Cavity calibration method and application based on three-dimensional coordinate scanning of airport pavement

Abstract

The present invention discloses a cavity calibration method and application based on three-dimensional coordinate scanning of an airport pavement, and belongs to the technical field of airport pavement deformation detection. The cavity calibration method comprises the following steps: S1: before the airport pavement deforms and generates cavities, the original airport pavement data is collected to establish an airport coordinate system; S2: a cavity data preliminary acquisition device is used to perform preliminary acquisition of the boundary data of the cavities on the airport pavement, and the preliminary acquisition points of the cavity boundary data are determined; S3: a matrix scanning method is used to expand the number of cavity boundary three-dimensional data points in the area near the preliminary acquisition points of the cavity boundary data, and a complete series of closed cavity boundary three-dimensional data points are obtained; S4: a three-dimensional coordinate tracking and calibration vehicle is used to calibrate the closed cavity boundary three-dimensional data points obtained in step S3, and finally a pavement cavity boundary closed figure is obtained. The present invention is suitable for calibration work with a large cavity range and a more obvious cavity boundary bulge, and can improve the efficiency of cavity calibration.

Description

Technical Field

[0001] The invention relates to the technical field of airport pavement deformation detection, and in particular to a cavity calibration method and application based on three-dimensional coordinate scanning 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 expansion, etc., and cavities will form at the bulges, posing a serious threat to flight safety. The repair work for airport pavement cavities mainly involves dividing the raised cavity area and cutting and crushing the pavement panels. Therefore, the accuracy and efficiency of the cavity range boundary calibration work are directly related to whether the repair work can be carried out quickly and efficiently, which directly affects the safety and economic benefits of civil aviation airports. Therefore, the importance of developing a complete set of cavity calibration methods is self-evident. However, there is no complete method for calibrating airport pavement cavities in the prior art. Summary of the invention

[0003] In response to the above-mentioned problems, the present invention aims to provide a cavity calibration method and application based on three-dimensional coordinate scanning of airport pavement. The scanning function of the total station is used to scan the cavity boundary to obtain a series of cavity boundary calibration points. At the same time, the data preliminary collection points of the data preliminary collection device are combined to obtain a series of closed cavity boundary data calibration points. The three-dimensional data of these calibration points are transmitted to a three-dimensional cavity calibration vehicle for inkjet calibration, and finally a closed figure of the pavement cavity boundary is obtained.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The cavity calibration method based on three-dimensional coordinate scanning of the airport pavement includes the following steps:

[0006] S1: Collect the original airport pavement data before the airport pavement deforms and produces cavities;

[0007] S2: Use the cavity data preliminary collection device to perform preliminary collection of the boundary data of the airport pavement cavity and determine the preliminary collection points of the cavity boundary data;

[0008] S3: using a matrix scanning method to expand the scanning points in the vicinity of the preliminary boundary data points, and determining whether they are three-dimensional data points of the cavity boundary;

[0009] S4: Use a three-dimensional coordinate tracking and calibration vehicle to calibrate the three-dimensional data points of the cavity boundary obtained in step S3, and finally obtain a closed figure of the pavement cavity boundary.

[0010] Furthermore, the specific operation of step S2 includes the following steps:

[0011] S201: Determine the coordinates (x0, y0, z0) and elevation H0 of the preliminary cavity data acquisition device relative to the airport coordinate system;

[0012] S202: using a cavity data preliminary acquisition device to acquire the three-dimensional coordinates (x1, y1, z1) of the point to be measured relative to the basic coordinate system, and the elevation H1;

[0013] S203: Calculate the three-dimensional coordinates of the point to be measured relative to the airport coordinate system;

[0014] S204: Compare the three-dimensional coordinates and elevation of the measured point relative to the airport coordinate system with the original data of the airport pavement in the airport coordinate system collected in step S1 to obtain the deformation of the airport pavement, and mark these points as preliminary collection points of the airport pavement cavity boundary data.

[0015] Further, in step S203, the three-dimensional coordinates of the measured point relative to the airport coordinate system are expressed as

[0016] X=x0+x1

[0017] Y=y0+y1

[0018] Z=z0+z1

[0019] Among them, x1=S sinθsinα, y1=S sinθcosα, z1=S cosθ, S is the measurement distance of the laser emitted by the data acquisition instrument of the cavity data preliminary acquisition device 3, α is the horizontal angle of the data acquisition instrument plane, and θ is the vertical angle of the data acquisition instrument space.

