Cavity Calibration System for One-Dimensional Coordinate Scanning and Model Analysis of Airport Pavement

Abstract

The present invention discloses a cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement, and belongs to the technical field of airport pavement deformation detection. Specifically, it includes a one-dimensional detection and calibration vehicle and a laser scanning plane emission module. A camera and a barcode measuring rod are installed on the top of the one-dimensional detection and calibration vehicle. The camera captures the image information irradiated on the barcode measuring rod by the laser scanning plane emission module, determines the one-dimensional height position data of the airport pavement where the one-dimensional detection and calibration vehicle is located, and combines the one-dimensional detection and calibration vehicle's tilt data to accurately analyze the deformation of the airport pavement and perform calibration. In addition, the present invention also includes a cavity data preliminary acquisition device and a cavity boundary cleaning device. The cavity data preliminary acquisition device can perform preliminary acquisition of airport pavement data before cavity calibration, and plan the path of the one-dimensional detection and calibration vehicle in advance; the cavity boundary cleaning device can clear the debris within the cavity boundary range of the airport pavement before calibration, thereby improving the accuracy of detection.

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 one-dimensional coordinate scanning and model analysis of an airport pavement. Background Art

[0002] As an important infrastructure for air transportation and cities, airports are an important part of the comprehensive transportation system and play an important role in modern society. In the process of daily maintenance, operation and emergency 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. The most direct impact of such cavities on airport pavements is to seriously damage the flatness of airport pavements, which in turn seriously affects the safety of aircraft take-off and landing. Under normal circumstances, the method to repair 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, backfill the pavement crushed materials as the repair cushion layer, and then repair the pavement surface layer. In order to accurately cut and crush the pavement panels of appropriate sizes, reduce the amount of repair work, and improve the repair efficiency. Before cutting and crushing, the cavity range needs to be accurately calibrated. If the range is too large, the repair workload will be significantly increased; if the range is too small, the damaged pavement cannot be completely repaired. After calibration, the cavity data is statistically processed and finally fed back to the construction and repair before precise cutting and repair can begin. It can be seen that cavity calibration technology is an indispensable preparatory work for repairing airport pavement. The efficiency and accuracy of cavity calibration directly affect the subsequent repair workload and repair efficiency. The importance of developing a complete cavity calibration system is self-evident.

[0003] For the detection of pavement cavities, the most widely used method is still the relatively traditional multi-laser sensor detection. Although there are defects in detection accuracy and methods, the technology is mature and the cost is low. The concept of structured light detection of pavement deformation has a history of more than 20 years, but the use of laser as structured light has not been long. At present, most laser structured lights have the problem of only being able to detect at night or being affected by vibration and having low detection accuracy. In addition, the current detection of pavement deformation has the problem of ignoring the three-dimensional deformation of the pavement, and the established three-dimensional pavement morphology cannot accurately reflect the working state of the pavement. The current integrated pavement detection equipment also has shortcomings to varying degrees. The invention patent with application number 201110437160.9 discloses an improved pavement damage comprehensive intelligent detection vehicle, whose pavement deformation detector is installed at the rear end of the vehicle body, and determines the pavement deformation information by projecting at least three parallel laser lines and at least one laser line intersecting the parallel laser lines on the ground. However, this method is more used for large-scale improved asphalt pavement damage detection, and is not applicable to small-scale cavity calibration of airport pavements.

[0004] In addition to using optical principles for detection, the utility model patent with application number 202421024013.8 discloses a highway flatness detection structure, which uses mechanical pressure rod structures to cooperate with each other to achieve simple spray drawing of the direction of pavement damage, but this type of device has high accuracy and is not used for airport pavement cavities with small and complex flatness changes. In view of the above reasons, although a variety of equipment and instruments for pavement damage detection based on mechanical or laser principles have been introduced, the equipment that meets the high-precision, high-complexity, and high-efficiency requirements of airport pavement cavity calibration is still very limited, and there is still a lot of room for research in this field. Summary of the invention

[0005] In view of the above-mentioned problems, the present invention aims to provide a cavity calibration system for one-dimensional coordinate scanning and model analysis. By irradiating a laser plane parallel to the original road surface onto a barcode measuring rod, a camera is used to continuously capture the barcode image irradiated with the laser line, and then the one-dimensional position data of the one-dimensional scanning calibration vehicle can be analyzed. 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 inclination data of the one-dimensional detection calibration vehicle, so as to collect rich and complete original data for road deformation analysis, accurately analyze the deformation of the airport road surface and perform calibration.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] The cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement is characterized by comprising a one-dimensional detection and calibration vehicle and a laser scanning plane transmitting module, wherein the laser scanning plane transmitting module is used to provide a reference laser plane for the one-dimensional detection and calibration vehicle;

[0008] A camera and a barcode measuring rod are installed on the top of the one-dimensional detection and calibration vehicle. The camera is used to capture the image information irradiated on the barcode measuring rod by the laser scanning plane emission module to determine the one-dimensional height information of the airport pavement where the one-dimensional detection and calibration vehicle is located.

