Cavity Calibration System for Airport Pavement 3D Coordinate Tracking and Model Analysis

Abstract

The present invention discloses a cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement, and belongs to the technical field of airport pavement deformation detection. Specifically, it includes a three-dimensional coordinate tracking and calibration vehicle, a data detection processing and transmission component, and a cavity boundary cleaning device. The three-dimensional coordinate tracking and calibration vehicle performs real-time automatic and continuous detection of the test point according to the change of coordinates and the change of the vehicle body angle, and processes the detected data at the same time, and finally determines the deformation of the test point by comparing it with the original three-dimensional model of the airport pavement before the airport pavement is deformed, and inkjet calibration is performed on the cavity edge; the data detection processing and transmission component is used to detect the coordinates of the three-dimensional coordinate tracking and calibration vehicle in real time; the cavity boundary cleaning device is used to clear the debris within the airport pavement cavity boundary before calibration. The present invention can determine the deformation of the airport pavement surface, thereby accurately analyzing the deformation amount of the airport pavement surface and improving the accuracy of cavity detection and calibration.

Description

Technical Field

[0001] The invention relates to the technical field of airport pavement deformation detection, and in particular to a cavity calibration system for three-dimensional coordinate tracking and model analysis of an airport pavement. Background Art

[0002] During the daily maintenance and repair of airports, the damage of airport pavements is often the focus of research. As an important infrastructure supporting aircraft takeoff and landing, the surface quality of airport pavements is crucial to flight safety. During the daily maintenance and repair of airports, the damage of airport pavements is often the focus of research. In actual use, airport pavements will bulge under the action of attacks, frost heave, salt heave, etc., and cavities will form at the bulge, posing a serious threat to flight safety. Under normal circumstances, the method of repairing airport pavement cavities is to divide the pavement panels that produce cavities into the smallest size, cut and crush the pavement panels in the divided areas, and accurately calibrate the cavity range before cutting and crushing in order to accurately cut and crush the pavement panels of appropriate sizes, reduce the amount of repair work, and improve the repair efficiency. The accuracy and efficiency of cavity range calibration are directly related to the rapid generation and recovery of air force combat effectiveness and the safety and economic benefits of civil aviation airports. Therefore, the importance of developing a complete set of cavity calibration systems is self-evident.

[0003] The existing methods for determining the scope of the airport pavement cavity are usually divided into two methods: deformation detection method and electromagnetic detection method. The deformation detection method determines the scope of the cavity by detecting the relative deformation of the airport pavement surface. Common methods include: visual inspection, laser level, laser sweeper method, etc.; the electromagnetic detection method scans the inside of the pavement through electromagnetic waves, and analyzes and processes the reflected image to obtain the cavity scope. The operation process of the deformation detection method is relatively simple, but the current detection method has low test efficiency and low accuracy. It is suitable for measuring pavement cavity areas with a small number of measurements and obvious bulges. The electromagnetic detection method has high test efficiency, but it requires professionals to analyze the collected reflection images. It is difficult to apply to pavement repair work where timeliness is the main consideration. In addition, since electromagnetic waves will be strongly emitted on the surface of steel bars, which seriously affects the detection results, it is difficult to accurately detect the cavity range for pavements with more reinforcement.

[0004] In addition, after the airport pavement is damaged by penetrating bombs and other ammunition, the rubble of different sizes produced by the explosion will be unevenly scattered on the cavity, and the cavity boundary area is the junction of the pavement damaged by the explosion and the undamaged pavement, and the impact of the explosion will rush the rubble inside the cavity to the boundary, so there will be more rubble obstacles in the boundary area. These rubble obstacles of different sizes and shapes will seriously affect the operation of the preliminary data collection device and the cavity calibration vehicle of the airport pavement cavity range calibration system, making the device's working difficulty and the accuracy of the obtained data greatly reduced.

[0005] Among the existing patent applications, the patent technology research on the calibration of airport pavement cavities is not yet mature, and more patents focus on the survey of the overall flatness of the road surface. For example, the invention patent application document with application number 202410255455.1 discloses a road surface flatness detection device. This patent uses a spring device to connect the detection ball in contact with the pavement, and indirectly reflects the flatness of the pavement through the deformation of the spring. However, the device is only suitable for roughly judging the overall flatness of the pavement. The accuracy of the device does not meet the requirements for the calibration of airport pavement cavities, and it is not applicable to crater cavities with more complex flatness changes. The utility model patent with application number 202021552920.1 discloses a pavement cavity pre-detection device, which uses three sets of different percussion hammers to knock on the ground and judge the pavement cavity situation by the change of the knocking sound. However, this scheme is greatly affected by subjective factors, the accuracy is too low, and the detection efficiency is low. It cannot meet the tasks with high accuracy and efficiency requirements such as airport pavement cavity calibration. Summary of the invention

