KEY NOTE ON PAVEMENT MAPPING

Transcription

1 6 th Internatonal Sympoum on Moble Mappng Technology, Predente Prudente, São Paulo, Bral, July -4, 9 KEY NOTE ON PAVEMENT MAPPING A. C. Ramundo a, C. Mäder a, D. A. M. Perera a, J. B. Andrade a, M. C. Gonçalve a, M. A. Wypych a, R. B. Souto a, T. P. Junor a Common VI, WG VI/4. INTRODUCTION Mantenance, n general, concern about care one take n order to conerve omethng performng properly along the tme. Everythng contructed need ether mantenance before top to work or recontructon afterward. Confrontng the atttude of reparng afterward agant the atttude of mantan, the former how to be much more economc. In nature we ee mantenance and renovaton all the tme. But the decon one can take wth regard to mantenance are not necearly baed upon prncple of ecurty, economy, centfc true, or logc. So mantenance omethng not ued everywhere, anywhere. The mplcaton that not everythng that manknd contruct manknd mantan. Arplane, for ntance, are ubject of mantenance becaue falure are pad wth human lve. Even o, accdent happen due to lack of mantenance. Car alo are ubject of a plan of mantenance, but decon for uch are taken by the owner and many do not lke to expend money on that. When nobody mantan one uch pecal tem, nobody learn how to do t properly. So, mantan requre experence. Mantenance requre knowledge of the tate and rule to be followed. Rule mut be contructng along wth experence. The tate of omethng ubject to mantenance mut be known contnually along the tme, whch mean that montorng requred. Road mantenance ha been proved to be the mot economcal way to treat keepng comfort and ecurty on road tranportaton. The monetary cot rate between mantan a road and recuperate t after damage may reach :. So, the cot of not mantan a road mean very large expendture of money, lo of fat and economcal tranportaton, comfort and human lve. Road are very complex engneerng contructon. So, not only the pavement mut be object of mantenance, but wth the ame mportance, brdge, dranage ytem, gnalaton, vegetaton, llumnaton, faclte for communcaton, ext, ret area, proper acce for ervce lke ga taton, retaurant, lodgng, etc. Mantenance of road requre a proce of montorng all the tem decrbed above to make poble to program the neceary correcton and mprovement on proper tme to avod lo of qualty. There are many parameter to defne condton of a pavement, lke the Internatonal Roughne Index (IRI); the deformaton of the pavement under a movng load; gnalaton on the pavement, pavement nfratructure, defect on the urface of the pavement lke fure and other. In old tme, workng condton on a road wa much dfferent than now. The hgh ntenty of traffc extent today make old method for road montorng to be much too dangerou. Method for parameter collecton that requre equpment to top n the road are low, expenve and dangerou. So nowaday, a bac requrement for ytem to work on road mappng the capablty of collectng data at the very ame velocty of the traffc flow.. TITLE AND ABSTRACT BLOCK. The mnvan Road Runner Our experence n developng tool tarted wth a mnvan that we equpped for capturng data to provde the neceary nformaton to map road horontal and vertcal gnalaton, road techncal condton, pavement defect, and IRI at traffc velocty. Fgure. Mnvan for road mappng The Road Runner cont on a mnvan FIAT DOBLÔ, equpped wth frontal dgtal camera (7 to 4 degree) and a rear B&W dgtal camera that photograph pavement 4m cro road, a precon odometer and a GPS recever and three LASERS profler. Data are collected to a dek computer or a laptop when only LASERS data are collected. All meaurement are geo-referenced by a prece odometer and a GPS recever. The antenna of the GPS recever ha h poton defned on the RoadRunner Reference Frame... RoadRunner Reference Sytem All the enor ntalled on the RoadRunner have ther poton and atttude very well defned through proce of calbraton. For th purpoe, the RoadRunner ha a dynamc reference frame wth orgn on a pont on the local plane of the pavement materaled on the proce of calbraton of the pavement camera tuated at 8 cm behnd the rght rear ax of the RoadRunner, where data collected for the odometer. The orgn are defned along the tme accordng to the dtance nterval to collect data. The X ax lay on the pavement plane over a tranveral trat to the pavement and potve to the left de of the car. The Y ax parallel to the drecton of the

