A laser measurement assisted airport runway misalignment precision grinding method and device

Abstract

The application relates to the technical field of grinding and polishing, in particular to an airport runway fault block precision grinding method and device assisted by laser measurement, which comprises the following steps: in the case that a historical fault block area exists, grinding results of a first fault block area and point cloud data of a current detection area are acquired; first vibration compensation is determined based on the grinding results of the first fault block area; based on the point cloud data of the current detection area and the first vibration compensation, a to-be-ground depth of a second fault block area is determined; and the second fault block area is ground based on the to-be-ground depth. The method can improve the accuracy of grinding and avoid grinding errors caused by grinding vibration.

Description

Technical Field

[0001] This application relates to the field of grinding and polishing technology, specifically to a laser measurement-assisted precision grinding method and apparatus for misaligned airport runways. Background Technology

[0002] Airport runways, subjected to the immense loads of aircraft and the influence of the external environment over long periods, can develop damage such as chipped edges and corners, longitudinal and transverse cracks, and misalignment. This results in unevenness on the runway, particularly at the joints where vertical displacement occurs due to aircraft pressure and environmental factors, a problem known as "misalignment." Misalignment damage can impact aircraft landing gear, posing a serious safety hazard, especially for aircraft taking off or landing at high speeds. Therefore, timely and precise repair of misalignments is a key focus of airport maintenance.

[0003] In related technologies, the misalignment position and height at the joint can be identified by feature recognition algorithms, and the unexpected height difference is sent to a proportional-integral-derivative (PID) controller. Then, the grinding machine grinds the misalignment area based on the misalignment height.

[0004] However, in the above method, the laser scanner scanning and the grinding machine grinding are performed simultaneously. The grinding machine will generate vibration during grinding, which will cause errors in the misalignment height detected by the laser scanner, resulting in inaccurate grinding. Summary of the Invention

[0005] To address the technical problem that vibrations generated during grinding can lead to errors in the misalignment height detected by laser scanners, resulting in inaccurate grinding, this application aims to provide a laser-assisted precision grinding method and apparatus for airport runway misalignment. The specific technical solution adopted is as follows:

[0006] This application provides a laser-assisted precision grinding method for airport runway misalignment, the method comprising:

[0007] In the case of historical misalignment areas, the grinding results of the first misalignment area and the point cloud data of the current detection area are obtained. The grinding results of the first misalignment area include the point cloud data after grinding. The historical misalignment area is the misalignment area that has been ground during the grinding process. The first misalignment area is the misalignment area that is closest to the current grinding time. A first vibration compensation is determined based on the grinding results of the first misalignment area. Based on the point cloud data of the current detection area and the first vibration compensation, the grinding depth of the second misalignment area is determined. The second misalignment area is the misalignment area within the current detection area. Grinding is performed on the second misalignment area based on the grinding depth.

[0008] Optionally, the determination of the first vibration compensation based on the grinding results of the first misaligned area includes: determining the neighborhood height difference of each laser point based on the point cloud data after grinding, wherein the neighborhood height difference of a laser point is the average height difference between the laser point and its 8 neighbors; determining the magnitude of the first vibration based on the average neighborhood height difference of multiple laser points; and determining the first vibration compensation based on the magnitude of the first vibration.

[0009] Optionally, the method further includes: sliding a preset sliding window within the current detection area according to a preset step size to obtain multiple sliding windows; determining the window height of each sliding window based on the point cloud data of the current detection area; determining a height distribution image of the current detection area based on the window height of each sliding window, wherein the window height of one sliding window corresponds to one pixel in the height distribution image; performing edge detection on the height distribution image to obtain an edge map; and determining the area where the sliding window corresponding to the edge map is located as the second misalignment area.

[0010] Optionally, determining the grinding depth of the second misaligned area based on the point cloud data of the current detection area and the first vibration compensation includes: determining the height difference of each edge point on the edge map; determining the second misalignment height based on the first vibration compensation and the height difference of each edge point, wherein the second misalignment height is the misalignment height of the second misaligned area; and determining the second misalignment height as the grinding depth.

[0011] Optionally, the grinding result also includes the edge height difference of multiple laser points in the area to be reworked. The determination of the grinding depth based on the first vibration compensation and the point cloud data of the current detection area includes: when the grinding result also includes the edge height difference of multiple laser points in the area to be reworked, determining the grinding residue height based on the edge height difference of each laser point, the total number of the multiple laser points, and the first vibration compensation; and determining the grinding depth based on the grinding residue height and the second misalignment height.