[0006] In view of the above problems, the present invention aims to provide a cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement based on deformation detection method, which uses the automatic tracking and measurement function of the full-station scanner to track and measure the three-dimensional coordinates of the three-dimensional coordinate tracking calibration vehicle used to calibrate the cavity boundary and transmit them in real time. At the same time, a laser road surface sensor is used to detect the calibration distance, and an angle measurement chip is used to detect the tilt data of the three-dimensional tracking calibration vehicle, so that rich and complete pavement deformation analysis raw data can be collected. The calibration vehicle is based on Mecanum wheel drive and can move flexibly and quickly on the pavement to efficiently calibrate the repair range. In addition, the airport pavement can be cleaned before cavity calibration through the cavity boundary cleaning device, thereby improving the accuracy of calibration.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement includes a data detection, processing and transmission component, and also includes a three-dimensional coordinate tracking and calibration vehicle. The three-dimensional coordinate tracking and calibration vehicle is used to perform real-time automatic and continuous detection and calibration of cavities on the airport pavement. The data detection, processing and transmission component is communicatively connected to the three-dimensional coordinate tracking and calibration vehicle.

[0009] Furthermore, the three-dimensional coordinate tracking and calibration vehicle comprises a calibration vehicle shell, and driving wheels are installed at the four corners of the calibration vehicle shell;

[0010] The calibration vehicle housing is provided with a calibration vehicle computer and an automatic inkjet adjustment device;

[0011] An omnidirectional prism is also installed on the top of the calibration vehicle shell.

[0012] Further, the automatic adjustment inkjet device comprises an upper track and a lower track;

[0013] The upper track is slidably connected with an ink cartridge fixing frame and a road surface sensor;

[0014] An inkjet device angle adjustment frame is slidably connected to the lower track, and an inkjet device is movably connected between the ink cartridge fixing frame and the inkjet device angle adjustment frame.

[0015] Furthermore, an ink cartridge fixing slider for mounting the ink cartridge fixing frame and a road surface sensor fixing slider for mounting the road surface sensor are slidably connected to the upper rail;

[0016] A slider connector is connected between the ink cartridge fixing slider and the road surface sensor fixing slider.

[0017] Furthermore, the lower track is slidably arranged up and down in the outer shell of the calibration vehicle.

[0018] Furthermore, the data detection, processing and transmission component includes a full-station scanner, a computer and a wireless control terminal, and the wireless control terminal is communicatively connected to the three-dimensional coordinate tracking and calibration vehicle.

[0019] Further, the cavity calibration system also includes a cavity boundary cleaning device for cleaning the airport pavement before cavity calibration;

[0020] The cavity boundary cleaning device comprises a cleaning vehicle frame, a roller brush cleaning storage mechanism is arranged at the rear of the cleaning vehicle frame, and a circulating stacking cleaning mechanism is arranged at the front of the cleaning vehicle frame.

[0021] Furthermore, the roller brush cleaning storage mechanism includes a roller brush cleaning shell, which is installed on the cleaning vehicle frame. A roller cleaning brush is arranged inside the roller brush cleaning shell, and a storage box is connected to the front side of the roller brush cleaning shell.

[0022] Furthermore, the circulating stacking cleaning mechanism includes a square fixed frame, on the bottom edge of which two circulating pushing cleaning frames are slidably provided, and the two circulating pushing cleaning frames form a "J"-shaped structure; each of the circulating pushing cleaning frames is slidably connected to a plurality of pushing-type cleaning shovels.

[0023] Furthermore, a circle of track is provided along the edge of the circulating pushing cleaning frame, and the pushing cleaning shovel circulates and rotates along the outer edge of the circulating pushing cleaning frame.

[0024] The beneficial effects of the present invention are as follows: compared with the prior art, the present invention has the following improvements:

[0025] 1. The main calibration device of the cavity calibration system in the present invention is a three-dimensional coordinate tracking and calibration vehicle. Combined with the automatic tracking and measurement function of the total station scanner, the three-dimensional coordinates of the three-dimensional coordinate tracking and calibration vehicle used to calibrate the cavity boundary are tracked and measured throughout the entire process and transmitted in real time. At the same time, a high-precision road surface sensor is used to detect the calibration distance, and an angle measurement chip is used to detect the inclination data of the three-dimensional coordinate tracking and calibration vehicle, so that rich and complete original data for pavement deformation analysis can be collected, providing a basis for accurately analyzing the deformation of the airport pavement.

[0026] 2. The present invention adopts a three-dimensional coordinate tracking and calibration vehicle to detect and calibrate the deformation of the airport pavement. Different from the traditional deformation detection method that uses manually moving benchmarks to detect the pavement deformation point by point, the present invention is based on the Mecanum wheel-driven three-dimensional coordinate tracking and calibration vehicle, which can move flexibly and quickly on the airport pavement to efficiently calibrate the repair range, and through the inkjet method, the cavity edge can be directly and intuitively calibrated during detection, so as to facilitate subsequent repair work, greatly improving the efficiency of detection and calibration. The inkjet device of the ink cartridge is coordinated by the upper track, the lower track and the road surface sensor to realize inkjet at any range and angle on the bottom of the calibration vehicle.