[0009] Furthermore, a calibration vehicle computer and an automatic adjustment inkjet device are installed in the one-dimensional detection calibration vehicle; the camera and the automatic adjustment inkjet device are both connected to the calibration vehicle computer by wires.

[0010] Further, the automatic adjustment inkjet device comprises an upper track and a lower track;

[0011] The upper track is slidably connected with an ink cartridge fixing frame and a road surface sensor;

[0012] 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.

[0013] Furthermore, an ink cartridge fixing slider for installing an ink cartridge fixing frame and a road surface sensor fixing slider for installing a road surface sensor are slidably connected to the upper track;

[0014] A slider connector is connected between the ink cartridge fixing slider and the road surface sensor fixing slider.

[0015] Furthermore, the laser scanning plane emission module includes a laser emission bracket, a laser instrument lower turntable, a laser instrument upper turntable and a plane laser scanning instrument;

[0016] The lower turntable of the laser instrument is rotatably mounted on the laser emission bracket;

[0017] The upper turntable of the laser instrument is rotatably mounted on the lower turntable of the laser instrument;

[0018] The planar laser scanner is installed on the turntable of the laser instrument.

[0019] Furthermore, the cavity calibration system further includes a cavity data preliminary acquisition device for preliminary acquisition of airport pavement data before cavity calibration;

[0020] The preliminary cavity data acquisition device comprises a data acquisition device center column and two extension arm acquisition systems, and the two extension arm acquisition systems are both rotatably connected to the data acquisition device center column.

[0021] Furthermore, the center column of the data acquisition device includes a center column body, and a circle of extension arm tracks is arranged on the center column body along the circumference;

[0022] The bottom of the center column body is connected with a leveling platform, the bottom of the leveling platform is provided with a tripod and a center column grounding device, and the outer cover of the center column grounding device is provided with a counterweight block.

[0023] Further, the extended arm collection system includes a fixed section and a plurality of extended sections;

[0024] The fixed section is connected to the extension arm track;

[0025] A data collector bracket capable of rotating 360 degrees is movably provided at the bottom of the extension section farthest from the fixed section, and a data collector is installed on the data collector bracket.

[0026] Further, the cavity calibration system also includes a cavity boundary cleaning device for cleaning the airport pavement before cavity calibration;

[0027] 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.

[0028] 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 circulating pushing cleaning frame is provided with a circle of track along the edge, and each circulating pushing cleaning frame is slidably connected to multiple push-type cleaning shovels.

[0029] The beneficial effects of the present invention are as follows: compared with the prior art, the present invention has the following improvements:

[0030] 1. The cavity calibration system of the present invention irradiates a laser surface parallel to the original road surface onto the barcode measuring rod, and uses a camera to continuously capture the barcode image irradiated with the laser line, and then analyzes and obtains the one-dimensional position data of the one-dimensional scanning calibration vehicle. At the same time, the road surface sensor is used to detect the calibration distance, and the angle measurement chip is used to detect the one-dimensional detection calibration vehicle inclination data, so as to collect rich and complete original data for road deformation analysis, accurately analyze the deformation of the airport road surface and perform calibration.

[0031] 2. The cavity calibration system in the present invention is different from the traditional deformation detection method that uses artificial moving benchmarks to detect the pavement deformation point by point. By designing a one-dimensional detection and calibration vehicle based on Mecanum wheel drive, it can move flexibly and quickly on the airport pavement to efficiently calibrate the repair range; 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 works in coordination with 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.

[0032] 3. The cavity calibration system in the present invention also includes a cavity data preliminary acquisition device. Before the one-dimensional detection and calibration vehicle enters the airport pavement for precise cavity calibration, the cavity data preliminary acquisition device is used to perform a preliminary scan of the airport pavement cavity to obtain the approximate information of the cavity range, and to collect the rough coordinates of the cavity boundary points relative to the absolute coordinate system of the entire airport pavement, the cavity area, and the approximate shape of the cavity boundary. The rough coordinates of the cavity boundary points are mainly used for the preliminary fitting of the automatic path planning system of the one-dimensional detection and calibration vehicle. The preliminary data of the cavity data preliminary acquisition device can be used to provide the one-dimensional detection and calibration vehicle with an initial direction of travel based on the basic mathematical model of three-point circle determination or least squares method for fitting the plane circle equation. The one-dimensional detection and calibration vehicle can only perform the next step of dynamic fitting path planning after preliminary calibration along this direction. At the same time, the cavity data preliminary acquisition device can make a preliminary assessment of the approximate position and cavity area of ​​the cavity relative to the absolute coordinates of the airport through preliminary data, so as to facilitate the arrangement of equipment and personnel for emergency repairs.