[0012] Optionally, the method further includes: determining the fluctuation deviation of each laser point in the first misalignment area based on the first vibration magnitude; determining an adaptive threshold if the fluctuation deviation of the first laser point is greater than the fluctuation deviation threshold; and determining the area where the laser points with fluctuation deviations greater than or equal to the adaptive threshold are located as the area to be reworked.

[0013] Optionally, the method further includes: in the absence of a misalignment region, determining the average height difference of each edge point as the grinding depth of the second misalignment region.

[0014] Optionally, the grinding of the second misaligned area based on the grinding depth includes: performing preliminary grinding based on an incremental PID control algorithm, a first preset proportional coefficient, and a first preset derivative coefficient; and performing grinding based on a second preset proportional coefficient and a second preset derivative coefficient when the remaining grinding depth is less than or equal to a grinding depth threshold, wherein the second preset proportional coefficient is less than the first preset proportional coefficient, and the second preset derivative coefficient is greater than the first preset derivative coefficient.

[0015] Optionally, the method further includes: adjusting the first preset proportional coefficient based on the actual grinding force and the standard grinding force.

[0016] This application provides a laser measurement-assisted precision grinding device for airport runway misalignment, which includes an acquisition module, a data processing module, and an execution module.

[0017] The acquisition module is used to acquire the grinding result of the first misaligned area and the point cloud data of the current detection area when a historical misaligned area exists. The grinding result of the first misaligned area includes the point cloud data after grinding. The historical misaligned area is the misaligned area that has been ground during the grinding process. The first misaligned area is the misaligned area that is closest to the current time when the grinding occurred. The data processing module is used to determine the first vibration compensation based on the grinding result of the first misaligned area. The data processing module is also used to determine the grinding depth of the second misaligned area based on the point cloud data of the current detection area and the first vibration compensation. The second misaligned area is the misaligned area within the current detection area. The execution module is used to grind the second misaligned area based on the grinding depth.

[0018] This application has the following beneficial effects:

[0019] In this embodiment, when historical misalignment areas exist, it is explained that the point cloud data of the current detection area may be affected by vibration interference during grinding in the historical misalignment areas. Since the first misalignment area is the misalignment area closest to the current grinding time, the grinding result of the first misalignment area and the point cloud data of the current detection area are obtained. Based on the grinding result of the first misalignment area, a first vibration compensation is determined. Based on the point cloud data of the current detection area and the first vibration compensation, the grinding depth of the second misalignment area is determined. The grinding depth of the currently unground misalignment area can be compensated according to the grinding vibration of the historical misalignment area. Then, the second misalignment area is ground based on the grinding depth, which can improve the grinding accuracy and avoid grinding errors caused by grinding vibration. Attached Figure Description

[0020] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart of a laser measurement-assisted precision grinding method for airport runway misalignment provided in one embodiment of this application;

[0022] Figure 2 A flowchart of another laser measurement-assisted precision grinding method for airport runway misalignment provided in one embodiment of this application;

[0023] Figure 3 This is a structural diagram of another laser measurement-assisted precision grinding device for airport runway misalignment provided in one embodiment of this application. Detailed Implementation

[0024] To further illustrate the technical means and effects adopted by this application to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a laser measurement-assisted precision grinding method and apparatus for airport runway misalignment according to this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0026] Existing repair processes rely on accurate measurement of the misalignment area. This involves first constructing a three-dimensional digital model of the runway using a high-precision laser measurement unit, then using a feature recognition algorithm to identify the misalignment location at the joint, accurately measuring the misalignment height, and sending any unexpected height difference to a PID controller. This controller then controls a dedicated concrete grinding machine to precisely locate and grind the misalignment area.

[0027] However, the vibrations generated by the laser scanner during grinding introduce errors into its measurement of the height difference in the misalignment area. While existing technologies, including predictive techniques, can compensate for vibrations based on past grinding performance and current misalignment height, environmental vibrations interfere with the laser scanner's measurement of misalignment height during actual grinding. Furthermore, the grinding effect varies even with identical grinding parameters under different vibration environments, rendering past references unreliable and resulting in inherent errors during grinding.

[0028] Existing methods, while providing feedback compensation for grinding parameters during grinding, mostly construct fixed vibration parameter-grinding parameter curves based on certain reference conditions for calibration at a certain ratio. However, they do not consider that different grinding parameters cause different vibration magnitudes during grinding. This makes it difficult to accurately calibrate grinding parameters through existing compensation methods using fixed ratios or coefficients, resulting in the grinding of misaligned areas failing to achieve the preset effect.

[0029] The following description, in conjunction with the accompanying drawings, details the specific scheme of a laser measurement-assisted precision grinding method and apparatus for airport runway misalignment provided in this application.