[0027] 3. The cavity calibration system in the present invention also includes a cavity boundary cleaning device. The cavity boundary cleaning device cooperates with the cyclic push cleaning frame and the push cleaning shovel. The push cleaning shovel moves along the track of the cyclic push cleaning frame. When the push cleaning shovel moves along the straight track on the cyclic push cleaning frame, it collects the gravel obstacles on the road surface while pushing them forward, and pushes them to the track curve of the cyclic push cleaning frame. The push cleaning shovels on both sides push the gravel obstacles to the two sides of the end of the curve in the direction of travel. The push cleaning shovel rises along the track to enter the next cleaning cycle, completing a cycle of cleaning and stacking the gravel obstacles on both sides. In addition, the rolling cleaning brush can clean the fine gravel on the airport road surface into a storage box by rolling the rolling brush. The storage box is used to store the fine gravel and other road surface obstacles swept up by the rolling cleaning brush, and finally achieve the effect of cleaning the piled gravel obstacles in the front and rolling the small gravel in the back during the forward movement of the cavity boundary cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the overall structure of the cavity calibration system in Example 1 of the present invention.

[0029] Figure 2 This is an axonometric view of the overall structure of the three-dimensional coordinate tracking and calibration vehicle in Example 1 of the present invention.

[0030] Figure 3 Schematic diagram of the internal structure of the three-dimensional coordinate tracking and calibration vehicle in Example 1 of the present invention.

[0031] Figure 4 This is a schematic diagram of the remaining structures inside the three-dimensional coordinate tracking and calibration vehicle except for the automatic adjustment inkjet device in Example 1 of the present invention.

[0032] Figure 5 Schematic diagram of the overall structure of the automatic adjustment inkjet device in Embodiment 1 of the present invention.

[0033] Figure 6 This is a schematic diagram of the installation structure of the ink cartridge fixing frame in the first embodiment of the present invention.

[0034] Figure 7 This is a front view of the structure of the automatic adjustment inkjet device in Example 1 of the present invention.

[0035] Figure 8 It is a schematic diagram of the overall structure of the cavity boundary cleaning device in the second embodiment of the present invention.

[0036] Fig. 9 This is a schematic diagram of the frame structure of the sweeper in the second embodiment of the present invention.

[0037] Fig.10 It is a bottom view of the frame structure of the street sweeper in the second embodiment of the present invention.

[0038] Fig.11 It is a schematic diagram of the structure of the circulating stacking cleaning mechanism in the second embodiment of the present invention.

[0039] Fig.12 It is a schematic diagram of the structure of the fixed frame and the circulating pushing and cleaning frame in the second embodiment of the present invention.

[0040] Fig.13 It is a schematic diagram of the structure of a simulated damaged airport pavement in the application simulation background of the present invention.

[0041] Fig.14 A top view of a damaged airport pavement structure is simulated in the simulation background of the application of the present invention.

[0042] Fig.15 For the present invention Fig.14 Cross-section view in the AA direction.

[0043] Among them: 1-3D coordinate tracking calibration vehicle, 101-calibration vehicle shell, 1011-frame pillar, 1012-wheel bracket, 1013-McWheel motor, 102-driving wheel, 103-calibration vehicle computer, 104-power battery pack, 105-automatic adjustment inkjet device, 1051-upper track, 1052-lower track, 1053-upper track fixing frame, 1054-lower track vertical slide, 1055-ink cartridge fixed slider, 1056-road sensor fixed slider, 1057-ink cartridge fixing frame, 1058-road sensor, 1059-slider connector, 10510-ink cartridge angle adjustment frame fixed slider, 10511-inkjet device angle adjustment frame, 106-omnidirectional prism, 107-calibration vehicle routing, 2-data detection processing and transmission components , 201-full station scanner, 202-computer, 2021-workbench, 203-wireless control terminal, 3-cavity boundary cleaning device, 301-sweeper frame, 302-sweeper wheel, 303-wheat wheel bracket, 304-roller brush cleaning shell, 305-roller cleaning brush, 306-storage box, 307-fixed frame, 308-connecting frame, 309-circular push cleaning frame, 310-horizontal hydraulic rod, 311-push cleaning shovel, 312-vertical hydraulic rod, 313-stiffening rib, 4-simulated damaged airport pavement, 401-local model of airport, 4011-local model of airport, 4012-runway cushion, 4013-runway base layer, 4014-soil surface area, 4015-ordinary foundation, 402-cavity model, 403-mark stone model. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments. Embodiment 1

[0045] Refer to the attached Figure 1-7 The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement shown includes a three-dimensional coordinate tracking and calibration vehicle 1 and a data detection, processing and transmission component 2. The three-dimensional coordinate tracking and calibration vehicle 1 is used to automatically and continuously detect and calibrate the cavities on the airport pavement, and the data detection, processing and transmission component 2 is communicatively connected to the three-dimensional coordinate tracking and calibration vehicle 1.