[0033] 4. 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

[0034] Figure 1 Schematic diagram of the overall structure of the cavity calibration system in Example 1 of the present invention.

[0035] Figure 2 Schematic diagram of the overall structure of the one-dimensional detection and calibration vehicle in Embodiment 1 of the present invention.

[0036] Figure 3 Schematic diagram of the internal structure of the one-dimensional detection and calibration vehicle in Example 1 of the present invention.

[0037] Figure 4 This is a schematic diagram of other structures other than the camera and the barcode measuring rod inside the one-dimensional detection and calibration vehicle in the first embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of other structures other than the camera, barcode measuring rod and automatic adjustment inkjet device for one-dimensional detection and calibration of the interior of the vehicle in the first embodiment of the present invention.

[0039] Figure 6 Schematic diagram of the overall structure of the automatic adjustment inkjet device in Embodiment 1 of the present invention.

[0040] Figure 7 This is a schematic diagram of the installation structure of the ink cartridge fixing frame in the first embodiment of the present invention.

[0041] Figure 8 This is a front view of the structure of the automatic adjustment inkjet device in Example 1 of the present invention.

[0042] Fig. 9 It is an exploded view of the structure of the laser scanning planar emission module in the first embodiment of the present invention.

[0043] Fig.10Schematic diagram of the overall structure of the preliminary cavity data acquisition device in the second embodiment of the present invention.

[0044] Fig.11 This is a schematic diagram of the overall structure of the center column of the data acquisition device in Example 2 of the present invention.

[0045] Fig.12 This is a front view of the overall structure of the center column of the data acquisition device in Example 2 of the present invention.

[0046] Fig.13 It is a schematic diagram of the overall structure of the extended arm collection system in the second embodiment of the present invention.

[0047] Fig.14 Schematic diagram of the overall structure of the cavity boundary cleaning device in Example 3 of the present invention.

[0048] Fig.15 This is a schematic diagram of the frame structure of the sweeper in Embodiment 3 of the present invention.

[0049] Fig.16 This is a bottom view of the frame structure of the street sweeper in Embodiment 3 of the present invention.

[0050] Fig.17 It is a schematic diagram of the structure of the circulating stacking cleaning mechanism in the third embodiment of the present invention.

[0051] Fig.18 It is a schematic diagram of the structure of the fixed frame and the circulating pushing and cleaning frame in the third embodiment of the present invention.

[0052] Fig.19 It is a schematic diagram of the structure of a simulated damaged airport pavement in the application simulation background of the present invention.

[0053] Fig. 20 A top view of a damaged airport pavement structure is simulated in the simulation background of the application of the present invention.

[0054] Fig.21 For the present invention Fig. 20 Cross-section view in the AA direction.

[0055] Among them: 1. One-dimensional detection calibration vehicle; 101. Calibration vehicle shell; 1011. Frame pillar; 1012. Wheel bracket; 1013. McLennan 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 fixing slider; 1056. Road surface sensor fixing slider; 1057. Ink cartridge fixing frame; 1058. Road surface sensor; 1059. Slider connector; 10510. Ink cartridge angle adjustment frame fixing slider; 10511. Inkjet device angle adjustment frame; 106. Camera; 107. Barcode measuring rod; 108. Calibration vehicle routing;

[0056] 2. Laser scanning plane emission module; 201. Laser emission bracket; 202. Laser instrument lower turntable; 203. Laser instrument upper turntable; 204. Planar laser scanning instrument;

[0057] 3. Preliminary cavity data acquisition device; 301. Center column of data acquisition device; 3011. Center column body; 3012. Extension arm track; 3013. Leveling platform; 3014. Tripod; 3015. Center column grounding device; 3016. Counterweight; 302. Extension arm acquisition system; 3021. Fixed section; 3022. Extension section; 3023. Sliding track of acquisition instrument; 3024. Sliding block of acquisition instrument; 3025. Support of acquisition instrument; 3026. Data acquisition instrument;

[0058] 4. Cavity boundary cleaning device; 401. Cleaning vehicle frame; 402. Cleaning vehicle wheel; 403. Wheat wheel bracket; 404. Roller brush cleaning shell; 405. Roller cleaning brush; 406. Storage box; 407. Fixed frame; 408. Connecting frame; 409. Circular push cleaning frame; 410. Horizontal hydraulic rod; 411. Push-type cleaning shovel; 412. Vertical hydraulic rod; 413. Stiffening rib;

[0059] 5. Simulate damaged airport pavement; 501. Airport local model; 5011. Runway surface layer; 5012. Runway cushion layer; 5013. Runway base layer; 5014. Soil surface area; 5015. Ordinary foundation; 502. Cavity model; 503. Marking stone model. DETAILED DESCRIPTION

[0060] 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.