2 movement and potve behnd the car. The Z ax perpendcular to the pavement plane, potve upward, makng a rght angle reference frame. The orgn of the movng reference frame tracked by the odometer wth accuracy better than mm and a GPS recever. Any data n uch reference frame can be tranformed to the road ytem of reference or to a geodetc reference ytem. The vehcle ha a frame on t roof where one may ntall camera for front vew, de vew or back vew n many dfferent confguraton. A econd frame on the lower back of the vehcle allow to fx the profler and the box of connecton n a protect way. The mnvan howed n the fgure carre:. One or two front camera wth len to provde horontal vew angle of 7o each one, makng 4o f two camera are n ue for the regtraton of all knd of gnalaton, track, brdge, return, ext, vegetaton, telephone, other de contructon, etc. Thoe are OMS color dgtal camera ung Bayer Flter technology wth. megapxel each one (8 x 4 pxel 8.576x6.86mm) and 6.7 quare pxel, connected to the on board computer. Pcture can be taken at choe dtance nterval, wth a precon of mm.. A rear camera lookng to the pavement for mappng pavement defect the pavement camera. Th an OMS.3 megapxel black and whte camera n order to gan reoluton and be fater. Th camera calbrated ung a pecal method and can take one pcture coverng 4 meter cro road and one pcture every 3 meter. The pcture are not vertcal and they are rectfed over the pavement plane to how unform cale. 3. Three LASER Profler on the rear of the van at,4m over the pavement meaurng profle pont at a chooe dtance nterval. We are ung a dtance nterval of,5m a uggeted by Bralan norm, but other value can be ued. 4. One GPS recever provde data n order to get geodetc poton every tme a enor collect data commanded by the on board computer. Now, the geodetc poton are nterpolated along the tme. An nertal navgaton ytem wll be ncluded to the ytem allowng poton n tunnel and better geodetc poton all the tme. 5. A prece odometer compoed of a rotary encoder connected to the rear rght wheel wth an electronc crcut to accumulate potve or negatve pule accordng to the van movement... Decrpton of the ntrument - The Integraton Box All the ntrument are connected to an ntegraton box that exchange data and command among the computer and enor. Fgure. The Integraton Box Data are ent to the computer every tme the van run a gven dtance meaured by the prece odometer. All the data are geo-referenced. - The odometer A rotary encoder, provdng pule per rotaton, connected to the rght rear wheel and a proper electronc crcutry provde a very prece odometer wth a meaurng reoluton better than two mllmeter. Th odometer gve the bae to command data acquton from GPS, front camera, pavement camera, and three pavement profler. Fgure 3. Odometer - The GPS Recever Fgure 4. GPS recever A GARMIM OEM GPS recever, capable of gven 3D geodetc poton baed on A/C code and phae meaurement from the carrer L potoned on the van n a known poton related to the movng reference frame, and o, ted to the odometer. - Dgtal Camera All the dgtal camera are protected agant ran, heat and dut by a cae that can be ealy ntalled or removed from the vehcle frame.

3 - Houe of LASER Profler Fgure 5. Dgtal Camera - Computer The van equpped by a dektop wth creen, moue ball and a mn keypad and alo a laptop (optonally). Fgure 9. Houe of LASER Profler The Houe for the LASER Profler are protected by two bar and provde addtonal protecton from the ambent. - Computer Box Fgure 6. Computer creen, keyboard and moue - The LASER connecton Box Three LASERS are ntalled n the rear part of the van. A Connecton Box provde energy for the tree enor and exchange data wth the Integraton Box. Fgure. Computer Box The Computer Box provde vbraton dampenng to the computer. Fgure 7. LASER Connecton Box - LASER Profler Fgure. Image Taken for Pavement Camera Calbraton 3. INTERNATIONAL ROUGHNESS INDEX Roughne a ued for IRI can be defned a the profle of a pavement relatve to t deal urface. The upenon ytem of a vehcle travellng on a pavement ha a proper modulaton tranfer functon, flterng roughne to the paenger. Fgure 8. LASER Profler Three LASER Profler can be ealy are ntalled and removed on the rear part of the mnvan. Among the way developed to reach a roughne ndex the repone-type of ntrument, accumulatng the potonal varaton of the ma body of a car related to the car ax. Naturally uch method depend very much on the charactertc of the upenon ytem of the car.