[0046] Specifically, the three-dimensional coordinate tracking and calibration vehicle 1 includes a calibration vehicle shell 101, and driving wheels 102 are installed at the four corners of the calibration vehicle shell 101, and the driving wheels 102 drive the entire three-dimensional coordinate tracking and calibration vehicle 1 to move on the airport road surface; the calibration vehicle shell 101 is equipped with a calibration vehicle computer 103, a power battery pack 104 and an automatic adjustment inkjet device 105; and an omnidirectional prism 106 is also installed on the top of the calibration vehicle shell 101. The data detection processing transmission component 2 determines the position of the three-dimensional coordinate tracking and calibration vehicle 1 by measuring the coordinates of the omnidirectional prism 106.

[0047] Four frame pillars 1011 are provided on the inner side of the calibration vehicle shell 101, and a wheel bracket 1012 is provided at the bottom of each frame pillar 1011. The wheel bracket 1012 is used to install the corresponding driving wheel 102. The frame pillar 1011 provides support for the driving wheel 102 and supports the entire calibration vehicle shell 101 at the same time; the driving wheel 102 adopts a Mecanum wheel, which can achieve the requirement of universal movement during the calibration of the airport pavement cavity range.

[0048] A McRae motor 1013 is installed on each wheel bracket 1012 , and the McRae motor 1013 is connected to the corresponding driving wheel 102 to provide power for the driving wheel 102 ; the McRae motor 1013 is connected to the power battery pack 104 , and the power battery pack 104 provides electrical energy for the McRae motor 1013 .

[0049] The calibration vehicle computer 103 is used to control the entire control system of the three-dimensional coordinate tracking and calibration vehicle 1, transmit and receive various instructions, and contains chips such as angle measurement, which can measure the position, body posture and other information of the three-dimensional coordinate tracking and calibration vehicle 1 in real time.

[0050] The power battery pack 104 contains a battery pack to provide electrical energy for the entire three-dimensional coordinate tracking and calibration vehicle 1 .

[0051] A calibration vehicle wiring 107 is also provided inside the calibration vehicle shell 101. Through integrated wires, it connects various parts inside the three-dimensional coordinate tracking calibration vehicle 1 that require power supply and information transmission, and assumes the function of power and electrical signal transmission. For example, the power battery pack 104 and the McLennan motor 1013, and the calibration vehicle computer 103 and the drive wheel 102 are all connected through the calibration vehicle wiring 107.

[0052] The automatic adjustment inkjet device 105 includes an upper track 1051 and a lower track 1052. The upper track 1051 is connected to the calibration vehicle shell 101 through an upper track fixing frame 1053. The upper track fixing frame 1053 is fixed to the inner wall of the calibration vehicle shell 101. The upper track 1051 is connected through a slot, so that the upper half of the entire automatic adjustment inkjet device 105 can be supported. The lower track 1052 is slidably set in the calibration vehicle shell 101 through a lower track vertical slide 1054. It should be noted here that the lower track vertical slide 1054 can be installed on the inner wall of the calibration vehicle shell 101, or it can be installed on a device whose position will not change, such as a power battery pack 104, according to the internal structure of the calibration vehicle shell 101. The lower track 1052 can be slid up and down by the lower track vertical slide 1054 to adjust the vertical distance between the upper track 1051 and the lower track 1052. However, the upper track 1051 and the lower track 1052 are always kept on the same vertical line.

[0053] The upper rail 1051 is slidably connected with an ink cartridge fixed slider 1055 and a road surface sensor fixed slider 1056. An ink cartridge fixed frame 1057 is rotatably mounted on the ink cartridge fixed slider 1055, so that the ink cartridge fixed frame 1057 can slide linearly along the upper rail 1051 and can be adjusted in angle relative to the ink cartridge fixed slider 1055. A road surface sensor 1058 is mounted on the road surface sensor fixed slider 1056, so that the road surface sensor 1058 can also slide linearly along the upper rail 1051. The road surface sensor 1058 is used to survey basic road surface information such as road surface elevation angle and feed back road surface conditions to the calibration vehicle computer 103. An ink cartridge inkjet device is installed in the ink cartridge fixed frame 1057. The ink cartridge inkjet device is used to perform inkjet calibration along the boundary of the cavity. The ink cartridge fixed frame 1057 provides support for the ink cartridge inkjet device to ensure the stability of the ink cartridge inkjet device during the inkjet process. The ink cartridge fixing slider 1055 is connected to the road surface sensor fixing slider 1056 via a slider connector 1059. The slider connector 1059 can coordinate the movement of the road surface sensor 1058 and the ink cartridge fixing frame 1057, so that the relative distance between the sensor detection position and the inkjet position is fixed.

