, the result is output as measurement data. The output graph is shown in FIG.

Meanwhile, the signal processing module 220 (see FIG. 3) of the controller 210 performs the calculation process of Equations 2 and 4 to measure tilt angle data and two moving distances of equipment not affected by acceleration. Signals (encoder signals) of the sensor and the height measurement sensor are controlled to transmit distance and height data to the PDA and the PC 250 via RS 232C communication.

The PDA (Personal Digital Assistant) is to correct the error of the reference of the angle, distance and height in advance before measuring the data of the tilt angle, distance or height, the angle, distance transmitted from the control unit 210 And the height data is stored in the form of distance-angle, distance-height through correction by error and shows the profile of distance (S) -height (H) on the screen in real time. Of course, this is done in terms of measuring the virtual 7.6m CP by the profile program. In addition, when data is stored after the measurement is completed, the calculation result of PrI is shown, and the stored data is downloaded from a PC and the result is output.

The PC performs the role of analysis of PrI, simulation of PrI, simulation for decision on the position and part of repair, profile graph output and database management, and FIG. 9 shows measurement result data on the screen on the PC. Fig. 10 is a view showing a state in which a PrI calculation result is output on an A4 sheet by a PC.

Here, the PDA and PC 250 may be installed in the signal processing unit 200 of the road flatness measurement apparatus according to the present invention, but may be separately connected to be connected through RS 232C communication. Of course, as described above, the PDA and the PC may be separately processed by a plurality of independent programs, but the analysis for PrI, the simulation of PrI, the simulation for determining the position and part of the PrI by one program, You can also integrate profile graph output and database management.

Therefore, as described above, according to the road surface flatness measuring device according to the present invention, the tilt angle in real time by the two-axis gravity acceleration sensor that is not affected by the vibration and acceleration of 1.5m profiler equipment with respect to the flatness measurement road To obtain the profile data for PrI analysis by a program that converts the measured gradient data value to form a true profile and converts it into a virtual measurement of the existing 7.6m profile meter, thereby minimizing the equipment, and It is easy to install and move, improves measurement accuracy, and has lower cost of after-care, which is more economical.

Although the present invention has been described in detail with reference to preferred embodiments according to the present invention, this is only for illustrating the present invention and is not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the scope of the present invention. It should be noted that this is possible as well as this is also within the scope of the present invention.

Claims (9)

A measurement wheel installed at a lower center part and moving along a road surface, a four-wheel support wheel installed at four corners around the distance measuring wheel for guiding during movement, and an inclination of the road surface according to real-time movement of the measurement wheel A main body composed of an angle measuring sensor, a moving distance measuring sensor or a height measuring sensor, It is installed on the upper part of the main body and installed at the predetermined position, and processes the real-time inclination, moving distance or height data measured from the inclination angle measuring sensor, moving distance measuring sensor or height measuring sensor to create a profile of road measurement road surface shape. A road surface flatness measuring device comprising a signal processing unit to be made. The method of claim 1, The inclination angle measuring sensor is a road surface flatness measuring device, characterized in that any one of a 2-axis acceleration sensor, a tilt sensor, a gyro sensor, an ultrasonic sensor, a laser sensor. The method of claim 2, The moving distance measuring sensor or the height measuring sensor is a road surface flatness measuring device, characterized in that the encoder coupled to the measuring wheel. The method according to any one of claims 1 to 3,  The signal processor includes an encoder module to which a pulse signal is applied by measuring a moving distance or height in real time from the moving distance measuring sensor or the height measuring sensor, a tilt angle value detected by the tilt measuring sensor, and a movement applied to the encoder module. And a signal processing module for automatically calculating a PrI (Profile Index) value from a distance or height value. The method of claim 4, wherein The inclination angle value α is measured by the following equation when measuring the flatness by the two-axis acceleration sensor in the signal processing module.

Where ach1 is an output value (gravity) of the first acceleration sensor, ach2 is an output value (gravity) of the second acceleration sensor, h is a horizontal acceleration component (gravity), v is a vertical acceleration component, and θ is an acceleration sensor mounting angle. The method of claim 5, The height h (x) of the true profile according to the inclination angle value in the signal processing module is calculated by the following equation.

Here, θ (x) is the measured tilt angle value according to the moving distance x, and h (x) is the height of the true profile according to the moving distance, that is, the height of the measuring wheel. The method of claim 6, The flatness measurement device of the road surface is a profile meter of 1.5m or more or less, the height h (x) of the true profile according to the inclination angle value in the signal processing module is virtual 7.6m through the program A road surface flatness measuring apparatus, characterized in that for calculating the PrI (Profile Index) value in terms of CP. The method of claim 4, wherein  The signal processing unit includes a personal digital assistant (PDA) and a PC, and in the personal digital assistant (PDA) and a PC, simulations, profiles for analysis of the calculated PrI, simulation of PrI, and decision making on the repair position and part are performed. A road surface flatness measuring device, which performs a role of graph output and database management, and displays a profile graph on a display unit. The method of claim 8,  The PDA (Personal Digital Assistant) and the PC is a road surface flatness measuring device, characterized in that connected to the signal processor via RS232C or USB communication.

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