In-situ calibration method, calibration device and system for road surface flatness instrument

Abstract

The invention discloses an in-situ calibration method, calibration device and system for a pavement flatness instrument, and belongs to the technical field of calibration. The method comprises the steps of determining a target rotating speed of an elevation simulator according to a target flatness index range; determining a sampling pulse signal according to the simulation vehicle speed of the to-be-calibrated laser flatness instrument test system; driving an elevation simulator to simulate a height sequence value according to the target rotating speed, wherein a flatness index corresponding to the height sequence value is within a target flatness index range; receiving vertical section height program sequence measurement data sent by the elevation simulator and obtained based on sampling pulse signal measurement; obtaining a flatness index standard value according to the longitudinal section height program column measurement data; receiving a flatness index measurement value obtained by a to-be-calibrated laser flatness instrument test system based on the sampling pulse signal; and calibrating the laser flatness instrument test system according to the flatness index standard value and the flatness index measurement value. According to the technical scheme, the performance of the laser flatness instrument test system can be rapidly calibrated.

Description

Technical Field

[0001] The invention belongs to the field of calibration technology, and in particular relates to an in-situ calibration method, a calibration device and a system for road surface flatness. Background Art

[0002] Pavement roughness is an important indicator in pavement evaluation and pavement construction acceptance. It mainly reflects the smoothness of the pavement longitudinal section profile curve and is generally evaluated using IRI (international roughness index). IRI is usually measured and calculated by a laser roughness meter test system (or vehicle-mounted pavement laser roughness meter) with automated detection function for measuring the international pavement roughness index. With the popularization and application of laser roughness meter test systems, the accuracy and stability of measurement data from such systems are increasingly being paid attention to.

[0003] The test road for the verification test can be the standard test road method or the section test method. Among them, the standard test road method is a method of changing the flatness of the test line by arranging test blocks of different thicknesses and numbers at different positions along the test line on the platform road according to the IRI value of the section required for the verification project. The section test method is to select four sections with different flatness levels on the actual operating road.

[0004] Regardless of whether it is the standard test road method or the section test method, it is first necessary to mark points at intervals of 250mm along the starting point of the test road, and then use a precision level to measure the relative elevation data of each point on the test road. For the standard test road method, you only need to find a test road, first mark points at intervals of 250mm on the section, and then use a precision level to measure the relative elevation data of each point on the test road. In order to simulate different road surface undulations, test blocks are arranged at some marked points, and then the road surface elevation data at the corresponding marked points is added to the height data of the test blocks. Then, a longitudinal section elevation data of the test road including the height of the test blocks can be obtained, and then the IRI value of the test section can be calculated based on this longitudinal section elevation data of the test road. By changing the number of test blocks within the length of the test section, test roads with different undulations can be simulated, thereby obtaining the IRI values ​​of each standard test road.

[0005] For the road section method, four leveling measurements are required on the four selected road sections to obtain the longitudinal section elevation data of the four road sections respectively. Then, based on the longitudinal section elevation data of the four road sections, the IRI value of each test section can be calculated.

[0006] In the process of implementing the calibration method, it was found that: 1) Because the road needs to be closed for testing, management and coordination are very difficult, and it is difficult to find a suitable test road outdoors; 2) A level instrument is required for testing, which is slow, inefficient, time-consuming and labor-intensive; 3) Affected by the weather, in the event of sudden weather changes, the on-site calibration work will have to be interrupted, resulting in construction delays; 4) The test block is not tightly fitted to the road surface, causing the test block to shift when the vehicle is driving at high speed, resulting in a deviation between the actual elevation curve and the theoretical calculated value; 5) The test block is a vertical step with a height of 20 mm in the driving direction. When the vehicle is undergoing high-speed testing, it will have a large impact on the vehicle, posing certain driving safety risks. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a method, a device and a system for in-situ calibration of road surface flatness.