[0030] Please see Figure 1 The diagram illustrates a laser measurement-assisted precision grinding method for airport runway misalignment according to an embodiment of this application.

[0031] like Figure 1 As shown, the laser measurement-assisted precision grinding method for airport runway misalignment includes S101-S104.

[0032] S101. In the case of historical misalignment areas, obtain the grinding results of the first misalignment area and the point cloud data of the current detection area.

[0033] The grinding results of the first misaligned area include point cloud data after grinding, the historical misaligned area is the misaligned area that has been ground during the grinding process, and the first misaligned area is the misaligned area that is closest to the current time at the grinding moment.

[0034] It should be understood that the grinding process involves a trolley carrying a laser scanner and grinding equipment traveling along the direction of the runway joint. The area where the runway joint is located (including the joint and the areas on both sides of the joint) is divided into multiple inspection areas, with the size of one inspection area as the unit. Each inspection area is then scanned and ground in sequence. Specifically, a full-coverage scan is performed by the laser scanner, and the misaligned areas are ground by the grinding equipment.

[0035] Alternatively, the grinding equipment can be a dedicated grinding machine for concrete, and there can be multiple laser scanners, respectively installed in front of and behind the grinding equipment.

[0036] For example, the laser scanner can be an airborne radar, and the laser scanner can be located 10 cm in front of and 10 cm behind the grinding head of the grinding machine.

[0037] It is understandable that the existence of historical misalignment areas indicates that the point cloud data detected at the current moment may be affected by grinding vibration. Since the first misalignment area is the closest misalignment area to the current moment during grinding, the point cloud data detected at the current moment is highly likely to have been collected during grinding in the first misalignment area, meaning that the point cloud data detected at the current moment is affected by grinding vibration. In this case, the grinding results of the first misalignment area can be obtained, and vibration compensation can be performed on the currently detected point cloud data based on the vibration during grinding in the first misalignment area.

[0038] Understandably, when grinding the first misaligned area, the laser scanner on the front of the grinding head can scan the point cloud data of the current detection area.

[0039] It should be understood that the point cloud data of the current detection area includes the heights of multiple laser points within the current detection area.

[0040] Understandably, after the grinding of the first misaligned area is completed, the trolley moves forward, and the rear laser scanner placed behind the grinding head can detect the grinding result of the grinding head on the first misaligned area, that is, the point cloud data of the first misaligned area after grinding.

[0041] It should be understood that the point cloud data after grinding includes the height of multiple laser points in the first misalignment area after grinding, and the laser points are the points whose heights are collected by the laser scanner.

[0042] Optionally, the rear laser scanner can transmit this data to the data processing module, which analyzes the height of each laser point.

[0043] In one optional implementation, the scanning frequency of each laser scanner can be preset to 60 Hz. The point cloud density acquired by the laser scanner can be preset to 100 points / ... That is, a point is obtained by scanning every 1 millimeter (mm). The memory contains 10×10 laser points.

[0044] Optionally, after scanning a region, the point cloud data can be filtered by mean, with the preset mean filtering window being 3×3.

[0045] S102. Determine the first vibration compensation based on the grinding results of the first misalignment area.

[0046] It should be understood that the first vibration compensation refers to the magnitude of the impact of vibration caused during grinding in the first misaligned area on the data.

[0047] In one implementation of this application, the neighborhood height difference of each laser point can be determined based on the point cloud data after grinding, and the first vibration magnitude can be determined based on the average of the neighborhood height differences of multiple laser points; then the first vibration compensation can be determined based on the first vibration magnitude.

[0048] The neighborhood height difference of a laser point is the average height difference between the laser point and its 8 neighbors.

[0049] It is understandable that the first misaligned area will be relatively flat after grinding. If there is still unevenness in the first misaligned area, it may be caused by vibration. Therefore, the magnitude of vibration caused by grinding can be determined by the height difference between adjacent points in the point cloud after grinding the first misaligned area.

[0050] Optionally, the vibration magnitude of a misaligned region satisfies the following formula:

[0051]

[0052] in, Indicates the misaligned area The magnitude of the vibration, Indicates the misaligned area The number of internal laser points, Indicates the misaligned area Internal laser point The neighborhood height difference.

[0053] It should be understood that the vibration magnitude in the above formula is caused by the up-and-down movement of the trolley. Therefore, the actual difference in laser point offset height caused by the vibration should be half of the vibration magnitude. In other words, half of the first vibration magnitude can be determined as the first vibration compensation.

