CN113391632B - Automatic glue removal control system and method for airport runway based on infrared thermal imaging technology - Google Patents
Automatic glue removal control system and method for airport runway based on infrared thermal imaging technology Download PDFInfo
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- CN113391632B CN113391632B CN202110635778.XA CN202110635778A CN113391632B CN 113391632 B CN113391632 B CN 113391632B CN 202110635778 A CN202110635778 A CN 202110635778A CN 113391632 B CN113391632 B CN 113391632B
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- 239000003292 glue Substances 0.000 title claims abstract description 154
- 238000001931 thermography Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005516 engineering process Methods 0.000 title claims abstract description 24
- 230000005855 radiation Effects 0.000 claims abstract description 41
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 238000005070 sampling Methods 0.000 claims description 13
- 239000010410 layer Substances 0.000 description 41
- 238000001514 detection method Methods 0.000 description 6
- 239000012790 adhesive layer Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000010426 asphalt Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Radiation Pyrometers (AREA)
Abstract
An airport runway automatic glue removal control system and method based on infrared thermal imaging technology belongs to the technical field of automatic control of airport runway glue removal equipment, and comprises a front-end infrared thermal imaging module, an image processing module, a calculation module and an execution module, wherein the front-end infrared thermal imaging module is arranged at the front end of the glue removal equipment and is used for collecting the temperature of a glue layer of a runway and generating an infrared thermal radiation image; the image processing module is used for converting the infrared thermal radiation image into a glue layer thickness map and modulating the glue layer thickness map to generate a thickness step curve on the advancing route of the glue removing equipment; the calculation module is used for acquiring the running speed of the glue removing equipment and calculating the working parameters of the glue removing equipment according to the thickness step curve and the running speed; the execution module is used for adjusting the working state of the glue removing equipment according to the working parameters so as to carry out glue removing operation, and the technical problems of complex glue removing mode and low efficiency of the traditional glue removing method are solved.
Description
Technical Field
The application relates to the technical field of automatic control of airport runway glue removing equipment, in particular to an airport runway automatic glue removing control system and method based on an infrared thermal imaging technology.
Background
At present, high-pressure water jet technology is usually adopted by airport runway glue removing equipment, the equipment needs to adjust parameters such as jet pressure, spray rod rotating speed and the like according to the thickness of a pavement glue layer and the vehicle speed, the conventional equipment has high requirements on experience and skill of operators, the operators need to try and manually adjust working parameters for many times according to actual conditions, the efficiency is low, and the runway is easy to damage. The automatic glue removing equipment adopting the image recognition technology is greatly influenced by ambient light, and the color of the asphalt pavement is very close to the glue layer, so that the automatic glue removing equipment cannot be used for detecting the asphalt pavement.
Disclosure of Invention
The application aims to provide an automatic glue removing control system and method for an airport runway based on an infrared thermal imaging technology, and aims to solve the technical problems that a glue removing mode is complex and efficiency is low in the traditional glue removing method.
The first aspect of the embodiment of the application provides an automatic glue removal control system for airport runways based on infrared thermal imaging technology, which comprises:
the front-end infrared thermal imaging module is arranged at the front end of the glue removing equipment and used for collecting the temperature of a glue layer of the runway and generating an infrared thermal radiation image;
the image processing module is used for converting the infrared thermal radiation image into a glue layer thickness map and modulating the glue layer thickness map so as to generate a thickness step curve on the advancing route of the glue removing equipment;
the calculation module is used for acquiring the running speed of the glue removing equipment and calculating the working parameters of the glue removing equipment according to the thickness step curve and the running speed; and
and the execution module is used for adjusting the working state of the glue removing equipment according to the working parameters so as to perform glue removing operation.
Preferably, the method further comprises the following steps:
the back end infrared thermal imaging module is arranged at the back end of the glue removing equipment and used for collecting the temperature of the glue layer of the runway after glue removing, generating an infrared thermal radiation image and transmitting the infrared thermal radiation image to the image processing module to obtain the thickness step curve, and the working parameter is adjusted through the calculating module to form closed-loop control.
Preferably, the infrared thermal radiation image is converted into a glue layer thickness map, and the method is realized by the following specific method:
selecting at least two calibration points from the infrared thermal radiation image, extracting the glue layer on the runway at the calibration points, measuring the thickness of the glue layer, generating a temperature-thickness curve according to the thickness of the glue layer and the temperature of the glue layer, and marking the numerical values of all the points in the infrared thermal radiation image as the thickness through the temperature-thickness curve so as to generate the glue layer thickness map.
Preferably, the temperature-thickness curve is generated by interpolation.