[0061] Embodiment 1:

[0062] Embodiment 1 provides a cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement, referring to the attached Figure 1-9 As shown, it includes a one-dimensional detection and calibration vehicle 1 and a laser scanning plane transmitting module 2. The one-dimensional detection and calibration vehicle 1 is responsible for measuring the airport pavement data while running near the pavement cavity, and calibrating the cavity boundary after analysis. The laser scanning plane transmitting module 2 is used to provide a reference laser plane for the one-dimensional detection and calibration vehicle 1.

[0063] Specifically, the one-dimensional detection 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 one-dimensional detection and calibration vehicle 1 to move on the airport road surface; the calibration vehicle shell 101 is installed with a calibration vehicle computer 103, a power battery pack 104 and an automatic adjustment inkjet device 105; the top of the calibration vehicle shell 101 is also installed with a camera 106 and a barcode measuring rod 107. The camera 106 adopts a hyperspectral camera and is installed under the barcode measuring rod 107, which is used to capture the image information irradiated on the barcode measuring rod 107 by the laser scanning plane emission module 2 at all times, and transmit the image information to the calibration vehicle computer 103. The barcode measuring rod 107 is a hollow cylindrical rod with a length of about 300 mm and a diameter of about 50 mm. It is installed on the top surface of the calibration vehicle shell 101 and receives laser irradiation from the laser scanning plane emission module 2. The camera 106 continuously captures the position of the laser irradiation on the barcode measuring rod 107, and transmits the laser position information of the barcode measuring rod 107 to the calibration vehicle computer 103. After analysis by the calibration vehicle computer 103, the complex road surface cavity slope conditions are cleverly converted into one-dimensional height information.

[0064] More specifically, four frame struts 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 strut 1011. The wheel bracket 1012 is used to install the corresponding driving wheel 102. The frame struts 1011 provide support for the driving wheel 102 and support 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.

[0065] 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 .

[0066] The calibration vehicle computer 103 is the core processor of the one-dimensional detection and calibration vehicle 1, which is responsible for collecting and processing the one-dimensional coordinate data of the one-dimensional detection and calibration vehicle 1 measured by the camera 106, and the calibration vehicle computer 103 is internally provided with an angle measurement chip for measuring and processing the inclination data of the one-dimensional detection and calibration vehicle 1; in addition, the calibration vehicle computer 103 is also responsible for processing the distance data of the test point measured by the road surface sensor 1058, and obtains the one-dimensional height information of the test point on the road surface through a certain mathematical model analysis and processing, and compares it with the original model for analysis to obtain the uplift situation of the test point.

[0067] The power battery pack 104 contains a battery pack to provide electrical energy for the entire one-dimensional detection and calibration vehicle 1 .

[0068] A calibration vehicle wiring 108 is also provided inside the calibration vehicle shell 101. Through integrated wires, it connects various parts inside the one-dimensional detection calibration vehicle 1 that require power supply and information transmission, and assumes the function of power and electrical signal transmission, specifically including drive wheel-calibration vehicle computer wires, power battery pack-calibration vehicle computer wires, ink cartridge inkjet device-calibration vehicle computer wires, road surface sensor-calibration vehicle computer wires, etc.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] Furthermore, the laser scanning plane emission module 2 includes a laser emission bracket 201, on which a laser instrument lower turntable 202 is rotatably connected, on which a laser instrument upper turntable 203 is rotatably connected, and on which a plane laser scanner 204 is installed. The laser emission bracket 201 is composed of sliding channel steel, and is placed on a flat ground near the cavity, and is used to support and install the laser instrument lower turntable 202 and the laser instrument upper turntable 203 to keep them stable. The laser instrument lower turntable 202 can adjust the inclination angle in the front-to-back direction through an arc track, thereby driving the laser instrument upper turntable 203 and the plane laser scanner 204 to adjust the inclination angle in the front-to-back direction as a whole; the laser instrument upper turntable 203 can control its inclination angle in the left-right direction through an arc track, thereby driving the plane laser scanner 204 to adjust the inclination angle in the left-to-right direction. The laser instrument lower turntable 202 and the laser instrument upper turntable 203 rotate in coordination with each other to realize the forward, backward, left and right movement of the plane laser scanner 204, scanning a laser plane with the same slope as the original road panel of the uninvaded airport, providing a reference laser plane for the one-dimensional detection and calibration vehicle 1.