4 Lookng for an ndex reproducble anywhere n any tme, n 98, happen the Internatonal Road Roughne Experment IRRE, n Brala, upported by the World Bank, by the Bralan Enterpre for Tranportaton Plannng (GEIPOT), the Bralan Inttute of Road Reearch of the Natonal Department of Road (IPR/DNER), the French Laboratory of Brdge and Pavement (LCPC), the Reearch Laboratory of Road and Tranportaton (LCPC) and the Natonal Cooperatve Hghway Reearch Program (NCHRP) from the Unted State of Amerca, reachng to the etablhment of the Internatonal Roughne Index (IRI). IRI an ndex baed on the quarter car model named golden car, runnng at a velocty of 8km/h and expre the accumulaton of the upenon durng the dtance range of the tet. It a mulaton proce of a repone knd of ytem completely tandarded, gven a reult, an nternatonal tandard cale ndependent on the way the profle of a pavement meaured. Th mean that, gven the profle of a pavement, t roughne wll provoke on the vrtual vehcle runnng at the velocty of 8 km/h the very ame vbraton that the modulaton tranfer functon of a golden car. Such modulaton tranfer functon repeatable, becaue t computed through a mathematcal model ung fxed parameter. So, the reult wll depend olely on the profle that mut be adequate, prece and accurate. 3. Profle So many paper are publhed on th ubject; neverthele a great deal of confuon on t proper undertandng vble. The man pont that a profle requre the etablhment of a reference frame. The ame lne or urface can preent dfferent profle, accordng to the reference frame adopted. Th mean that the choce of the reference frame mut be ubmtted to the objectve to reach ung a profle. A movng vehcle on a pavement change t atttude accordng to the tendency (deal urface) offered by pavement urface. It upenon ytem work orthogonally to the urface of the pavement DP/DX. Th fact ay that the reference frame for the profle mut be the very deal pavement urface. If the reference frame ted to the geode, for ntance, each pont of the profle wll be meaured along t vertcal. DH/DD. A can be vewed the fgure 3.. P DX P DH DP RP RH DD Fgure. Dfferent profle from the ame urface (or lne) The fgure how the dfference between DP/DX and DH/DD. The ue of an nadequate reference frame mple n ytematc error. For the Internatonal Roughne Index IRI the adequate profle DP/DX, havng a reference frame the deal urface of the pavement. Meaurement made on another reference urface mut be tranformed to the above. When ung electronc meaurng profle t become neceary to conder that the movement of the vehcle perpendcular to the pavement wll be add to the pavement profle. So, t wll be neceary to flter the meaured profle to get the pavement profle. Th flterng can be done wth a hgh pa flter (lke an nertal enor or a mathematcal flter). Both knd of flter uffer from a problem due to the velocty of the car. When the car move lowly, the frequency of the movement of the car perpendcular to the pavement ncreae, reachng the frequence of the pavement profle and become mpoble to eparate the wave. For th reaon, the car mut move fater than 5 km/h, decreang the frequency of t perpendcular movement to the pavement uffcently to make poble to flter the pavement profle. 3. Quarter-car model (golden car) K Maa Supena Maa não Supena Kt C M Mu B Fgure 3. Quarter car model (golden car) Th flter defned by dfferental equaton that relate movement of the golden car wth the pavement profle. In t form of matrx, the equaton read: Z Z () k c k c Z Z = + h p + Z Z u u k c k k c k Zu Zu In reduced form: were: = A + h p B Z X ()