[0054] The lower track 1052 is slidably connected with a cartridge angle adjustment frame fixed slider 10510, and the cartridge angle adjustment frame fixed slider 10510 is installed with an inkjet device angle adjustment frame 10511. The cartridge angle adjustment frame fixed slider 10510 can ensure that the inkjet device angle adjustment frame 10511 slides linearly along the lower track 1052. The bottom of the cartridge fixing frame 1057 is movably connected with the inkjet device angle adjustment frame 10511. The inkjet device angle adjustment frame 10511 is provided with an arc-shaped limiting groove, so that the cartridge fixing frame 1057 can rotate within an angle range of 0° to 80° to adjust the inkjet angle. It should be noted here that the adjustment of the angle of the cartridge fixing frame 1057 is also controlled by the calibration vehicle computer 103, and a through hole corresponding to the road surface sensor 1058 and the cartridge inkjet device is provided at the bottom of the calibration vehicle housing 101.

[0055] Furthermore, the data detection, processing and transmission component 2 includes an omnidirectional scanner 201, a computer 202, and a wireless control terminal 203. The wireless control terminal 203 is communicatively connected to the calibration vehicle computer 103. The omnidirectional scanner 201 continuously tracks and monitors the omnidirectional prism 106 installed on the top of the calibration vehicle housing 101, and continuously transmits the measured coordinates of the omnidirectional prism 106 to the computer 202 placed on the workbench 2021. The computer 202 sends the coordinates of the three-dimensional coordinate tracking calibration vehicle 1 to the calibration vehicle computer 103 through the wireless control terminal 203, so that the calibration vehicle computer 103 can obtain the coordinates of the three-dimensional coordinate tracking calibration vehicle 1 in real time.

[0056] Preferably, the main body size of the calibration vehicle shell 101 is about 800mm*800mm*300mm, and there are four driving wheels 102 on the bottom of the vehicle, which can move freely on the airport pavement under the control of the calibration vehicle computer 103.

[0057] Preferably, the angle measurement chip built into the calibration vehicle computer 103 adopts the SH3001 chip, which can measure the inclination data of the three-dimensional coordinate tracking and calibration vehicle 1 and participate in calculating the three-dimensional coordinate information of the three-dimensional coordinate tracking and calibration vehicle 1 .

[0058] Preferably, the road surface sensor 1058 adopts a high-frequency and high-precision road surface-specific sensor ZLDS100RD, which can accurately and quickly measure the distance from a point on the airport road surface at the bottom center of the three-dimensional coordinate tracking and calibration vehicle 1 to the road surface sensor 1058 and continuously transmit it to the calibration vehicle computer 103, so that it can combine other data measured by the three-dimensional coordinate tracking and calibration vehicle 1 to efficiently analyze the coordinates of the measured point on the airport road surface in the airport relative coordinate system.

[0059] Preferably, the total station scanner 201 uses the Topcon total station scanner GTL-1000.

[0060] Preferably, the omnidirectional prism 106 adopts 360 o Prism.

[0061] It should be noted that in order to calibrate the total station scanner 201 and the coordinates of the total station scanner 201 in the airport relative coordinate system, benchmark stones are buried at the edges of both sides of the airport pavement close to the soil surface area, and an omnidirectional prism is also set up directly above the benchmark stone. The coordinates of the total station scanner 201 are calibrated using the coordinates of the omnidirectional prism above the benchmark stone.

[0062] The calibration method of the cavity calibration system of the present invention comprises the following steps:

[0063] S1: Before the airport pavement cavity is generated, the original three-dimensional model of the airport pavement is constructed and imported into the three-dimensional coordinate tracking calibration vehicle 1;

[0064] Before the airport pavement deforms and produces cavities, it is necessary to collect the original data of the airport pavement to construct the original three-dimensional model of the airport pavement. The three-dimensional coordinate tracking and calibration vehicle 1 can be used in conjunction with the total station scanner 201 to collect the coordinates of the four corner points of all the plates of the airport pavement. When the distance between the total station scanner 201 and the three-dimensional coordinate tracking and calibration vehicle 1 is too far, the collection range exceeds the measurement range of the total station scanner 201, and the wireless transmission is delayed or packet loss occurs, it is necessary to adjust the position of the measuring station, and after completing the leveling operation, use the total station scanner 201 to aim at the omnidirectional prism set up above the benchmark stone to recalibrate the airport relative coordinate system for the total station scanner 201. In this way, the three-dimensional coordinates of the corner points of all plates on the surface of the airport pavement are collected, and they are input into the software to construct the original three-dimensional model of the airport pavement, and the constructed model is imported into the calibration vehicle computer 103 of the three-dimensional coordinate tracking and calibration vehicle 1.

[0065] S2: After a cavity is generated on the airport pavement, the cavity calibration system moves into the test area to calibrate the coordinates of the total station scanner 101;

[0066] When the airport pavement is uplifted due to an attack, frost heave, salt heave, etc., it is necessary to visually estimate the approximate distribution range of the cavities based on experience to improve the test efficiency. After determining the range, it is necessary to clean the area slightly larger than the approximate distribution range of the cavities and remove foreign matter such as debris on the pavement surface to improve the test accuracy. After the cleaning work is completed, the entire cavity calibration system device is moved into the test area and installed properly.