[0073] The one-dimensional detection and calibration vehicle 1 in the present invention obtains the one-dimensional height information of the point to be measured on the road surface through mathematical model analysis and processing based on the laser position information of the laser scanning plane emission module 2 irradiated on the bar code measuring rod 107 captured by the camera 106, the basic road surface information collected by the road surface sensor 1058, and the one-dimensional detection and calibration vehicle 1 inclination data measured by the angle measurement chip inside the calibration vehicle computer 103, and compares and analyzes it with the original model to obtain the ridge situation of the point to be measured, thereby judging the cavity boundary, and using the automatic adjustment inkjet device 105 to perform inkjet calibration on the cavity boundary.

[0074] Embodiment 2:

[0075] On the basis of the first embodiment, in order to perform a preliminary scan of the cavities of the airport pavement to obtain the approximate information of the cavity range before the one-dimensional detection and calibration vehicle 1 enters the airport pavement for precise cavity calibration, the cavity calibration system in the present invention also includes a preliminary cavity data acquisition device 3. The rough coordinates of the cavity boundary points relative to the absolute coordinate system of the entire airport pavement, the cavity area, and the approximate shape of the cavity boundary can be collected through the preliminary cavity data acquisition device 3. Among them, the rough coordinates of the cavity boundary points are mainly used for the preliminary fitting of the automatic path planning system of the one-dimensional detection and calibration vehicle 1. The preliminary data of the preliminary cavity data acquisition device 3 can be used to provide the initial direction of travel for the one-dimensional detection and calibration vehicle 1 based on the basic mathematical model of three-point circle determination or least squares method for fitting the plane circle equation. The one-dimensional detection and calibration vehicle 1 can only perform the next step of dynamic fitting path planning after preliminary calibration along this direction. At the same time, the preliminary cavity data acquisition device 3 can make a preliminary assessment of the approximate position and cavity area of ​​the cavity relative to the absolute coordinates of the airport through preliminary data, which is convenient for arranging equipment and personnel for emergency repairs.

[0076] Specifically, refer to the attached Figure 10-13 As shown, the preliminary cavity data acquisition device 3 includes a data acquisition device center column 301 and two extension arm acquisition systems 302. The two extension arm acquisition systems 302 are both rotatably connected to the data acquisition device center column 301. The data acquisition device center column 301 provides circular motion center point support for the two extension arm acquisition systems 302.

[0077] More specifically, the data acquisition device center column 301 includes a center column body 3011, and a circle of extension arm tracks 3012 are arranged on the center column body 3011 along the circumference. The extension arm tracks 3012 are used to connect two extension arm acquisition systems 302, so that the two extension arm acquisition systems 302 can rotate around the center column body 3011; the extension arm tracks 3012 are arranged at about 1 / 2 of the height of the center column body 3011, which can meet the device stability requirements of the extension arm acquisition system 302 when it is deployed to the greatest extent, and at the same time reduce the center of gravity of the data acquisition device center column 301 to avoid the device from overturning during use. A center column calibration stone is arranged at the center of the top surface of the center column body 3011, which is used to scan and determine the position of the cavity data preliminary acquisition device 3 relative to the airport absolute coordinate system.

[0078] A leveling platform 3013 is connected to the bottom of the middle column body 3011, and the leveling platform 3013 is connected to the middle column body 3011 by three vertical adjustment bolts, so that the two extension arm acquisition systems 302 maintain a horizontal state during movement; a tripod 3014 and a middle column grounding device 3015 are provided at the bottom of the leveling platform 3013, and the tripod 3014 provides support for the entire cavity data preliminary acquisition device 3, and the middle column grounding device 3015 is telescopically grounded through a hydraulic device. After the leveling platform 3013 is adjusted to be stably leveled by the tripod 3014, the length of the middle column grounding device 3015 is adjusted to make its supporting feet grounded, thereby providing supporting force along the center of gravity direction of the central axis for the cavity data preliminary acquisition device 3, and further improving the stability of the cavity data preliminary acquisition device 3. The outer cover of the middle column grounding device 3015 is provided with a counterweight block 3016. By adjusting the number of the counterweight blocks 3016, the center of gravity of the entire cavity data preliminary acquisition device 3 can be lowered to avoid the device from overturning due to the extended arm acquisition system 302 being too long. When the extended arm acquisition system 302 is longer, more counterweight blocks 3016 are added, and when the extended arm acquisition system 302 is shorter, fewer counterweight blocks 3016 are added, thereby achieving the adjustment and dispersion of the center of gravity of the entire device according to the situation of the extended arm acquisition system 302, thereby ensuring the stability of the device during scanning.