[0008] On one hand, the present invention provides an in-situ calibration method for a road surface roughness meter, which comprises:

[0009] Determine the target rotation speed of the elevation simulator according to the target flatness index range; determine the sampling pulse signal according to the simulated vehicle speed of the laser flatness meter test system to be calibrated; drive the rotating part of the elevation simulator to rotate in a single rotation direction according to the target rotation speed to drive the simulation part of the elevation simulator to simulate the elevation sequence value, and the flatness index corresponding to the elevation sequence value is within the target flatness index range; receive the longitudinal elevation sequence measurement data obtained by the sampling pulse signal and sent by the elevation simulator; obtain the flatness index standard value according to the longitudinal elevation sequence measurement data; receive the flatness index measurement value obtained by the laser flatness meter test system to be calibrated based on the sampling pulse signal; calibrate the laser flatness meter test system according to the flatness index standard value and the flatness index measurement value.

[0010] In the method as described above, optionally, determining the target rotation speed of the elevation simulator according to the target flatness index range includes:

[0011] The rotation speed range of the elevation simulator is determined according to the target flatness index range; and the target rotation speed is determined according to the rotation speed range of the elevation simulator.

[0012] Another aspect of the present invention provides an in-situ calibration device for a road surface roughness meter, comprising:

[0013] a target speed determination module, for determining the target speed of the elevation simulator according to the target flatness index range; a trigger signal determination module, for determining the sampling pulse signal according to the simulated vehicle speed of the laser flatness meter test system to be calibrated; an elevation simulation drive module, for driving the rotating part of the elevation simulator to rotate in a single rotation direction according to the target speed to drive the simulation part of the elevation simulator to simulate the elevation sequence value, wherein the flatness index corresponding to the elevation sequence value is within the target flatness index range; an elevation data receiving module, for receiving the longitudinal elevation sequence measurement data obtained based on the sampling pulse signal and sent by the elevation simulator; a standard value obtaining module, for obtaining the standard value of the flatness index based on the longitudinal elevation sequence measurement data; a measurement value receiving module, for receiving the flatness index measurement value obtained by the laser flatness meter test system to be calibrated based on the sampling pulse signal; a flatness calibration module, for calibrating the laser flatness meter test system according to the flatness index standard value and the flatness index measurement value.

[0014] In the above device, optionally, the target speed determination module includes:

[0015] The rotation speed range determining unit is used to determine the rotation speed range of the elevation simulator according to the target flatness index range; the target rotation speed determining unit is used to determine the target rotation speed according to the rotation speed range of the elevation simulator.

[0016] Another aspect of the present invention provides an in-situ calibration system for a road surface roughness meter, comprising:

[0017] An inspection platform is used to carry the laser roughness meter test system to be calibrated; an elevation simulator is used to simulate the elevation sequence values ​​and is located below the longitudinal section sensor of the laser roughness meter test system; and a calibration device is the above-mentioned road surface roughness in-situ calibration device.

[0018] In the system as described above, optionally, the inspection platform has: a platform body and a bump generator; the bump generator is used to make the laser roughness meter test system placed on the platform body bump to simulate road bumps during driving; the longitudinal section sensor includes: a laser ranging sensor and an acceleration sensor.

[0019] In the system as described above, optionally, the elevation simulator is an eccentric wheel slider mechanism, the rotating part includes the eccentric wheel of the elevation simulator, the simulation part includes the slider of the elevation simulator, and the upper end surface of the slider is located below the longitudinal section sensor of the laser flatness meter testing system.

[0020] Yet another aspect of the present invention provides an electronic device, comprising: a processor and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-mentioned in-situ calibration method for road surface flatness.

[0021] On the other hand, the present invention provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set. The at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned in-situ calibration method for road surface flatness.

[0022] Yet another aspect of the present invention provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps in the above method and various possible implementations.

[0023] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0024] 1) The IRI value output results of the laser roughness meter test system can be calibrated without relying on the standard test road to achieve metrological traceability. Compared with the standard test road method, the calibration process is not dependent on the standard test road section, and the whole machine metrological traceability without site constraints is realized, saving the huge cost of standard test road construction, while reducing the difficulty of laser roughness meter test system calibration, and making the calibration of such equipment easier to promote and popularize.

[0025] 2) Using the sampling pulse signal as the excitation source, synchronize the horizontal distance between the elevation simulator and the laser roughness meter test system to ensure that the simulated elevation curve generated by the elevation simulator is completely matched with the elevation curve collected by the laser roughness meter test system.