[0054] S103. Based on the point cloud data of the current detection area and the first vibration compensation, determine the grinding depth of the second misalignment area.

[0055] The second misaligned area is the misaligned area within the current detection area.

[0056] It should be understood that when the airport runway is flat, the point cloud data obtained by the laser scanner will be flat. When a misalignment occurs, there will be a significant height difference in the point cloud data on both sides of the misalignment. At the same time, since there is a significant height difference at the joint, the preliminary misalignment height in the second misalignment area can be determined based on the height difference on both sides of the joint.

[0057] In one alternative implementation, the initial misalignment height within the second misalignment area can be subtracted from the first vibration compensation to obtain the grinding depth of the second misalignment area.

[0058] It should be understood that the depth to be ground is the depth that the grinding machine needs to grind.

[0059] In one implementation of this application, before determining the grinding depth of the second misaligned area based on the point cloud data of the current detection area and the first vibration compensation, the second misaligned area can be determined based on the point cloud data of the current detection area.

[0060] Specifically, multiple sliding windows can be obtained by sliding them within the current detection area according to a preset step size based on a preset sliding window; then, the window height of each sliding window can be determined based on the point cloud data of the current detection area; and the height distribution image of the current detection area can be determined based on the window height of each sliding window. Finally, edge detection is performed on the height distribution image to obtain an edge map; and the area where the sliding window corresponding to the edge map is located is determined as the second misalignment area.

[0061] In this context, the window height of a sliding window corresponds to a pixel in the height distribution image.

[0062] It should be understood that the size of the preset sliding window should be smaller than the size of a detection area.

[0063] Optionally, the size of the preset sliding window can be 0.5 meters (m) × 0.5m, and the preset step size can be 0.4m.

[0064] Optionally, the height of the laser point within each sliding window can be determined separately, and then the average height of the laser point within each sliding window can be used as the window height of each sliding window.

[0065] In one alternative implementation, the window heights of multiple sliding windows can be mapped to the range [0] to

[255] to form a height distribution map of the current detection area.

[0066] Optionally, edge detection can be performed on the height distribution map based on the Sobel operator to obtain the edge map line and the gradient difference of each pixel.

[0067] It should be understood that this edge line is generated when the height difference between two pixels is large. Therefore, defining the area where the sliding window corresponding to the edge line is located as the second misalignment area allows for accurate detection of the misalignment position.

[0068] S104. Grind the second misaligned area based on the grinding depth.

[0069] Optionally, the grinding equipment can grind the second misaligned area to remove the depth to be ground.

[0070] In one implementation of this application, preliminary grinding can be performed based on an incremental PID control algorithm, a first preset proportional coefficient, and a first preset differential coefficient. If the remaining grinding depth is less than or equal to the grinding depth threshold, grinding can be performed based on a second preset proportional coefficient and a second preset differential coefficient.

[0071] Wherein, the second preset proportional coefficient is less than the first preset proportional coefficient, and the second preset differential coefficient is greater than the first preset differential coefficient.

[0072] Optionally, an incremental PID control algorithm can be used for control, and a segmented control strategy can be used for grinding.

[0073] It should be understood that both incremental PID control and segmented control strategies include proportional coefficient, integral coefficient, and derivative coefficient. The proportional coefficient is used to control the response speed, the integral coefficient is used to eliminate steady-state error, and the derivative coefficient is used to suppress overshoot.

[0074] It should be noted that the larger the proportional coefficient, the faster the system responds to errors, and the more directly proportional the control action is to the current error, providing an immediate response. The larger the error, the stronger the control action. When the integral coefficient is appropriate, it can completely eliminate misalignment without causing system oscillation. The control action is directly proportional to the accumulation (integral) of error, and its function is to eliminate steady-state error, so that the system can eventually reach the set value accurately. The derivative coefficient is proportional to the rate of change of error (derivative), and its function is to predict future error trends, suppress system oscillation, and improve stability.

[0075] Optionally, a first preset integral coefficient can also be set.

[0076] Optionally, the first preset proportional coefficient can be set to a higher value, while the first preset integral coefficient and the first preset differential coefficient can be set to a lower value, which can quickly remove excess material and improve grinding efficiency.

[0077] For example, the first preset proportional coefficient can be 1.3, the first preset integral coefficient can be 0.02, and the first preset differential coefficient can be 0.3.

[0078] It should be understood that when the remaining grinding depth is less than or equal to the grinding depth threshold, it indicates that the remaining grinding depth is shallow. In this case, the first preset proportional coefficient and the first preset differential coefficient may cause over-grinding and generate errors. Therefore, grinding can be performed based on the second preset proportional coefficient and the second preset differential coefficient.