[0020] Furthermore, the specific operation process of the matrix scanning method in step S3 is: taking any cavity boundary data preliminary collection point in step S2 as the matrix center point, setting a scanning matrix in the airport coordinate system, the number of horizontal matrix points in the scanning matrix is ​​γ, and the spacing between adjacent horizontal matrix points is a; the number of vertical matrix points is λ, and the spacing between adjacent vertical matrix points is b, and the scanning area of ​​the full station scanner is a scanning matrix composed of γ column vectors and λ row vectors.

[0021] 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;

[0022] The calibration vehicle housing is provided with a calibration vehicle computer and an automatic inkjet adjustment device;

[0023] An omnidirectional prism is also installed on the top of the calibration vehicle shell.

[0024] Further, the automatic adjustment inkjet device comprises an upper track and a lower track;

[0025] The upper track is slidably connected with an ink cartridge fixing frame and a road surface sensor;

[0026] 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.

[0027] 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;

[0028] A slider connector is connected between the ink cartridge fixing slider and the road surface sensor fixing slider.

[0029] Further, the cavity data preliminary acquisition device includes a data acquisition device center column and two extension arm acquisition systems;

[0030] The center column of the data acquisition device comprises a center column body, and a circle of extension arm tracks for connecting the extension arm acquisition system is arranged on the center column body along the circumference;

[0031] 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.

[0032] Further, the extended arm collection system includes a fixed section and a plurality of extended sections;

[0033] The fixed section is connected to the extension arm track;

[0034] 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.

[0035] Furthermore, the present invention also includes the application of the aforementioned cavity calibration method in airport pavement deformation detection, cavity calibration, and repair.

[0036] The beneficial effects of the present invention are:

[0037] 1. The cavity calibration method based on the three-dimensional coordinate scanning of the airport pavement in the present invention first uses the three-dimensional coordinate scanning function of the total station to collect the three-dimensional coordinate data of the airport pavement before the cavity is deformed, and then after the airport pavement is deformed to generate the cavity, the cavity boundary data is first preliminarily collected, and the preliminary collection points of the airport pavement cavity boundary data are then used. The matrix scanning method is then used to further expand the number of three-dimensional data points of the cavity boundary in the area near the preliminary boundary data points, and finally a complete series of closed cavity boundary three-dimensional data points are obtained. After the three-dimensional cavity calibration vehicle performs inkjet calibration, a closed figure of the pavement cavity boundary is finally obtained. The cavity calibration method realizes a new pavement cavity calibration method of scanning first and then calibrating, which is suitable for calibration work with a large cavity range and a more obvious cavity boundary bulge, and can improve the efficiency of cavity calibration.

[0038] 2. The present invention is based on a Mecanum wheel-driven three-dimensional coordinate tracking and calibration vehicle, so that the three-dimensional coordinate tracking and calibration vehicle can move flexibly and quickly on the airport pavement to efficiently calibrate the repair range, and the cavity edge can be directly and intuitively calibrated by inkjet, so as to facilitate subsequent repair work, which greatly improves 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.

[0039] 3. The preliminary cavity data acquisition device in the present invention can perform preliminary scanning on the cavity of the airport pavement to obtain approximate information on the cavity range. By collecting 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 preliminarily judged. By extending the arm acquisition system and rotating the connection between the data acquisition device and the center column, the cavity boundary can be collected 360 degrees, and then the preliminary acquisition points of the airport pavement cavity boundary data can be obtained, which are used as the basis for further expanding the number of calibration points of the cavity boundary. In addition, the preliminary cavity boundary data collected by the preliminary cavity data acquisition device can also make a preliminary assessment of the approximate position of the cavity relative to the absolute coordinates of the airport and the cavity area, so as to facilitate the arrangement of emergency repair equipment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of all devices used in the cavity calibration method based on three-dimensional coordinate scanning of airport pavement in the first embodiment of the present invention;

[0041] Figure 2 It is an axonometric view of the overall structure of the three-dimensional coordinate tracking and calibration vehicle in the second embodiment of the present invention.