[0026] 3) The bump generator is used to make the laser roughness meter test system to be calibrated vibrate up and down and left and right, simulating the bumps in actual driving, ensuring that the calibration process is closer to the actual working conditions, and simulating the state of the laser roughness meter test system when driving on the actual road, thus realizing the dynamic calibration process of the laser roughness meter test system.

[0027] 4) A combination of a pulse generator and an elevation simulator for outputting a sampling pulse signal is realized, which solves the problem of rapid calibration of the laser roughness meter test system, can quickly obtain accurate and stable calibration parameters, and realizes rapid calibration of the performance of the laser roughness meter test system to be calibrated. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic flow chart of a method for in-situ calibration of road surface flatness provided by an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the structure of an in-situ calibration device for road surface flatness provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the structure of an in-situ road surface flatness calibration system provided by an embodiment of the present invention;

[0031] Figure 4 for Figure 3 A magnified schematic diagram of center A. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0033] See also Figure 1 The embodiment of the present invention provides a method for in-situ calibration of road surface flatness, which comprises the following steps:

[0034] Step 101, determining a target rotation speed of the elevation simulator according to a target flatness index range.

[0035] The target flatness range can be determined according to relevant calibration test requirements. The present embodiment does not limit its specific numerical range, for example, it can be 1m / km to 2m / km, 2m / km to 3m / km, 3m / km to 4m / km, etc. A specific IRI is selected from the target flatness index range as the target IRI to be simulated, for example, 1.5m / km. After the target IRI is determined, the target rotation speed of the elevation simulator is determined according to the target IRI. The present embodiment does not limit the specific process of determining the rotation speed. In specific implementation, it can be: for example, when the target flatness range is 1m / km~2m / km and the target IRI value is set to 1.5, the rotation speed of the elevation simulator is first set to 5r / s. Through the separately set flatness meter equipment, the equipment collects elevation information through a laser, and cooperates with the pulse information output by the signal generator to collect speed and distance, so that an elevation sequence of a section (for example, 100m) of elevation information can be collected. An IRI value can be calculated using this elevation sequence. When the IRI value is less than 1.5, it indicates that the number of protrusions (which affect the flatness) in the elevation sequence is not enough, and the rotation speed needs to be increased, such as adjusting the rotation speed to 10r / s. At this time, the pulse frequency output by the signal generator remains unchanged, and the number of protrusions contained in the elevation sequence collected again is twice that of 5r / s, so that the IRI value calculated based on this elevation sequence will become larger. The corresponding road section of 100m is also collected by the flatness meter equipment, and the IRI value at this time is calculated and compared with the set IRI=1.5. If it meets the preset requirements, the rotation speed at this time is used as the target rotation speed, otherwise the rotation speed of the elevation simulator is continued to be adjusted. When the value in the preset requirements is reached, the rotation speed of the elevation simulator is continued to be increased. When it exceeds the value in the preset requirements, the rotation speed of the elevation simulator is reduced. In other embodiments, the calculated IRI can also be compared with the target flatness range. If it is within the target flatness range, the rotation speed of the elevation simulator at this time is used as the target rotation speed. If it is not within the target flatness range, the above steps are repeated: continue to adjust the rotation speed of the elevation simulator, then collect the elevation sequence, calculate the IRI value again, and then compare it with the target flatness range.

[0036] In order to better improve the calibration performance of the present method, determining the target rotation speed of the elevation simulator according to the target flatness index range includes: determining the rotation speed range of the elevation simulator according to the target flatness index range; determining the target rotation speed according to the rotation speed range of the elevation simulator. Specifically, determining the target flatness index according to the target flatness index range, determining the target rotation speed of the elevation simulator according to the target flatness index, and traversing the target flatness index range according to the aforementioned method to determine the rotation speed range of the elevation simulator. Selecting a rotation speed from the rotation speed range as the target rotation speed can be a random selection method.

[0037] Step 102 : determining a sampling pulse signal according to a simulated vehicle speed of a laser roughness meter test system to be calibrated.

[0038] This method uses a sampling pulse signal as an excitation source, synchronizes the distance between the elevation simulator and the test system corresponding to this method (i.e., the road surface roughness in-situ calibration system described below) in the driving direction, and ensures that the simulated longitudinal elevation curve generated by the elevation simulator is completely matched with the longitudinal curve collected by the road surface roughness in-situ calibration system. By matching the elevation data of the elevation simulator with the distance information generated by the sampling pulse signal, the longitudinal elevation curve and the roughness index IRI within the length of the road section can be output. 标 By setting the sampling pulse signal (or flatness distance signal), the number of data collected on a certain road section can be determined.