[0079] It is understandable that, since the second preset proportional coefficient is smaller than the first preset proportional coefficient and the second preset differential coefficient is larger than the first preset differential coefficient, the control speed can be reduced, future error trends can be better predicted, and overshoot can be suppressed based on the second preset proportional coefficient.

[0080] Optionally, if the remaining grinding depth is less than or equal to the grinding depth threshold, grinding can also be performed based on a second preset integral coefficient, which is less than the first preset integral coefficient.

[0081] In this embodiment of the application, the process of preliminary grinding based on the first preset proportional coefficient and the first preset differential coefficient can be understood as rough grinding, and the process of grinding based on the second preset proportional coefficient and the second preset differential coefficient can be understood as fine grinding. When the remaining grinding depth is large, rough grinding is performed, and when the remaining grinding depth is small, fine grinding is performed, which can improve grinding efficiency and grinding accuracy.

[0082] In one alternative implementation, grinding can be divided into three stages. The first stage can be understood as the large error stage, in which the proportional coefficient is the dominant term, enabling the grinding head to quickly approach the grinding target and control the grinding head to descend rapidly to near the target depth (i.e., the depth to be ground). The second stage can be understood as the medium error stage, in which the proportional coefficient and integral coefficient work together to suppress overshoot, slow down the descent speed, and avoid over-grinding. The third stage can be understood as the small error stage, in which the differential coefficient dominates, enabling the grinding head to eliminate residual errors, accurately adjust to the target depth, and eliminate minor misalignments.

[0083] In one implementation of this application, when grinding is performed based on a first preset proportional coefficient (or a second preset proportional coefficient), the first preset proportional coefficient (or the second preset proportional coefficient) can be adjusted based on the actual grinding force and the standard grinding force.

[0084] It should be understood that the greater the actual grinding force, the greater the grinding depth, and therefore the more accurate the control is needed to stop the grinding in time. So, when the actual grinding force is large, the first preset proportional coefficient (or the second preset proportional coefficient) can be increased to provide control speed.

[0085] It should be understood that the actual grinding force is the grinding force of the grinding head at the current moment, while the standard grinding force is the grinding force of the grinding head estimated based on historical experience.

[0086] Optionally, the adjusted scaling factor satisfies the following formula:

[0087]

[0088] in, express The proportional coefficient after time adjustment, express The proportional coefficient before time adjustment. This represents the empirical coefficients for adaptively adjusting PID parameters. express The actual grinding force of the grinding head at all times. This indicates the standard grinding force of the grinding head.

[0089] Optionally, It can be preset to 0.3.

[0090] It is understandable that by adjusting the first preset proportional coefficient (or the second preset proportional coefficient) in real time based on the actual grinding force, precise grinding of the second misalignment area can be achieved.

[0091] In one alternative implementation, after grinding the second misalignment area is completed, the grinding result of the second misalignment area can be detected to obtain the grinding result of the second misalignment area. Then, vibration compensation is performed on the next misalignment area based on the grinding result of the second misalignment area. The above process is repeated until the airport runway joint is completely ground.

[0092] Optionally, after the first grinding of the runway is completed, the runway can be ground a second and a third time based on the above method, until the height difference of each detected misalignment area is less than or equal to the preset allowable value.

[0093] Optionally, the preset allowable value can be 1 mm.

[0094] Optionally, during the second and third grinding of the runway, the average value of the seismic compensation for each misalignment area during the previous grinding of the runway can be used as a priori condition for feedback compensation or calibration.

[0095] In this embodiment, when historical misalignment areas exist, it is explained that the point cloud data of the current detection area may be affected by vibration interference during grinding in the historical misalignment areas. Since the first misalignment area is the misalignment area closest to the current grinding time, the grinding result of the first misalignment area and the point cloud data of the current detection area are obtained. Based on the grinding result of the first misalignment area, a first vibration compensation is determined. Based on the point cloud data of the current detection area and the first vibration compensation, the grinding depth of the second misalignment area is determined. The grinding depth of the currently unground misalignment area can be compensated according to the grinding vibration of the historical misalignment area. Then, the second misalignment area is ground based on the grinding depth, which can improve the grinding accuracy and avoid grinding errors caused by grinding vibration.

[0096] In one implementation of the embodiments of this application, such as Figure 2 As shown, the grinding depth of the second misaligned area is determined based on the point cloud data of the current detection area and the first vibration compensation, specifically including S201-S203.

[0097] S201. Determine the height difference of each edge point on the edge map line.