[0042] Figure 3 Schematic diagram of the internal structure of the three-dimensional coordinate tracking and calibration vehicle in the second embodiment of the present invention.

[0043] 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 the second embodiment of the present invention.

[0044] Figure 5 Schematic diagram of the overall structure of the automatic adjustment inkjet device in the second embodiment of the present invention.

[0045] Figure 6 This is a schematic diagram of the installation structure of the ink cartridge fixing frame in the second embodiment of the present invention.

[0046] Figure 7 This is a front view of the structure of the automatic adjustment inkjet device in the second embodiment of the present invention.

[0047] Figure 8 Schematic diagram of the overall structure of the preliminary cavity data acquisition device in Embodiment 3 of the present invention.

[0048] Fig. 9 This is a schematic diagram of the overall structure of the center column of the data acquisition device in Example 3 of the present invention.

[0049] Fig.10 This is a front view of the overall structure of the center column of the data acquisition device in Example 3 of the present invention.

[0050] Fig.11 This is a schematic diagram of the overall structure of the extended arm collection system in Example 3 of the present invention.

[0051] Among them: 1. Three-dimensional coordinate tracking 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. Omnidirectional prism; 107. Calibration vehicle routing;

[0052] 2. Full-station scanner; 201. Workbench; 202. Computer; 203. Wireless control terminal;

[0053] 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. Collector sliding track; 3024. Collector slider; 3025. Collector bracket; 3026. Data collector. DETAILED DESCRIPTION

[0054] 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.

[0055] Embodiment 1:

[0056] Embodiment 1 provides a cavity calibration method based on three-dimensional coordinate scanning of an airport pavement, which specifically includes the following steps:

[0057] S1: Collect the original airport pavement data before the airport pavement deforms and produces cavities;

[0058] 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. Specifically, the three-dimensional coordinate tracking and calibration vehicle 1 can be used in conjunction with the total station scanner 2 to collect the coordinates of the four corner points of all the plates of the airport pavement. A benchmark stone is placed at the corner point of each plate of the airport pavement, and a prism is set on the benchmark stone. A prism is also set on the top of the three-dimensional coordinate tracking and calibration vehicle 1. The prisms on the benchmark stones at the corner points of each plate of the airport pavement and the prism on the top of the three-dimensional coordinate tracking and calibration vehicle 1 are scanned by the total station scanner 2 to collect the three-dimensional coordinate data of the airport pavement.

[0059] After the total station scanner 2 is turned on and debugged, it is set up outside the approximate distribution range of the cavity (to avoid the large difference in point density between the far and near points during cavity scanning, the setting point should be no more than 500mm away from the nearest area of ​​the cavity boundary, and there should be no obstacles between the setting point and the marker stone near the road surface), a workbench 201 is placed near the total station scanner 2, and a computer 202 and a wireless control terminal 203 are placed on the workbench 201; after the equipment is set up, the total station scanner 2 is leveled and connected to the computer 202 through a data cable. A tripod is set up on several intact marker stones 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. The total station scanner 2 is aligned with the omnidirectional prism set up on the marker stone to calibrate the station coordinates of the total station scanner 2, so that the total station scanner 2 is connected to the airport coordinate system, and multiple omnidirectional prisms are calibrated to improve data accuracy.

[0060] When the distance between the total station scanner 2 and the corner point is too far, the acquisition range exceeds the range of the total station scanner 2, 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 2 to aim at the prism above the marker stone placed at the corner point of the airport pavement, and cooperate with the movement of the three-dimensional coordinate tracking and calibration vehicle 1 to recalibrate the airport coordinate system for the total station scanner 2. In this way, the three-dimensional coordinates and elevations of all corner points of the airport pavement surface are collected, and they are input into the software to construct the original three-dimensional model of the airport pavement, and the constructed original three-dimensional model of the airport pavement is imported into the three-dimensional coordinate tracking and calibration vehicle 1.