[0039] The simulated vehicle speed can be 50km / h, 60km / h, 80km / h, or 100km / h. The simulated vehicle speed range used by this method is wide and meets the requirements.

[0040] Step 103, driving the rotating part of the elevation simulator to rotate in a single rotation direction at a target rotation speed to drive the simulation part of the elevation simulator to simulate the elevation sequence values, and the flatness index corresponding to the elevation sequence values ​​is within the target flatness index range.

[0041] The rotation direction of the elevation simulator is a single rotation direction, that is, during the acquisition of an elevation sequence value, the rotation direction of the elevation simulator is either counterclockwise or clockwise.

[0042] After obtaining the target rotation speed through the above steps, the rotating part of the elevation simulator is driven to rotate in a single rotation direction according to the target rotation speed. The rotation of the rotating part can drive the simulation part of the elevation simulator to move up and down in a straight line, thereby realizing the simulation of the elevation series value. The flatness index corresponding to the elevation series value is within the target flatness index range.

[0043] Step 104, receiving longitudinal section elevation sequence measurement data obtained based on the sampling pulse signal sent by the elevation simulator.

[0044] The simulation parts of the elevation simulator will generate height values ​​during the up and down linear motion process. Based on the sampling pulse signal, the height values ​​will be sampled to obtain the longitudinal section elevation series measurement data.

[0045] Step 105, obtaining a standard value of the flatness index according to the longitudinal section elevation series measurement data.

[0046] Regarding how to obtain the standard value of the flatness index based on the longitudinal section elevation series measurement data, please refer to the relevant methods for calculating the flatness index value in the prior art, which will not be described in detail here.

[0047] Step 106 : receiving a flatness index measurement value obtained by the laser flatness meter testing system to be calibrated based on the sampled pulse signal.

[0048] The laser flatness meter test system to be calibrated obtains a flatness index measurement value based on a sampled pulse signal.

[0049] The laser roughness meter test system is an automated testing system for measuring the international roughness index of a road surface. It is a special testing device for evaluating the road driving quality. The device is mainly composed of a carrier vehicle, a laser (or laser sensor), an acceleration sensor, a distance sensor, a lower computer and a portable computer. The laser and the acceleration sensor can be collectively referred to as a longitudinal section sensor. The relevant structure can be found in Figure 3 As shown, the system can be called a vehicle-mounted laser flatness meter or a vehicle-mounted laser flatness meter testing system.

[0050] The distance sensor is generally composed of a photoelectric encoder, which is mainly used to record the distance traveled and the real-time speed of the vehicle; the laser is used to measure the relative height between the laser and the road surface; the acceleration sensor is fixed together with the laser, and mainly records the acceleration signal of the laser in the vertical direction; the lower computer includes power supply, signal processing module and data acquisition hardware; the portable computer is mainly installed with operating software, which processes the various signals collected and finally calculates the international roughness IRI value of the road surface.

[0051] When applied, first calibrate the photoelectric encoder in the distance sensor, count the total number of pulses (e.g. 100,000) generated by the pulse encoder within a certain distance (e.g. 100m) in the driving direction, and calculate the longitudinal displacement length (1mm / pulse) corresponding to one pulse, i.e. the pulse coefficient. In actual testing, the distance traveled by the vehicle in the driving direction can be calculated by counting the current number of pulses, and the current speed of the vehicle can be calculated by calculating the pulse period. When the carrier vehicle travels at a certain test speed, the laser measures the relative elevation from the laser to the road surface, and the acceleration sensor is used to calculate the acceleration signal that drives the laser to vibrate up and down when the vehicle bumps. By performing secondary integration processing on the acceleration signal, the elevation value of the laser sensor's up and down vibration can be obtained. The elevation value measured by the laser minus the elevation value calculated by the acceleration sensor can be obtained to obtain the relative elevation value of the road surface, and then the IRI value of the road surface can be obtained based on this.