[0067] More specifically, after the three-dimensional coordinate tracking and calibration vehicle 1 is started up and debugged, it is moved into the test area and stays outside the approximate distribution range of the cavities. The workbench 2021 is placed outside the approximate distribution range of the cavities, and the computer 202 and the wireless control terminal 203 are arranged. The total station scanner 201 is set up near the workbench 2021 through a tripod, and after the total station scanner 201 is leveled and leveled, it is connected to the notebook 202 computer through a data cable. A tripod is set up on several intact benchmarks near the test area and an omnidirectional prism is installed. After the centering and leveling are completed, the coordinates of the center point of each prism are measured and determined. When arranging the various devices, care must be taken to avoid blocking the sight of the total station scanner 201 aiming at the omnidirectional prism and the full-time tracking measurement.

[0068] The total station scanner 201 is aligned with the omnidirectional prism mounted on the benchmark to calibrate the station coordinates of the total station scanner 201, thereby connecting the total station scanner 201 to the airport relative coordinate system, and completing the calibration of multiple omnidirectional prisms to improve data accuracy.

[0069] S3: Detecting the coordinates of the omnidirectional prism 106 in real time through the omni-station scanner 201 and transmitting them to the three-dimensional coordinate tracking and calibration vehicle 1;

[0070] The omnidirectional scanner 201 continuously tracks and monitors the omnidirectional prism 106 fixed on the three-dimensional coordinate tracking and calibration vehicle 1, and continuously transmits the measured coordinates of the omnidirectional prism 106 to the computer 202 on the workbench 2021. The computer 202 sends the coordinates of the three-dimensional coordinate tracking and calibration vehicle 1 to the calibration vehicle computer 103 through the wireless control terminal 203, so that the calibration vehicle computer 103 can obtain the coordinates of the three-dimensional coordinate tracking and calibration vehicle 1 in real time.

[0071] S4: The three-dimensional coordinate tracking calibration vehicle 1 measures the deformation of the measured point while moving. If the measured point is at a position where deformation has just occurred, the inkjet device of the ink cartridge sprays ink to the point for calibration. This calibration process is repeated until the cavity boundary closed range calibration is completed.

[0072] More specifically, the angle measurement chip built into the calibration vehicle computer 103 measures the angles of the vehicle body in three directions and sends them to the calibration vehicle computer 103 in real time; the road surface sensor 1058 in the three-dimensional coordinate tracking calibration vehicle 1 measures the distance between the point to be measured on the road surface at the center of the bottom of the three-dimensional coordinate tracking calibration vehicle 1 and the road surface sensor 1058, and also sends it to the calibration vehicle computer 103 in real time; the calibration vehicle computer 103 compares the coordinates of the omnidirectional prism 106, the vehicle body angle, the distance between the point to be measured and the road surface sensor 1058 with the original three-dimensional model of the airport road surface imported in step S1, so as to determine the deformation of the point to be measured; if the point to be measured is at a position where deformation has just occurred, the position is the cavity boundary, and the calibration vehicle computer 103 controls the inkjet device to calibrate the inkjet to the point. After the calibration is completed, the three-dimensional coordinate tracking calibration vehicle 1 moves to the vicinity of the next boundary to be calibrated with the highest point of the obvious bulge in the cavity area as the center of the circle, and continues to calibrate the cavity range until the cavity boundary closed range calibration with sufficient accuracy is completed. Embodiment 2

[0073] On the basis of Example 1, in order to improve the calibration accuracy and avoid the influence of debris on the airport pavement on the calibration, the cavity calibration system in the present invention also includes a cavity boundary cleaning device 3. After the airport pavement is damaged by ammunition such as penetrating bombs, the debris of different sizes produced by the explosion will be unevenly scattered on the cavity, and the cavity boundary area is the junction of the pavement damaged by the explosion and the undamaged pavement, and the explosion impact will rush the debris inside the cavity to the boundary, so there will be more gravel obstacles in the boundary area. The cavity boundary cleaning device can clean the airport pavement to avoid the influence of debris or other obstacles on the airport pavement on data collection.

[0074] Specifically, as attached Figure 8-12 As shown, the cavity boundary cleaning device 3 includes a cleaning vehicle frame 301, and four cleaning vehicle wheels 302 are installed at the bottom of the cleaning vehicle frame 301. The cleaning vehicle wheels 302 are installed on the cleaning vehicle frame 301 through Mecanum wheel brackets 303. The cleaning vehicle wheels 302 also use Mecanum wheels, which can realize the universal movement of the entire cavity boundary cleaning device 3. The driving part of the cleaning vehicle wheels 302 is the existing technology, and the present invention will not be repeated. A roller brush cleaning storage mechanism is provided at the rear of the cleaning vehicle frame 301, and a circulating stacking cleaning mechanism is provided in front of the cleaning vehicle frame 301.