[0098] It should be understood that an edge point is a pixel on the height distribution image, and the height difference of an edge point is the height difference of the neighborhood on both sides of the edge point.

[0099] Optionally, the height difference of an edge point satisfies the following formula:

[0100]

[0101] in, Indicates the misaligned area Mid-edge point The height difference Represents edge points on the edge plot line of The average window height of each pixel within the 2×2 side neighborhood. Represents edge points on the edge plot line of The average window height of each pixel in the side neighborhood (2×2).

[0102] Based on the description of the above embodiments, it should be understood that the window height of a pixel is the window height of the sliding window corresponding to that pixel.

[0103] S202. Based on the first vibration compensation and the height difference of each edge point, determine the second misalignment height.

[0104] The second misalignment height refers to the misalignment height of the second misalignment area.

[0105] It should be understood that vibration may cause the height difference of each edge point to be inaccurate. Therefore, the height difference of each edge point can be corrected based on the first vibration compensation to obtain the second misalignment height.

[0106] Optionally, the stagger height of a staggered area satisfies the following formula:

[0107]

[0108] in, Indicates the misaligned area The height of the misaligned platform Indicates the misaligned area The number of inner edge points, Indicates the misaligned area Inner edge point The height difference Indicates the misaligned area The minimum value among multiple height differences at the inner edge points. express Real-time vibration compensation.

[0109] It should be understood that, based on the above formula, the height difference of each edge point can be weighted and balanced to eliminate the influence of vibration and obtain the misalignment height after vibration compensation.

[0110] S203. Determine the second misalignment height as the depth to be ground.

[0111] It should be understood that since the second misalignment height is the misalignment height after vibration compensation, it can be directly determined as the grinding depth.

[0112] In this embodiment of the application, the height difference of each edge point is balanced based on the first vibration compensation, so that the grinding depth to be eliminated by vibration can be obtained.

[0113] In one alternative implementation, the grinding result of the first misaligned area may also include the edge height difference of multiple laser points in the area to be reworked. If the grinding result also includes the edge height difference of multiple laser points in the area to be reworked, the grinding residual height is determined based on the edge height difference of each laser point, the total number of the multiple laser points, and the first vibration compensation; the grinding depth is determined based on the grinding residual height and the second misalignment height.

[0114] It should be understood that the area to be reworked is the area where the previous grinding result did not meet the standard and needs to be ground again.

[0115] It is understandable that if the grinding result of the first misalignment area includes the area to be reworked, it means that the grinding result of the first misalignment area is unqualified. It may be that the grinding head was also affected by vibration during grinding, resulting in inaccurate grinding. In this case, it is also necessary to correct the obtained second misalignment height difference.

[0116] Optionally, the method for determining the edge height difference of multiple laser points in the area to be reworked is similar to the method for determining the edge height difference in the current detection area, and will not be repeated here.

[0117] Optionally, the grinding residual height of the first misalignment region at the current moment satisfies the following formula:

[0118]

[0119] in, Indicates the first misaligned area is in The height left by grinding over time, This indicates the number of laser points in the area to be reworked. express Edge points of the area awaiting rework Edge height difference, This represents the minimum value among multiple laser points corresponding to the edge height difference in the area to be reworked. express Real-time vibration compensation, Used for negative correlation normalization.

[0120] In the above formula, when the height difference of the edge corresponding to a laser point is at the median of the height difference in the entire area to be reworked, the reference value of that laser point is higher.

[0121] Alternatively, the sum of the grinding residual height and the second misalignment height can be determined as the grinding depth.

[0122] In one implementation of this application, after the grinding of the first misaligned area is completed, it can be determined whether there is a reworkable area in the first misaligned area.

[0123] Optionally, the fluctuation deviation of each laser point in the first misalignment area can be determined based on the magnitude of the first vibration; if the fluctuation deviation of the first laser point is greater than the fluctuation deviation threshold, an adaptive threshold is determined; and the area where the laser point with the fluctuation deviation is greater than the adaptive threshold is determined as the area to be reworked.

[0124] It should be understood that the fluctuation deviation of a laser point is the difference between the edge height difference of a laser point and the magnitude of the vibration, and the first laser point is any laser point within the first misalignment area.

[0125] Understandably, the vibrations from grinding cause the laser instrument to vibrate simultaneously, resulting in ripple-like characteristics in the detected point cloud data. The heights of the individual laser points generally fluctuate within a relatively uniform range. Therefore, if the ripples in the point cloud data within a region do not conform to this characteristic during detection—that is, the fluctuation magnitude significantly deviates from the vibration magnitude—it indicates that there is still a significant misalignment in that region. In this case, the region can be identified as an area requiring rework.