[0052] Since the method does not use the actual road section, the load-carrying vehicle does not need to travel forward. The sampling pulse signal generated by the set signal generator matches the distance traveled by the load-carrying vehicle. The signal generator is set in the road surface flatness in-situ calibration device.

[0053] Step 107, calibrating the laser flatness meter test system according to the flatness index standard value and the flatness index measurement value.

[0054] The standard value of the roughness index IRI is calculated by recording the longitudinal elevation data of the elevation simulator in the horizontal direction. 标 , and the corresponding flatness index measurement value IRI output by the laser flatness meter test system to be calibrated 测 Perform comparative analysis, calculate the relative error of road surface flatness, and complete the calibration of the test system. The relative error calculation method can be:

[0055] Relative error:

[0056] It should be noted that: the relative error of the flatness value measurement of the Class I flatness meter is ≤5%; the relative error of the flatness value measurement of the Class II flatness meter is ≤15%; if the relative error is greater than 15%, the test result does not meet the requirements.

[0057] The laser roughness meter test system to be calibrated simulates a vehicle at a certain speed through the input sampling pulse signal. The laser sensor collects the longitudinal elevation information generated by the elevation simulator. Combined with the distance information generated by the sampling pulse signal, the laser roughness meter test system can output the longitudinal elevation curve and the flatness index measurement value IRI within the road section. 测 .

[0058] In other embodiments, the laser roughness meter test system is bumped to simulate road bumps during driving. At this time, the laser sensor will also collect elevation information caused by vehicle bumps, and the acceleration sensor will record the vertical acceleration signal caused by the bumps at the laser sensor. The elevation information measured by the laser can be corrected through integral calculation, and finally the elevation simulator generates longitudinal elevation information. In combination with the distance information generated by the sampling pulse signal, the laser roughness meter test system can output the longitudinal elevation curve and the flatness index measurement value IRI in the road section. 测 .

[0059] The following is a description of the elevation simulator

[0060] The height simulator is a slider driven by an eccentric wheel, which can produce periodic motion in the vertical direction. When the theoretical eccentricity is e, the linear displacement H(t) provided by the slider in the vertical direction over time t is expressed as formula (1).

[0061]

[0062] Where A represents the DC component / mean value of the periodic signal, corresponding to the moment when the absolute value of the slider speed is the largest, unit: mm; f is the rotation frequency of the eccentric wheel, unit: Hz; is the initial phase, unit: rad.

[0063] H(t) physically represents the relationship between the elevation value of a road sideline and time. When the eccentric wheel rotates at a high speed, the elevation changes significantly in a short time or a short distance; when the eccentric wheel rotates at a low speed, it takes a long time or a long distance for the elevation to change significantly. According to the calculation principle of IRI, the flatness of the road surface is different under different elevation wavelengths, so by changing the frequency f of the eccentric wheel, it is possible to simulate a road surface with any flatness value.

[0064] For comparison and testing, the initial value of the displacement signal H(t) is truncated and guaranteed to be at the maximum value, i.e., the origin of the data H(t=0)=esin(2πft+π / 2). However, H(t) is a theoretical value (especially the uncertainty of its initial phase), and the actual displacement value it provides needs to be measured and recorded in advance by another high-precision distance measurement system as a standard value.

[0065] When the distance measuring laser of the test system measures the slider at a vertical angle, the distance signal collected is G(t). Theoretically, G(t) should also be a sinusoidal wave time series curve, and its mathematical model conforms to formula (2).

[0066]

[0067] In the formula, A G It represents the DC component / mean value of the periodic signal. E is the amplitude of the sinusoidal signal after removing the DC component (when the inertia, bumps, etc. of the test system are ideally corrected, this value is equal to e). Unit: mm; is the initial phase, unit: rad.

[0068] Similarly, affected by the initial phase, the measurement signal G(t) needs to be truncated at the highest point, that is, to ensure that G(t=0)=A G +Esin(2πft+π / 2). Subsequently, the test system calculates and outputs the simulated IRI' based on the truncated G(t) sequence according to the data processing program.

[0069] Usually the test system is sampled and measured after being triggered by pulses of equal mileage distance. Assume that the trigger mileage distance of the test system is d0 (unit: m), and the corresponding number of pulses is n. When the simulated driving speed is V (unit: km / h), the functional relationship between them is shown in (3).