[0079] The extended arm acquisition system 302 is a four-section structure, including a fixed section 3021 and three extended sections 3022. The lengths of the fixed section 3021 and the three extended sections 3022 are both 2 meters. The four sections are fully extended to 8 meters. Two extended arm acquisition systems 302 are set on both sides of the central column body 3011. The two extended arm acquisition systems 302 can realize cavity data acquisition within a diameter range of 16 meters by working together. In addition, the three extended sections 3022 adopt a hollow design, which can minimize the fixed end bending moment borne by the central column body 3011 while ensuring the strength of the extended sections 3022; while the fixed section 3021 needs to withstand the bending moment transmitted by the three extended sections 3022 and needs to have a stable connection with the central column body 3011, so the fixed section 3021 is designed as a solid section. The fixed section 3021 is connected to the extension arm track 3012 through a slider, driving the entire extension arm acquisition system 302 to perform circular motion along the central column body 3011; the three extension sections 3022 are slidably connected in sequence, specifically through dovetail groove slide rail racks, the extension section 3022 closest to the fixed section 3021 is also connected to the fixed section 3021 through a dovetail groove slide rail rack, and the bottom of the extension section 3022 farthest from the fixed section 3021 is provided with a collector sliding track 3023, on which a collector slider 3024 is slidably connected, and the bottom of the collector slider 3024 is connected to a collector bracket 3025 through a ball bearing, and the collector bracket 3025 can slide freely on the collector sliding track 3023 synchronously with the collector slider 3024, and can also rotate 360° at the bottom of the collector slider 3024. A data collector 3026 is installed on the collector bracket 3025. The data collector bracket 3025 provides vertical support and a rotating track for the data collector 3026. The data collector 3026 uses the principles of laser ranging and laser scanning instruments to emit lasers from the data collector 3026 to scan the airport pavement cavity boundary and its surrounding areas, and transmit the scanned cavity data back to the computer terminal via a wireless transmission device. The scanned data is compared with the original undeformed pavement data. The point where the data difference between the two is obvious is the preliminary data collection point of the airport pavement cavity mark range.

[0080] The specific operation process of the cavity data preliminary acquisition device 3 in this embodiment is as follows:

[0081] Step 1: Set up the cavity data preliminary acquisition device 3 in the cavity internal area (the setting point should be as close to the cavity center as possible), fix the tripod 3014, and use the three adjustment bolts on the leveling platform 3013 to level the center axis of the center column body 3011. After the leveling is completed, unfold the center column grounding device 3015 to make the support legs stably contact the pavement, and lock the tripod 3014 and the center column grounding device 3015; the data acquisition instrument 3026 scans the center column calibration stone position at the top center of the center column body 3011, and transmits the data back to the terminal to obtain the position of the cavity data preliminary acquisition device 3 relative to the absolute coordinate system of the entire airport pavement;

[0082] Step 2: unfold each extension section 3022 of the extension arm acquisition system 302, ensure that the top position of the extension arm acquisition system 302 is outside the cavity range, lock the circular motion direction track of the extension arm acquisition system 302, and move the acquisition instrument bracket 3025 on the extension section 3022, so that the data acquisition instrument 3026 collects the road surface data and sends it back to the computer terminal for data comparison, until the data acquisition instruments 3026 on both sides collect the cavity boundary points, and name these two boundary points as the initial data acquisition starting points A and B;

[0083] Step 3: Release the circumferential motion track of the extended arm acquisition system 302, and the extended arm acquisition systems 302 on both sides start to perform uniform circular motion along the extended arm track 3012 on the center column body 3011 from the starting point of preliminary data acquisition, and at the same time, the acquisition instrument bracket 3025 performs small-amplitude movement adjustment on the extension section 3022. During the movement, the data acquisition instrument 3026 continuously collects pavement information and compares it with the original pavement information in real time, thereby obtaining discontinuously distributed preliminary acquisition points of pavement cavity boundary data;

[0084] Step 4: After the two extended arm acquisition systems 302 move 360° in coordination, the pavement cavity boundary data acquisition work is stopped. At this time, the pavement positions of the acquisition instrument brackets 3025 on both sides should be close to the data preliminary acquisition starting points A and B, and the preliminary acquisition of the entire pavement cavity boundary data is completed;

[0085] Step 5: The computer terminal stores the collected preliminary data of the cavity boundary, which is used for the next step of the airport pavement cavity range calibration vehicle path planning and the preliminary assessment of the cavity basic data.

[0086] Embodiment three:

[0087] On the basis of Example 2, in order to further 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 4. 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.

[0088] Specifically, as attached Figure 14-18 As shown, the cavity boundary cleaning device 4 includes a cleaning vehicle frame 401, and four cleaning vehicle wheels 402 are installed at the bottom of the cleaning vehicle frame 401. The cleaning vehicle wheels 402 are installed on the cleaning vehicle frame 401 through Mecanum wheel brackets 403. The cleaning vehicle wheels 402 also use Mecanum wheels, which can realize the universal movement of the entire cavity boundary cleaning device 4. The driving part of the cleaning vehicle wheels 402 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 401, and a circulating stacking cleaning mechanism is provided in front of the cleaning vehicle frame 401.