5 ln = A. ΔT () A. ΔT = e () A. ΔT = e. () = ST. (3) ST (4x4) denomnated the etate tranton matrx that defne the free repone n a a lnear combnaton of four varable n -. The dervatve are ndcated wth pont: one for frt dervatve, meanng velocty and two for the econd dervatve meanng acceleraton, accordng to Newton notaton for dervatve over tme. The tme neceary to go one part of the pavement profle related wth the dtance and the mulated velocty of the car: ST = = e k k c c k k + k c ΔT c (4) where: X the dtance traveled and V the velocty of the mulated vehcle, uch that T reult expre n econd of tme, lke for example, the dtance between two ample of the profle. For a et of lnear equaton lke the () the total repone n a pont I the addton of two parcel: the free repone (wthout entry) of the ytem to t etate n an anteror - pont, plu the forced repone for a entry occurred nto the nterval of pont - and. In the cae n whch each entry a contant, the repone can be wrtten a: 3.. General oluton ST for the homogeny dfferental equaton = A + ub Where the fltered heght were changed by profle u: (3) (4) Y Y = (5) dx u The correpondent homogeny dfferental equaton : Integratng: A = (6) d A = dt (7) d = Adt (8) d (9) t = t Adt ST Or developng nto Taylor ere: A. ΔT = e (5) A A A 3 ST = I + A ΔT + ΔT + ΔT + (6)! 3! 3.. Partcular oluton PR for the dfferental equaton ST the etate tranton matrx and the (6) the general oluton of the homogeny ytem of dfferental equaton. Th oluton, added to one partcular oluton PR (partal repone or forced repone) the oluton of the non homogeny ytem. Aumng contant, the (4) wll reult n: A = u.b, = A u.b (7) - Replacng (7) nto (3) and the reult nto (4): ' ( ST.A.u.B + u.pr ) A( ST.A.u.B + u.pr ) = u. B Beng were contant, t dervatve null and we have: PR PR PR PR 3 4 A k = k ( ST.A.B + PR) = B (8) (9) PR = A ( ST I)B. () c c k k + k c () c k

6 PR the four element vector of the forced repone a a lnear functon of a contant nterval - to. that the entry to cover the 3..3 Fnal oluton for the dfferental equaton ST and PR are oluton for equaton (). The fnal oluton wll be the um of the general oluton wth the partcular oluton. So, for each pont of the pavement profle, we wll have: In hort form: Z 3 Z 4 PR () Z 3 4 Z Y PR Y = + Z u Z u dx PR3 Z PR u Z u 4 Fgure 5. Hgh Pa Flter Fgure 6. Low Pa Flter Z = ST Z + u PR (3) í 3.3 IRI RS = Zu Z (4) n (5) IRI = n = RS Fgure 7. IRI 5. Frontal Vew 4. SOFTWARE FOR DATA COLLECTION The oftware for data collecton allow ntroducng event lke klometrc mark or element capable of modfy IRI, etc. Each photograph geographcally referenced by GPS and odometer. In pte of the fact that photo are not taken n tereocopc par, t poble to evaluate the poton of any pont on the pavement urface wth ub metrc accuracy. 4. Pavement Photo Black & whte photograph are rectfed over the local pavement theoretcal plane, howng n unform cale pavement mage coverng 4 meter wde by 3 meter along the road, n a equence that can be moved. Fgure 8. Frontal Vew A The oftware allow alo obervng, multaneouly n a econd ub-creen, the correpondng front color mage. 5. RESULTS 5. IRI n BR77 Fgure 9. Frontal Vew B Fgure 4. Raw Profle

7 Fgure. Frontal Vew C Fgure 5. Rear Vew C Fgure 6. Rear Vew D Fgure. Frontal Vew D Fgure 7. Rear Vew E Fgure. Frontal Vew E 5.3 Rear Vew Fgure 8. Rear Vew F Fgure 3. Rear Vew A Fgure 9. Rear Vew G Fgure 3. Rear Vew H Fgure 4. Rear Vew B

8 Ral npecton by photogrammetrc method to examne ral head web and feet, jonted trak, etc., a well a a ralway cadater. Fgure 3. Rear Vew I Fgure 35. Tet car 5.4. Movng FWD Fgure 3. Rear Vew J FWD very prece but too low. Workng together wth a Movng FWD the gan of velocty compatble wth the traffc flow and t wll allow more pace between conecutve FWD meaurement Tranveral Rotatng Profler Th ntrument wll collect data for DSM (Dgtal Surface Model) havng a Datum the pavement urface Portable Equpment to Survey Profle n Tet Feld for Profler Calbraton 6. CONCLUSION Economc and ecurty reaon requre pavement mappng at traffc velocty. Fgure 33. Rear Vew K 5.4 New Project 5.4. Ralroad Mappng Fgure 34. Ral Montorng