[0070] d0=V·t / 3.6 (3)

[0071] Then, the trigger time t0 (unit: s) required when the mileage recorded by the test system is d0 can be obtained by formula (4).

[0072] t0=3.6d0 / V (4)

[0073] Since d0 is usually less than 0.02m, the corresponding trigger time t0 is also very small. On the contrary, the corresponding sampling rate fs is relatively high. For example, when V = 60km / h and d0 = 0.02m, t0 is only 0.0012s, and fs = 833.33Hz. When the eccentric mechanism rotates at a frequency of f, the higher sampling rate ensures that the ranging laser can collect the position of the slider in real time more intensively. In particular, the lower f is, the higher the frequency of the slider being measured in one cycle. This sampling characteristic ensures high accuracy of data fitting.

[0074] After obtaining a large amount of measurement data G(t), the test system will calculate the road surface flatness with D0 as the distance cycle. D0 is generally 1m, 5m, 10m, etc., and the corresponding calculation cycle is recorded as T0.

[0075] T0=3.6D0 / V (5)

[0076] When the speed V = 60km / h, T0 is 0.216s, 1.08s, 2.16s, etc. During the T0 time, the simulated displacement recorded by the test system is D0. By setting different f, the diverse changes in the road elevation of this section can be achieved. In order to simulate and test the measurement performance of the system under test, f is usually changed at least 5 times, such as f1, f2, f3, ..., f5, etc., and the displacement measurement results H1(t), H2(t), ..., H5(t) corresponding to the high-precision ranging system are recorded in real time. Based on these H i (t) and other sequences and calculate the road elevation value IRI simulated by the elevation simulator according to the time interval T0 i , i=1,2,…。

[0077] Similarly, the eccentric wheel driving frequency f of the elevation simulator is changed to obtain the elevation sequence Gi(t) collected by the measured system at different speeds, and its flatness index IRI' is calculated according to T0 as the time interval i , i=1,2,…。

[0078] By comparing the standard value IRI i With the measured value IRI' i The error value or relative error value is used to calibrate the road surface flatness measurement index of the instrument under test.

[0079] See also Figure 2An embodiment of the present invention provides an in-situ road surface flatness calibration device, which is used to execute the in-situ road surface flatness calibration method of the above embodiment, and includes: a target speed determination module 201, a trigger signal determination module 202, an elevation simulation drive module 203, an elevation data receiving module 204, a standard value acquisition module 205, a standard value acquisition module 206 and a flatness calibration module 207.

[0080] Among them, the target speed determination module 201 is used to determine the target speed of the elevation simulator according to the target flatness index range. The trigger signal determination module 202 is used to determine the sampling pulse signal according to the simulated vehicle speed of the laser flatness meter test system to be calibrated. The elevation simulation drive module 203 is used to drive the rotating part of the elevation simulator to rotate in a single rotation direction according to the target speed to drive the simulation part of the elevation simulator to simulate the elevation sequence value, and the flatness index corresponding to the elevation sequence value is within the target flatness index range. The elevation data receiving module 204 is used to receive the longitudinal section elevation sequence measurement data obtained by the elevation simulator based on the sampling pulse signal measurement. The standard value obtaining module 205 is used to obtain the flatness index standard value based on the longitudinal section elevation sequence measurement data. The measurement value receiving module 206 is used to receive the flatness index measurement value obtained by the laser flatness meter test system to be calibrated based on the sampling pulse signal. The flatness calibration module 207 is used to calibrate the laser flatness meter test system according to the flatness index standard value and the flatness index measurement value.

[0081] Optionally, the target speed determination module 201 includes: a speed range determination unit and a target speed determination unit. The speed range determination unit is used to determine the speed range of the elevation simulator according to the target flatness index range. The target speed determination unit is used to determine the target speed according to the speed range of the elevation simulator.

[0082] It should be noted that: the road surface flatness in-situ calibration device provided in the above embodiment only uses the division of the above functional modules as an example when calibrating the laser flatness meter test system. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the road surface flatness in-situ calibration device provided in the above embodiment and the road surface flatness in-situ calibration method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, and will not be repeated here.