[0089] More specifically, the roller brush cleaning storage mechanism includes a roller brush cleaning shell 404, which is installed on the cleaning vehicle frame 401. A roller cleaning brush 405 is provided in the roller brush cleaning shell 404. A storage box 406 is connected to the front side of the roller brush cleaning shell 404. The roller cleaning brush 405 can clean the fine gravel on the airport pavement into the storage box 406 by rolling. The storage box 406 is used to store the fine gravel and other pavement obstacles cleaned by the roller cleaning brush 405, and dump them after the entire pavement is cleaned.

[0090] The circulating stacking cleaning mechanism includes a fixed frame 407, which is installed in front of the cleaning vehicle frame 401 through a connecting frame 408. The fixed frame 407 is a square structure, and two circulating push cleaning frames 409 are slidably provided on the bottom edge of the fixed frame 407. The two circulating push cleaning frames 409 are symmetrical and back-to-back arranged to form a "J"-shaped structure. A plurality of horizontal hydraulic rods 410 are also provided between the two circulating push cleaning frames 409. The distance between the two circulating push cleaning frames 409 can be adjusted by the horizontal hydraulic rods 410 to adapt to different road surface conditions. A plurality of push-type cleaning shovels 411 are slidably connected to each of the circulating push cleaning frames 409. A circle of tracks is provided along the edge of the circulating push cleaning frames 409. The push-type cleaning shovels 411 can move along the track of the circulating push cleaning frames 409 to push and clean. The push-type cleaning shovels 411 are inclined shovels, which can meet the cleaning efficiency to the greatest extent. A vertical hydraulic rod 412 is provided between the top and bottom of the circulating pushing and cleaning frame 409. The length of the vertical hydraulic rod 412 remains unchanged, providing vertical support for the circulating pushing and cleaning frame 409 to prevent deformation of the circulating pushing and cleaning frame 409 caused by excessive bending moment during the process of pushing the gravel by the pushing cleaning shovel 411, and at the same time providing support for the pushing cleaning shovel 411 during its rising process.

[0091] In order to prevent the push-type cleaning shovel 411 from being deformed by bending moment during the cleaning process, a stiffening rib 413 is provided on the top of the push-type cleaning shovel 411. The stiffening rib 413 bears part of the bending moment of the push-type cleaning shovel 411, thereby increasing the strength of the push-type cleaning shovel 411 and preventing the cleaning shovel from being deformed by bending moment.

[0092] The working principle of the cavity boundary cleaning device 4 in this embodiment is: the entire cavity boundary cleaning device 4 is driven by the cleaning vehicle wheel 402 to move within the cavity boundary range of the airport pavement, and the push-type cleaning shovel 411 moves along the track of the circulating push cleaning frame 409 to push and clean. When the push-type cleaning shovel 411 moves along the straight track on the circulating push cleaning frame 409, the gravel obstacles on the pavement are collected and pushed forward, and pushed to the track curve of the circulating push cleaning frame 409. The push-type cleaning shovels 411 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 411 rises along the track to enter the next cleaning cycle, completing a cycle of cleaning and stacking the gravel obstacles on both sides.

[0093] After that, the next push-type cleaning shovel 411 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 4 advances 2 / 3 of the length of the cycle push cleaning frame 409. The purpose of cleaning the gravel in the cavity boundary area and piling it on both sides of the boundary can be achieved by continuously performing the cycle cleaning.

[0094] The circulating stacking cleaning mechanism located in front of the sweeper frame 401 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 401 cleans the fine gravel on the airport pavement that could not be cleaned up by the circulating stacking cleaning device into the storage box 406 by rolling the roller brush. After the entire pavement is cleaned, the storage box 406 is dumped.

[0095] Apply a simulated background:

[0096] Before the cavity calibration system of the present invention is used, a simulation of a damaged airport pavement can be performed first. Therefore, when simulating a damaged airport pavement, a simulated damaged airport pavement 5 is provided. The structure of the simulated damaged airport pavement 5 is shown in the attached figure. Figure 19-21 As shown, the airport local model 501 is specifically included. The airport local model 501 is implemented according to the basic structure of a standard airport runway, and mainly includes the following components:

[0097] Runway surface layer 5011: Runway surface layer 5011 is a high-strength concrete structure with certain transverse and longitudinal slopes.

[0098] Runway cushion 5012: The runway cushion 5012 is usually compacted graded crushed stone.

[0099] Runway base 5013: The runway base 5013 is usually a compacted soil foundation.

[0100] Soil surface area 5014: Soil surface area 5014 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.