[0061] S2: Preliminary collection of airport pavement cavity boundary data;

[0062] In the present invention, the cavity data preliminary acquisition device 3 is used to perform preliminary acquisition of the boundary data of the cavity on the airport pavement, which is used for preliminary evaluation of the basic data of the cavity on the airport pavement. Specifically:

[0063] S201: Determine the coordinates of the preliminary cavity data acquisition device 3 relative to the airport coordinate system;

[0064] A marker stone is set at the center of the cavity data preliminary collection device 3, and the center marker stone position of the cavity data preliminary collection device 3 is scanned by the total station scanner 2 to obtain the coordinates A0 (x0, y0, z0) of the cavity data preliminary collection device 3 relative to the airport coordinate system, as well as the elevation H0 of the center marker stone relative to the airport coordinate system after the cavity data preliminary collection device 3 is leveled on the central axis.

[0065] S202: Taking the center of the cavity data preliminary acquisition device 3 as the origin, a basic coordinate system based on the cavity data preliminary acquisition device 3 is established, and the airport coordinate system is an absolute coordinate system relative to the basic coordinate system;

[0066] S203: Use the cavity data preliminary acquisition device 3 to acquire the coordinates of the measured point relative to the basic coordinate system, including the three-dimensional coordinates (x1, y1, z1) of the measured point relative to the basic coordinate system, and the elevation H1 of the road surface at the measured point relative to the basic coordinate system.

[0067] S204: Calculate the three-dimensional coordinates of the point to be measured relative to the airport coordinate system;

[0068] According to the data measured in step S201 and step S203, the three-dimensional coordinates of the measured point relative to the airport coordinate system can be obtained as follows:

[0069] X=x0+x1

[0070] Y=y0+y1

[0071] Z=z0+z1

[0072] Among them, the three-dimensional coordinates (x1, y1, z1) of the measured point relative to the basic coordinate system are mainly measured by the data acquisition instrument in the cavity data preliminary acquisition device 3 emitting laser, and recording each laser measurement distance S emitted by the data acquisition instrument, the horizontal angle α of the data acquisition instrument plane, and the spatial vertical angle θ of the data acquisition instrument (considering that the road surface elevation is much smaller than the acquisition instrument elevation, this spatial vertical angle is opposite to the traditional vertical angle positive and negative sign regulations, the depression angle is positive, and the range is 0°~90°). The three-dimensional coordinates (x1, y1, z1) of the measured point relative to the basic coordinate system are expressed as:

[0073] x1=S sinθsinα

[0074] y1=S sinθcosα

[0075] z1=S cosθ

[0076] The elevation of the measured point relative to the airport coordinate system is

[0077] H=h0+h1.

[0078] S204: Compare the three-dimensional coordinates (X, Y, Z) and elevation H of the measured point relative to the airport coordinate system with the original data of the airport pavement in the airport coordinate system collected in step S1 to obtain the deformation of the airport pavement, and mark these points as preliminary collection points of the airport pavement cavity boundary data.

[0079] The calculation operations in steps S201-S203 are all performed in computer 202. Computer 202 transmits the finally calculated three-dimensional coordinates (X, Y, Z) and elevation H data of the measured point relative to the airport coordinate system to the three-dimensional coordinate tracking and calibration vehicle 1, and compares them with the original three-dimensional model of the airport pavement imported in step S1 to determine the preliminary collection points of the cavity boundary data.

[0080] S3: using a matrix scanning method to expand the scanning points in the vicinity of the preliminary boundary data points, determining whether they are cavity boundary 3D data points, and finally obtaining a complete series of closed cavity boundary 3D data points;

[0081] The specific process of the matrix scanning method is:

[0082] Taking a cavity boundary data preliminary collection point A2 (X2, Y2, Z2) collected by the cavity data preliminary collection device 3 as an example, with point A2 as the matrix center point, a scanning matrix is ​​set in the airport coordinate system. The number of horizontal matrix points of this matrix is ​​γ, and the spacing between adjacent horizontal matrix points is a; the number of vertical matrix points is λ, and the spacing between adjacent vertical matrix points is b. The scanning area of ​​the full-station scanner is a scanning matrix composed of γ column vectors and λ row vectors. Among them, the horizontal spacing a and the vertical spacing b determine the scanning accuracy of the scanner, the number of horizontal matrix points γ and the number of vertical matrix points λ determine the size of the scanning range, and after the CCD camera captures the pavement image information, the four coefficients a, b, γ, and λ are determined according to the pavement cavity situation to determine the size of the scanning matrix.