[0083] See also Figure 3-4The embodiment of the present invention provides a road surface flatness in-situ calibration system, which includes: an inspection platform, an elevation simulator 4 and a calibration device 5. The inspection platform (or calibration platform) is used to carry the laser flatness meter test system 6 to be calibrated. The elevation simulator 4 is used to simulate the elevation sequence value and is located below the longitudinal section sensor of the laser flatness meter test system 6. The calibration device 5 is the aforementioned road surface flatness in-situ calibration device.

[0084] The inspection platform has: a platform body 31 and a bump generator 32. The platform body 31 is used to carry the laser flatness meter test system 6 to be calibrated. The bump generator 32 is used to make the laser flatness meter test system 6 placed on the platform body 31 simulate the bumps of the road during driving. This embodiment does not limit the specific structure of the bump generator 32, and it is sufficient to make the laser flatness meter test system generate bump vibration. The longitudinal section sensor includes: a laser range sensor 61 and an acceleration sensor 62.

[0085] The elevation simulator 4 is used to simulate the elevation curve of the longitudinal section, and can be an eccentric wheel slider mechanism, the rotating part includes the eccentric wheel of the elevation simulator, the simulation part includes the slider 41 of the elevation simulator, and the upper end surface of the slider 41 is located below the longitudinal section sensor 61 of the laser flatness meter test system. In other embodiments, the elevation simulator may include a turntable protrusion structure, the rotating part includes the circular turntable of the elevation simulator, and the simulation part includes the protrusion of the elevation simulator. When collecting data, the upper end surface of the protrusion is located below the longitudinal section sensor 61 of the laser flatness meter test system.

[0086] In this embodiment, the vertical range of the elevation simulator is 100mm, and the linear error is ±0.25%; the output frequency range of the pulse signal generator is 1Hz~10MHz, and the output signal source is programmable; the up and down vibration range of the bump generator is 50mm. The bump generator can make a 3t load vehicle produce a preset bump vibration. The bump generator has a vibration curve to simulate the vibration of the vehicle under actual road conditions.

[0087] When in use, move the laser roughness meter test system to be calibrated to the inspection platform, place the limit blocks, and there are limit blocks in the front and rear directions. Adjust the bump generator at the bottom of the calibration platform so that it is located below the front and rear axles of the carrier vehicle. Adjust the position of the elevation simulator so that the laser point of the laser of the laser roughness meter test system falls on the top surface of the elevation simulator, such as the center position, and connect the sampling pulse signal (distance signal) of the road surface roughness in-situ calibration device to the laser roughness meter test system. The sampling pulse signal is used as the distance signal excitation source of the laser roughness meter test system to simulate the laser roughness meter test system to collect data at normal driving speed. The inspection platform drives the laser roughness meter test system to bump together, simulating the bumps of the road surface during normal driving. The elevation simulator is located outside the inspection platform and does not bump with it.

[0088] During the test, the bump generator is started to simulate the up and down and left and right bumps generated by the laser roughness test system when driving on the actual road, realizing dynamic testing. There are four bump generators in total, one under each wheel.

[0089] The roughness index standard value IRI is calculated by recording the longitudinal section elevation data of the elevation simulator in the horizontal direction in the road roughness in-situ calibration device. 标 , and the corresponding measurement value IRI output by the laser flatness test system 测 Conduct comparative analysis, calculate relative errors, and complete the calibration of the test system.

[0090] Standard value of flatness index IRI 标 The calculation process is explained below.

[0091] After the in-situ calibration device for road surface flatness is started, the elevation simulator is first scanned to confirm the connection status of the device and display a prompt message. If there is no connection, a corresponding error message is given. Then the relevant parameters of the elevation simulator need to be set, mainly the rotation speed, in order to set the number of protrusions in the longitudinal elevation curve and other information. Next, the number and frequency of the pulse signal need to be set in segments. After the calibration device is set up and the calibrated laser flatness meter test system is ready, data can be collected. The elevation signal generated by the elevation simulator is collected by triggering the pulse signal to obtain the simulated road longitudinal elevation curve. Finally, the standard value IRI of the flatness index of the corresponding section length is calculated. 标 .

[0092] An embodiment of the present invention provides an electronic device, which includes: a memory and a processor. The processor is connected to the memory and is configured to execute the above-mentioned in-situ calibration method for road surface flatness based on instructions stored in the memory. The number of processors can be one or more, and the processor can be single-core or multi-core. The memory may include non-permanent memory in a computer-readable medium, a random access memory (RAM) and / or a non-volatile memory in the form of a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip. The memory can be an example of a computer-readable medium as described below.