[0075] More specifically, the roller brush cleaning storage mechanism includes a roller brush cleaning shell 304, which is installed on the cleaning vehicle frame 301. A roller cleaning brush 305 is provided in the roller brush cleaning shell 304. A storage box 306 is connected to the front side of the roller brush cleaning shell 304. The roller cleaning brush 305 can clean the fine gravel on the airport pavement into the storage box 306 by rolling. The storage box 306 is used to store the fine gravel and other pavement obstacles cleaned by the roller cleaning brush 305, and dump them after the entire pavement is cleaned.

[0076] The circulating stacking cleaning mechanism includes a fixed frame 307, which is installed in front of the cleaning vehicle frame 301 through a connecting frame 308. The fixed frame 307 is a square structure, and two circulating push cleaning frames 309 are slidably provided on the bottom edge of the fixed frame 307. The two circulating push cleaning frames 309 are symmetrical and back-to-back arranged to form a "J"-shaped structure. A plurality of horizontal hydraulic rods 310 are also provided between the two circulating push cleaning frames 309. The distance between the two circulating push cleaning frames 309 can be adjusted by the horizontal hydraulic rods 310 to adapt to different road surface conditions. A plurality of push-type cleaning shovels 311 are slidably connected to each of the circulating push cleaning frames 309. A circle of tracks is provided along the edge of the circulating push cleaning frames 309. The push-type cleaning shovels 311 can move along the track of the circulating push cleaning frames 309 to push and clean. The push-type cleaning shovels 311 are inclined shovels, which can meet the cleaning efficiency to the greatest extent. A vertical hydraulic rod 312 is provided between the top and bottom of the circulating pushing and cleaning frame 309. The length of the vertical hydraulic rod 312 remains unchanged, providing vertical support for the circulating pushing and cleaning frame 309 to prevent deformation of the circulating pushing and cleaning frame 309 caused by excessive bending moment during the process of pushing the gravel by the pushing cleaning shovel 311, and at the same time providing support for the pushing cleaning shovel 311 during its rising process.

[0077] In order to prevent the push-type cleaning shovel 311 from being deformed by bending moment during the cleaning process, a stiffening rib 313 is provided on the top of the push-type cleaning shovel 311. The stiffening rib 313 bears part of the bending moment of the push-type cleaning shovel 311, thereby increasing the strength of the push-type cleaning shovel 311 and preventing the cleaning shovel from being deformed by bending moment.

[0078] The working principle of the cavity boundary cleaning device 3 in this embodiment is: the entire cavity boundary cleaning device 3 is driven by the cleaning vehicle wheels 302 to move within the cavity boundary range of the airport pavement, and the push-type cleaning shovel 311 moves along the track of the circulating push cleaning frame 309 to push and clean. When the push-type cleaning shovel 311 moves along the straight track on the circulating push cleaning frame 309, the gravel obstacles on the pavement are collected and pushed forward, and pushed to the track curve of the circulating push cleaning frame 309. The push-type cleaning shovels 311 on both sides push the gravel obstacles to both sides of the travel direction and pile them on both sides of the end of the curve. The push-type cleaning shovel 311 rises along the track to enter the next cleaning cycle, completing a cycle of cleaning and stacking the gravel obstacles on both sides.

[0079] After that, the next push-type cleaning shovel 311 starts from the starting point of the track. In order to avoid the cleaning shovel in the first half of the next cycle cleaning the road surface that has been cleaned in the previous cycle, the next cleaning cycle will start after the cavity boundary cleaning device 3 advances 2 / 3 of the length of the cycle push cleaning frame 309. By continuously performing the cycle cleaning, the gravel in the cavity boundary area can be cleaned and piled on both sides of the boundary.

[0080] The circulating stacking cleaning mechanism located in front of the sweeper frame 301 first cleans the large pieces of gravel in the cavity boundary area and stacks them on both sides of the boundary. Then, the roller brush cleaning and storage mechanism located behind the sweeper frame 301 cleans the fine gravel on the airport pavement that the circulating stacking cleaning device failed to clean up into the storage box 306 by rolling the roller brush. After the entire pavement is cleaned, the storage box 306 is dumped.

[0081] The calibration method of the cavity calibration system in this embodiment is to first use the cavity boundary cleaning device 3 to clean the airport pavement before step S1 of the first embodiment, and then calibrate through steps S1 to S4 in the first embodiment.

[0082] Simulation application scenario:

[0083] In order to conduct a simulation experiment on the cavity calibration system of the present invention, a simulated damaged airport pavement 4 needs to be preset. The structure of the simulated damaged airport pavement 4 is as shown in the attached figure. Figure 13-15 As shown, the airport local model 401 is specifically included. The airport local model 401 is implemented according to the basic structure of a standard airport runway, and mainly includes the following components:

[0084] Runway surface layer 4011: Runway surface layer 4011 is a high-strength concrete structure with certain lateral and longitudinal slopes.

[0085] Runway cushion 4012: The runway cushion 4012 is usually compacted graded crushed stone.