[0101] Ordinary foundation 5015: Ordinary foundation is the uncompacted foundation structure below the compacted runway base 5013 and the soil surface area 5014.

[0102] The local airport model 501 is provided with a cavity model 502, 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.

[0103] Benchmark models 503 are buried at the edges of both sides of the soil surface area 5014 near the local airport model 501. The benchmark models 503 are buried at the edges of the soil surface area 5014 close to both sides of the airport pavement before the cavity model 502 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 laser scanning plane launch module 2 after intensive bombing, it is necessary to evenly distribute multiple benchmark models 503 along the axis direction on both sides of the pavement to ensure that damage to individual benchmark models 503 does not affect the cavity calibration work.

[0104] By using the simulated damaged airport pavement 5, 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.

[0105] 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. Cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement, characterized by: It comprises a one-dimensional detection and calibration vehicle (1) and a laser scanning plane emission module (2), wherein the laser scanning plane emission module (2) is used to provide a reference laser plane for the one-dimensional detection and calibration vehicle (1); A camera (106) and a barcode measuring rod (107) are installed on the top of the one-dimensional detection and calibration vehicle (1), and the camera (106) is used to capture image information irradiated on the barcode measuring rod (107) by the laser scanning plane emission module (2) to determine the one-dimensional height information of the airport pavement where the one-dimensional detection and calibration vehicle (1) is located; The cavity calibration system further comprises a cavity data preliminary acquisition device (3) for performing preliminary acquisition of airport pavement data before cavity calibration; The cavity data preliminary acquisition device (3) comprises a data acquisition device center column (301) and two extension arm acquisition systems (302), and the two extension arm acquisition systems (302) are both rotatably connected to the data acquisition device center column (301); The data acquisition device center column (301) comprises a center column body (3011), and a circle of extension arm tracks (3012) are arranged along the circumference of the center column body (3011); The bottom of the middle column body (3011) is connected to a leveling platform (3013), the bottom of the leveling platform (3013) is provided with a tripod (3014) and a middle column grounding device (3015), and the outer cover of the middle column grounding device (3015) is provided with a counterweight block (3016); The extension arm collection system (302) comprises a fixed section (3021) and a plurality of extension sections (3022); The fixed section (3021) is connected to the extension arm track (3012); A data collector bracket (3025) capable of rotating 360 degrees is movably provided at the bottom of the extension section (3022) farthest from the fixed section (3022), and a data collector (3026) is installed on the data collector bracket (3025).

2. The cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement according to claim 1 is characterized by: The one-dimensional detection calibration vehicle (1) is equipped with a calibration vehicle computer (103) and an automatic adjustment inkjet device (105); the camera (106) and the automatic adjustment inkjet device (105) are both connected to the calibration vehicle computer (103) by wires.

3. The cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement according to claim 2 is characterized by: The automatically adjustable inkjet device (105) comprises an upper track (1051) and a lower track (1052); An ink cartridge fixing frame (1057) and a road surface sensor (1058) are slidably connected to the upper rail (1051); 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 one-dimensional coordinate scanning and model analysis of airport pavement according to claim 3 is characterized by: An ink cartridge fixing slider (1055) for mounting an ink cartridge fixing frame (1057) and a road surface sensor fixing slider (1056) for mounting a 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 one-dimensional coordinate scanning and model analysis of airport pavement according to claim 4 is characterized by: The laser scanning plane emission module (2) comprises a laser emission bracket (201), a laser instrument lower turntable (202), a laser instrument upper turntable (203) and a plane laser scanning instrument (204); The laser instrument lower turntable (202) is rotatably mounted on the laser emission bracket (201); The laser instrument upper turntable (203) is rotatably mounted on the laser instrument lower turntable (202); The planar laser scanner (204) is mounted on the laser instrument upper turntable (203).

6. The cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement according to claim 1 is characterized by: The cavity calibration system further comprises a cavity boundary cleaning device (5) for cleaning the airport pavement before cavity calibration; The cavity boundary cleaning device (5) comprises a cleaning vehicle frame (501), a roller brush cleaning storage mechanism is provided at the rear of the cleaning vehicle frame (501), and a circulating stacking cleaning mechanism is provided at the front of the cleaning vehicle frame (501).

7. The cavity calibration system for one-dimensional coordinate scanning and model analysis of airport pavement according to claim 6 is characterized by: The circulating stacking cleaning mechanism comprises a square fixed frame (507), two circulating pushing cleaning frames (509) are slidably provided on the bottom edge of the fixed frame (507), and the two circulating pushing cleaning frames (509) form a "J"-shaped structure; each circulating pushing cleaning frame (509) is provided with a circle of tracks along the edge, and each circulating pushing cleaning frame (509) is slidably connected to a plurality of pushing cleaning shovels (511).

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