[0083] A scanning matrix is ​​set at all the preliminary data collection points of the cavity boundary. The full-station scanner 2 cooperates with the three-dimensional coordinate tracking calibration vehicle 1 to scan each matrix point in the scanning matrix and compare it with the original road surface data here to determine whether it is a three-dimensional data point of the cavity boundary. After all the scanning matrices centered on the three-dimensional data calibration point are finally scanned, a series of closed cavity boundary three-dimensional data points with a sufficient number of data points can be obtained.

[0084] Preferably, in the present invention, taking the Leica ScanStation P40 new generation ultra-high-speed three-dimensional laser scanner as an example, the ranging accuracy can reach 1.2mm+10ppm, the scanning rate is as high as 1000000 points / second, and the effective scanning distance can reach 270m@34% reflectivity, which can scan and obtain more data points. Therefore, the scanning accuracy and scanning efficiency of the matrix scanning method are sufficient to meet the airport pavement cavity requirements.

[0085] S4: Using the three-dimensional coordinate tracking and calibration vehicle 1 to calibrate the three-dimensional data points of the closed cavity boundary obtained in step S3, and finally obtaining a closed figure of the pavement cavity boundary.

[0086] Embodiment 2:

[0087] Embodiment 2 Based on Embodiment 1, a specific structure of a three-dimensional coordinate tracking and calibration vehicle 1 is provided, as shown in the accompanying drawings.

[0088] 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 pavement; a calibration vehicle computer 103, a power battery pack 104 and an automatic adjustment inkjet device 105 are installed in the calibration vehicle shell 101; an omnidirectional prism 106 is also installed on the top of the calibration vehicle shell 101.

[0089] 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.

[0090] 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 .

[0091] The calibration vehicle computer 103 is communicatively connected with the computer 202, and is used to control the entire control system of the three-dimensional coordinate tracking and calibration vehicle 1, transmit and receive various instructions, and contain 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.

[0092] The power battery pack 104 contains a battery pack to provide electrical energy for the entire three-dimensional coordinate tracking and calibration vehicle 1 .

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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 .

[0099] 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 be combined with other data measured by the three-dimensional coordinate tracking and calibration vehicle 1 to efficiently capture the position of the three-dimensional data points of the closed cavity boundary on the airport road surface and perform calibration.

[0100] The working principle of the three-dimensional coordinate tracking and calibration vehicle 1 in this embodiment is:

[0101] The omnidirectional scanner 2 detects the coordinates of the omnidirectional prism 106 in real time and transmits them to the three-dimensional coordinate tracking and calibration vehicle 1;

[0102] The total station scanner 2 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 201. 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.

[0103] The three-dimensional coordinate tracking and calibration vehicle 1 moves to capture the position of the three-dimensional data point of the closed cavity boundary on the airport pavement, and the inkjet device of the ink cartridge sprays ink to the point for calibration, and repeats this calibration process until the cavity boundary closed range calibration is completed. 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 and calibration vehicle 1 measures the distance between the point to be measured on the pavement at the center of the bottom of the three-dimensional coordinate tracking and 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 moves to a series of three-dimensional data points of the closed cavity boundary obtained in step S3 in Example 1 according to the coordinates of the omnidirectional prism 106, the vehicle body angle, and the distance between the point to be measured and the road surface sensor 1058, and performs an inkjet calibration. After the calibration is completed, the three-dimensional coordinate tracking calibration vehicle 1 moves to the next cavity boundary three-dimensional data point to continue the inkjet calibration until the inkjet calibration of all cavity boundary three-dimensional data calibration points scanned in step S3 of the first embodiment is completed.

[0104] Embodiment three:

[0105] Embodiment 3 Based on Embodiment 1, a specific structure of a cavity data preliminary acquisition device 3 is provided, as shown in the accompanying drawings.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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 collection point of the airport pavement cavity boundary data.

[0110] The specific operation process of the cavity data preliminary acquisition device 3 in this embodiment is as follows:

[0111] 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 central 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 position of the center column calibration stone at the top center of the center column body 3011, transmits the data back to the terminal, and obtains the position of the cavity data preliminary acquisition device 3 relative to the absolute coordinate system of the entire airport pavement;

[0112] 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;

[0113] 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;

[0114] 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;

[0115] Step 5: The computer terminal stores the collected preliminary cavity boundary data for use in the next step of performing a matrix scanning method to expand the cavity boundary three-dimensional data points, and ultimately obtains a series of closed cavity boundary three-dimensional data points with a sufficient number of data points.