[0086] Runway base 4013: Runway base 4013 is usually a compacted soil foundation.

[0087] Soil surface area 4014: Soil surface area 4014 is the soil zone on both sides of the airport runway, usually divided into a soil runway and a flat area, and its surface is usually planted with grass.

[0088] Ordinary foundation 4015: Ordinary foundation is the compacted runway base 4013 and the uncompacted foundation structure below the soil surface area 4014.

[0089] The local airport model 401 is provided with a cavity model 402, which simulates a cavity formed in the airport pavement after a penetrating missile penetrates into the airport pavement and explodes, and simultaneously causes a bulging effect on the pavement surface.

[0090] Benchmark models 403 are buried at the edges of both sides of the soil surface area 4014 near the local airport model 401. The benchmark models 403 are buried at the edges of the soil surface area 4014 close to both sides of the airport pavement before the cavity model 402 appears, and are used to provide coordinate control points in the airport relative coordinate system for the entire cavity calibration system, so that the test device can introduce the test data into the airport relative coordinate system and complete data analysis. In order to ensure that the airport pavement can still provide accurate control point coordinates for the total station scanner 201 after intensive bombing, it is necessary to evenly distribute multiple benchmark models 403 along the axis direction on both sides of the pavement to ensure that damage to individual benchmark models 403 does not affect the cavity calibration work.

[0091] By using the simulated damaged airport pavement 4, a simulation experiment can be carried out before the hollow cavity calibration system of the present invention is put into use on the airport pavement, so as to ensure the detection and calibration accuracy of the hollow cavity calibration system of the present invention.

[0092] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A cavity calibration system for three-dimensional coordinate tracking and model analysis of an airport pavement, comprising a data detection, processing and transmission component (2), characterized in that: It also includes a three-dimensional coordinate tracking and calibration vehicle (1), which is used to automatically and continuously detect and calibrate cavities on the airport pavement in real time, and the data detection, processing and transmission component (2) is communicatively connected to the three-dimensional coordinate tracking and calibration vehicle (1); The cavity calibration system further comprises a cavity boundary cleaning device (3) for cleaning the airport pavement before cavity calibration; The cavity boundary cleaning device (3) comprises a cleaning vehicle frame (301), a roller brush cleaning storage mechanism is provided at the rear of the cleaning vehicle frame (301), and a circulating stacking cleaning mechanism is provided at the front of the cleaning vehicle frame (301); The roller brush cleaning storage mechanism comprises a roller brush cleaning shell (304), the roller brush cleaning shell (304) is mounted on the cleaning vehicle frame (301), a roller cleaning brush (305) is arranged inside the roller brush cleaning shell (304), and a storage box (306) is arranged on the front side of the roller brush cleaning shell (304); The circulating stacking cleaning mechanism comprises a square fixed frame (307), two circulating pushing cleaning frames (309) are slidably provided on the bottom edge of the fixed frame (307), and the two circulating pushing cleaning frames (309) form a "J"-shaped structure; each of the circulating pushing cleaning frames (309) is slidably connected to a plurality of pushing cleaning shovels (311); The circulating pushing cleaning frame (309) is provided with a circle of tracks along the edge, and the pushing cleaning shovel (311) circulates and rotates along the outer edge of the circulating pushing cleaning frame (309).

2. The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement according to claim 1 is characterized by: The three-dimensional coordinate tracking and calibration vehicle (1) comprises a calibration vehicle shell (101), and driving wheels (102) are installed at the four corners of the calibration vehicle shell (101); A calibration vehicle computer (103) and an automatic adjustment inkjet device (105) are installed in the calibration vehicle housing (101); An omnidirectional prism (106) is also installed on the top of the calibration vehicle housing (101).

3. The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement according to claim 2 is characterized by: The automatic adjustment inkjet device (105) comprises an upper track (1051) and a lower track (1052); The upper rail (1051) is slidably connected with an ink cartridge fixing frame (1057) and a road surface sensor (1058); An inkjet device angle adjustment frame (10511) is slidably connected to the lower track (1052), and an inkjet device is movably connected between the ink cartridge fixing frame (1057) and the inkjet device angle adjustment frame (10511).

4. The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement according to claim 3 is characterized by: An ink cartridge fixing slider (1055) for mounting the ink cartridge fixing frame (1057) and a road surface sensor fixing slider (1056) for mounting the road surface sensor (1058) are slidably connected to the upper rail (1051); A slider connector (1059) is connected between the ink cartridge fixing slider (1055) and the road surface sensor fixing slider (1056).

5. The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement according to claim 4 is characterized by: The lower track (1052) is slidably arranged up and down inside the calibration vehicle housing (101).

6. The cavity calibration system for three-dimensional coordinate tracking and model analysis of airport pavement according to claim 1 is characterized by: The data detection, processing and transmission component (2) comprises a full-station scanner (201), a computer (202) and a wireless control terminal (203), and the wireless control terminal (203) is communicatively connected with the three-dimensional coordinate tracking and calibration vehicle (1).

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