[0126] Optionally, the fluctuation deviation of a laser point satisfies the following formula:

[0127]

[0128] in, Indicates laser point Fluctuation deviation, Indicates the misaligned area Mid-laser point The average height difference relative to its 8 neighboring points. Indicates the misaligned area The magnitude of the vibration, Indicates the current misaligned area The standard deviation of the average height difference in the neighborhood corresponding to multiple laser points. This indicates positive correlation normalization.

[0129] It should be understood that the greater the fluctuation deviation of a laser point, the more significant the impact of vibration on that laser point. Although it is also affected by the vibration of the grinding machine during the inspection, it has a greater height difference with the surrounding laser points, which makes it more susceptible to vibration.

[0130] Understandably, if, in a misaligned area after grinding, some laser points still exhibit significant height differences, it indicates that the grinding in that area does not meet the requirements. This means that the vibrations from grinding and the carriage movement caused the grinding head and the front laser instrument to deviate from their preset positions during detection, resulting in the detected laser points not being in the correct locations. Conversely, if the laser points in the misaligned area generally fluctuate within a small range, and the points exceeding this range are not significantly larger, it indicates that the grinding in that misaligned area has essentially achieved the predetermined flatness.

[0131] Therefore, the fluctuation deviation of multiple laser points in the first misalignment area can be judged. If the fluctuation deviation of multiple laser points in the first misalignment area is less than or equal to the fluctuation deviation threshold, it is determined that the grinding of the first misalignment area has basically reached the preset flatness. If the fluctuation deviation of any laser point is greater than the fluctuation deviation threshold, it is considered that there are still some defects in the first misalignment area. At this time, a judgment threshold, namely the adaptive threshold, can be set.

[0132] Optionally, the fluctuation deviation threshold can be 0.2.

[0133] Alternatively, the adaptive threshold can be determined using the maximum inter-class variance method.

[0134] Optionally, based on the adaptive threshold, the area where the laser point with fluctuation deviation greater than or equal to the adaptive threshold is located is determined as the area to be reworked.

[0135] In this embodiment, the area where the laser point with large fluctuation deviation is located is identified as the area to be reworked, which can accurately identify the area where the grinding is unqualified.

[0136] Figure 3 The present application provides a laser measurement-assisted precision grinding device for airport runway misalignment, which includes an acquisition module 301, a data processing module 302, and an execution module 303.

[0137] The acquisition module 301 is used to acquire the grinding result of the first misaligned area and the point cloud data of the current detection area when there is a historical misaligned area. The grinding result of the first misaligned area includes the point cloud data after grinding. The historical misaligned area is the misaligned area that has been ground during the grinding process. The first misaligned area is the misaligned area that is closest to the current time when the grinding time is.

[0138] The data processing module 302 is used to determine the first vibration compensation based on the grinding results of the first misalignment area.

[0139] The data processing module 302 is also used to determine the grinding depth of the second misalignment area based on the point cloud data of the current detection area and the first vibration compensation, wherein the second misalignment area is the misalignment area within the current detection area.

[0140] The execution module 303 is used to grind the second misaligned area based on the grinding depth.

[0141] The laser-assisted precision grinding device for airport runway misalignment first acquires laser measurement data of the airport runway via an acquisition module and performs preprocessing. Then, it determines the initial misalignment height using the laser measurement data and transmits it to a PID controller for initial grinding of the misalignment. The device then analyzes the fluctuations in the point cloud obtained after grinding the misalignment area to determine the vibration magnitude and identifies areas where the grinding did not meet the preset standards. Finally, it compensates for the current vibration based on the grinding vibration magnitude. Simultaneously, if there are areas where the previous grinding did not meet the standards, the initial misalignment height difference is calibrated. This allows for precise grinding of complex runway conditions based on airport runway conditions and the vibration environment of the grinding vehicle, avoiding the problem of difficulty in accurately compensating for different vibrations caused by uneven runway surfaces and complex environments.