[0116] 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 method based on three-dimensional coordinate scanning of airport pavement, characterized in that: The following steps are involved: S1: Collect the original airport pavement data before the airport pavement deforms and produces cavities; S2: Use the cavity data preliminary collection device to perform preliminary collection of the boundary data of the airport pavement cavity and determine the preliminary collection points of the cavity boundary data; S3: using a matrix scanning method to expand the scanning points in the vicinity of the preliminary boundary data points, and determining whether they are three-dimensional data points of the cavity boundary; S4: using a three-dimensional coordinate tracking and calibration vehicle to calibrate the three-dimensional data points of the cavity boundary obtained in step S3, and finally obtaining a closed figure of the pavement cavity boundary; The preliminary cavity data acquisition device comprises a data acquisition device center column and two extended arm acquisition systems; The center column of the data acquisition device comprises a center column body, and a circle of extension arm tracks for connecting the extension arm acquisition system is arranged on the center column body along the circumference; 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; The extended arm acquisition system includes a fixed section and a plurality of extended sections; The fixed section is connected to the extension arm track; A data collector bracket capable of rotating 360° 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; The specific operation process of the matrix scanning method in step S3 is: taking any cavity boundary data preliminary collection point in step S2 as the matrix center point, setting a scanning matrix in the airport coordinate system, the number of horizontal matrix points in the scanning matrix is ​​γ, and the spacing between adjacent horizontal matrix points is a; the number of vertical matrix points is λ, and the spacing between adjacent vertical matrix points is b, and the scanning area of ​​the full station scanner is a scanning matrix composed of γ column vectors and λ row vectors.

2. The cavity calibration method based on three-dimensional coordinate scanning of airport pavement according to claim 1 is characterized in that: The specific operation of step S2 includes the following steps: S201: Determine the coordinates (x0, y0, z0) and elevation H0 of the preliminary cavity data acquisition device relative to the airport coordinate system; S202: using a cavity data preliminary acquisition device to acquire the three-dimensional coordinates (x1, y1, z1) of the point to be measured relative to the basic coordinate system, and the elevation H1; S203: Calculate the three-dimensional coordinates of the point to be measured relative to the airport coordinate system; S204: Compare the three-dimensional coordinates and elevation of the measured point relative to the airport coordinate system with the original data of the airport pavement in the airport coordinate system collected in step S1 to obtain the deformation of the airport pavement, and mark these points as preliminary collection points of the airport pavement cavity boundary data.

3. The cavity calibration method based on three-dimensional coordinate scanning of airport pavement according to claim 2 is characterized in that: In step S203, the three-dimensional coordinates of the point to be measured relative to the airport coordinate system are expressed as X=x0+x1 Y=y0+y1 Z=z0+z1 Among them, x1=Ssinθsinα, y1=Ssinθcosα, z1=Scosθ, S is the measurement distance of the laser emitted by the data acquisition instrument of the cavity data preliminary acquisition device (3), α is the horizontal angle of the data acquisition instrument plane, and θ is the vertical angle of the data acquisition instrument space.

4. The cavity calibration method based on three-dimensional coordinate scanning of airport pavement according to claim 1 is characterized in that: 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; The calibration vehicle housing is provided with a calibration vehicle computer and an automatic inkjet adjustment device; An omnidirectional prism is also installed on the top of the calibration vehicle shell.

5. The cavity calibration method based on three-dimensional coordinate scanning of airport pavement according to claim 4 is characterized in that: The automatic adjustment inkjet device comprises an upper track and a lower track; The upper track is slidably connected with an ink cartridge fixing frame and a road surface sensor; 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.

6. The cavity calibration method based on three-dimensional coordinate scanning of airport pavement according to claim 5 is characterized in that: The upper rail is slidably connected with 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; A slider connector is connected between the ink cartridge fixing slider and the road surface sensor fixing slider.

7. Application of the cavity calibration method as described in any one of claims 1 to 6 in airport pavement deformation detection, cavity calibration and repair.

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