[0093] An embodiment of the present invention provides a computer-readable storage medium, on which at least one instruction, at least one program, code set or instruction set is stored, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned road surface flatness in-situ calibration method. Computer-readable storage media include: permanent and non-permanent, removable and non-removable media can implement information storage by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk-read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, disk storage or other magnetic storage device or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

[0094] An embodiment of the present invention provides a computer program product comprising instructions, and when the computer program product is run on a computer, each step in the in-situ calibration method for road surface flatness and various possible implementations is executed by the computer.

[0095] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A method for in-situ calibration of a road surface roughness meter, characterized in that: The method comprises: Determine the target rotation speed of the elevation simulator according to the target flatness index range; Determine a sampling pulse signal according to a simulated vehicle speed of a laser roughness meter test system to be calibrated; Driving the rotating part of the elevation simulator to rotate in a single rotation direction according to the target rotation speed to drive the simulation part of the elevation simulator to simulate a series of elevation values, wherein the flatness index corresponding to the series of elevation values ​​is within the range of the target flatness index; Receiving longitudinal elevation sequence measurement data sent by the elevation simulator and obtained based on the sampling pulse signal; Obtaining a standard value of a flatness index according to the longitudinal section elevation series measurement data; Receiving a flatness index measurement value obtained by a laser flatness meter testing system to be calibrated based on the sampling pulse signal; The laser flatness meter testing system is calibrated according to the flatness index standard value and the flatness index measurement value.

2. The method according to claim 1, characterized in that Determining the target rotation speed of the elevation simulator according to the target flatness index range includes: Determining a rotation speed range of the elevation simulator according to the target flatness index range; The target rotation speed is determined according to the rotation speed range of the altitude simulator.

3. A road surface roughness meter in-situ calibration device, characterized in that: The device comprises: A target speed determination module, used to determine a target speed of the elevation simulator according to a target flatness index range; A trigger signal determination module, used to determine a sampling pulse signal according to a simulated vehicle speed of a laser roughness meter test system to be calibrated; an elevation simulation driving module, for driving the rotating part of the elevation simulator to rotate in a single rotation direction according to the target rotation speed so as to drive the simulation part of the elevation simulator to simulate elevation sequence values, wherein the flatness index corresponding to the elevation sequence values ​​is within the target flatness index range; An elevation data receiving module, used for receiving longitudinal elevation sequence measurement data sent by the elevation simulator and obtained based on the sampling pulse signal; A standard value obtaining module is used to obtain a standard value of a flatness index according to the longitudinal section elevation series measurement data; A measurement value receiving module, used for receiving a flatness index measurement value obtained by a laser flatness meter testing system to be calibrated based on the sampling pulse signal; The flatness calibration module is used to calibrate the laser flatness meter testing system according to the flatness index standard value and the flatness index measurement value.

4. The device according to claim 3, characterized in that The target speed determination module comprises: A rotation speed range determining unit, configured to determine a rotation speed range of the elevation simulator according to the target flatness index range; The target speed determination unit is used to determine the target speed according to the speed range of the altitude simulator.

5. A road surface roughness meter in-situ calibration system, characterized in that: The system comprises: Inspection platform, used to carry the laser flatness meter test system to be calibrated; An elevation simulator, used for simulating elevation sequence values, located below the longitudinal section sensor of the laser level meter testing system; and The calibration device is the in-situ calibration device for road surface flatness as described in any one of claims 3-4.

6. The system according to claim 5, characterized in that The inspection platform comprises: a platform body and a turbulence generator; The bump generator is used to make the laser roughness meter test system placed on the platform body bump to simulate the bumps of the road surface during driving; The longitudinal section sensor comprises: a laser distance measuring sensor and an acceleration sensor.

7. The system according to claim 5, characterized in that The elevation simulator is an eccentric wheel slider mechanism, the rotating part includes the eccentric wheel of the elevation simulator, the simulation part includes the slider of the elevation simulator, and the upper end surface of the slider is located below the longitudinal section sensor of the laser flatness meter testing system.

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