[0142] It should be noted that the laser measurement-assisted precision grinding device for airport runway misalignment provided in the above embodiments and the laser measurement-assisted precision grinding method for airport runway misalignment provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the laser measurement-assisted precision grinding device for airport runway misalignment provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0143] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0144] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A laser-assisted precision grinding method for airport runway misalignment, characterized in that, The method includes: In the case of historical misalignment areas, the grinding result of the first misalignment area and the point cloud data of the current detection area are obtained. The grinding result of the first misalignment area includes the point cloud data after grinding. The historical misalignment area is the misalignment area that has been ground during the grinding process. The first misalignment area is the misalignment area that is closest to the current time in terms of grinding time. The first vibration compensation is determined based on the grinding results of the first misalignment area. Based on the point cloud data of the current detection area and the first vibration compensation, the grinding depth of the second misalignment area is determined, and the second misalignment area is the misalignment area within the current detection area. Grinding is performed on the second misaligned area based on the grinding depth; The method for obtaining the second misaligned area is as follows: Multiple sliding windows are obtained by sliding within the current detection area according to a preset step size based on a preset sliding window; The window height of each sliding window is determined based on the point cloud data of the current detection area; The height distribution image of the current detection region is determined based on the window height of each sliding window, wherein the window height of one sliding window corresponds to one pixel in the height distribution image; Edge detection is performed on the height distribution image to obtain edge maps; The area where the sliding window corresponding to the edge line is located is determined as the second misalignment area; The step of determining the grinding depth of the second misalignment region based on the point cloud data of the current detection area and the first vibration compensation includes: Determine the height difference of each edge point on the edge graph line; Based on the first vibration compensation and the height difference of each edge point, the second misalignment height is determined, and the second misalignment height is the misalignment height of the second misalignment area. The second misalignment height is determined as the grinding depth.

2. The laser measurement-assisted precision grinding method for airport runway misalignment according to claim 1, characterized in that, The determination of the first vibration compensation based on the grinding results of the first misalignment area includes: Based on the point cloud data after grinding, the neighborhood height difference of each laser point is determined, and the neighborhood height difference of a laser point is the average height difference between the laser point and its 8 neighbors. The magnitude of the first vibration is determined based on the average of the neighborhood height differences of multiple laser points. The first vibration compensation is determined based on the magnitude of the first vibration.

3. The laser measurement-assisted precision grinding method for airport runway misalignment according to claim 2, characterized in that, The grinding result also includes the edge height difference of multiple laser points in the area to be reworked. The determination of the grinding depth based on the first vibration compensation and the point cloud data of the current detection area includes: If the grinding result also includes the edge height difference of multiple laser points in the area to be reworked, the grinding residual height is determined based on the edge height difference of each laser point, the total number of the multiple laser points, and the first vibration compensation. The grinding depth is determined based on the grinding residual height and the second misalignment height.

4. The laser measurement-assisted precision grinding method for airport runway misalignment according to claim 3, characterized in that, The method further includes: The fluctuation deviation of each laser point in the first misalignment area is determined based on the magnitude of the first vibration. If the fluctuation deviation of the first laser point is greater than the fluctuation deviation threshold, an adaptive threshold is determined. The area where the laser point with fluctuation deviation greater than or equal to the adaptive threshold is located is determined as the area to be reworked.

5. The laser measurement-assisted precision grinding method for airport runway misalignment according to claim 4, characterized in that, The method further includes: In the absence of a misaligned area, the average height difference of each edge point is determined as the grinding depth of the second misaligned area.

6. The laser measurement-assisted precision grinding method for airport runway misalignment according to claim 1, characterized in that, The grinding of the second misaligned region based on the grinding depth includes: Preliminary grinding is performed based on an incremental PID control algorithm, a first preset proportional coefficient, and a first preset derivative coefficient. When the remaining grinding depth is less than or equal to the grinding depth threshold, grinding is performed based on a second preset proportional coefficient and a second preset differential coefficient, wherein the second preset proportional coefficient is less than the first preset proportional coefficient and the second preset differential coefficient is greater than the first preset differential coefficient.

7. The laser measurement-assisted precision grinding method for airport runway misalignment according to claim 6, characterized in that, The method further includes: Adjust the first preset proportional coefficient based on the actual grinding force and the standard grinding force.

8. A laser-assisted precision grinding device for airport runway misalignment, characterized in that, The device is used to implement the steps of a laser measurement-assisted precision grinding method for airport runway misalignment as described in any one of claims 1-7, the device comprising an acquisition module, a data processing module, and an execution module; The acquisition module is used to acquire the grinding result of the first misaligned area and the point cloud data of the current detection area when there is a historical misaligned area. The grinding result of the first misaligned area includes the point cloud data after grinding. The historical misaligned area is the misaligned area that has been ground during the grinding process. The first misaligned area is the misaligned area that is closest to the current time when the grinding was performed. The data processing module is used to determine the first vibration compensation based on the grinding results of the first misalignment area; The data processing module is further configured to determine the grinding depth of the second misaligned area based on the point cloud data of the current detection area and the first vibration compensation, wherein the second misaligned area is the misaligned area within the current detection area. The execution module is used to grind the second misalignment region based on the grinding depth.

Images