Preferably, the glue layer thickness map is modulated to generate a thickness step curve on the advancing route of the glue removing equipment, and the method is realized by the following steps:
removing thickness data with the area not more than 5% in the glue layer thickness map, taking the maximum value, rounding, modulating the glue layer thickness map into the rounded thickness value, carrying out interval sampling on the runway glue layer temperature, and modulating the glue layer thickness map generated by each interval sampling, thereby generating the thickness step curve.
Preferably, the sampling interval is determined by the running speed and the length of a sampling region.
Preferably, working parameters of the glue removing equipment are calculated according to the thickness step curve and the running speed, and the method is realized by the following specific steps:
and a database is arranged in the calculation module, and the working parameters are obtained by calling the database.
Preferably, the execution module executes the glue removing equipment by adopting a controller and a corresponding electric control actuator.
The second aspect of the embodiment of the application provides an automatic glue removing control method for an airport runway based on an infrared thermal imaging technology, which comprises the following steps:
s1, collecting the temperature of the rubber layer of the runway, and generating an infrared thermal radiation image;
s2, converting the infrared thermal radiation image into a glue layer thickness map, and modulating the glue layer thickness map to generate a thickness step curve on the advancing route of the glue removing equipment;
s3, collecting the running speed of the glue removing equipment, and calculating the working parameters of the glue removing equipment according to the thickness step curve and the running speed;
and S4, adjusting the working state of the glue removing equipment according to the working parameters to perform glue removing operation.
Preferably, after the working state of the glue removing equipment is adjusted according to the working parameters, the method further comprises the following steps:
collecting the temperature of the runway rubber layer after the rubber is removed, generating an infrared thermal radiation image, transmitting the infrared thermal radiation image to the image processing module to obtain the thickness step curve, and adjusting working parameters through the calculating module to form closed-loop control.
The invention provides an automatic glue removal control system and method for an airport runway based on an infrared thermal imaging technology, which are used for detecting the pavement based on the principle that glue layers with different thicknesses have different thermal radiation and can adapt to different pavements and different weather conditions. The system can assist the runway rubber removal equipment to operate automatically and efficiently, reduce the requirements on the operation capability and experience of operators and effectively reduce the risk of runway damage.
Drawings
Fig. 1 is a schematic block diagram of an automatic glue removal control system for an airport runway based on infrared thermal imaging technology according to an embodiment of the present application;
FIG. 2 is a comparison of a real image of an airport runway within a detection area with an infrared thermal radiation image;
FIG. 3 is a schematic diagram of image calibration in the present application;
FIG. 4 is a schematic of a temperature-thickness curve in the present application;
FIG. 5 is a schematic illustration of a glue line thickness map of the present application;
FIG. 6 is a schematic illustration of a modulation thickness map of the present application;
FIG. 7 is a schematic view of a bond line thickness curve of the present application;
fig. 8 is a schematic flow chart of an automatic glue removal control method for an airport runway based on an infrared thermal imaging technology according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, a schematic block diagram of an automatic glue removing control system for an airport runway based on an infrared thermal imaging technology according to an embodiment of the present application is shown, for convenience of description, only the relevant parts of the embodiment are shown, and the detailed description is as follows:
in one embodiment, the first aspect of the present application provides an automatic glue removing control system for an airport runway based on an infrared thermal imaging technology, which is used for controlling a glue removing operation of a glue removing device on the airport runway, and comprises a front-end infrared thermal imaging module 101, an image processing module 102, a computing module 103, an execution module 104, and a rear-end infrared thermal imaging module 105.
The front end infrared thermal imaging module 101 is arranged at the front end of the glue removing equipment and used for collecting the temperature of a glue layer of the runway and generating an infrared thermal radiation image.
Specifically, the front-end infrared thermal imaging module 101 acquires temperature data of a rubber layer in a certain detection area on an airport runway by using a high-precision infrared thermal imager, and generates a corresponding infrared thermal radiation image, which is a comparison graph of a real image of the airport runway in the detection area and the infrared thermal radiation image, as shown in fig. 2.
And the image processing module 102 is used for converting the infrared thermal radiation image into a glue layer thickness map and modulating the glue layer thickness map so as to generate a thickness step curve on the advancing route of the glue removing equipment.
At least two calibration points are selected from the infrared thermal radiation image of the detection area, 2-3 calibration points are generally selected, as shown in fig. 3, in the embodiment, 3 calibration points are selected, the maximum value a, the minimum value b and the intermediate value c are respectively obtained, the actual adhesive layer on the runway is extracted at the 3 calibration points, the thickness of the adhesive layer is measured, the image processing module receives the infrared thermal radiation image in real time, interpolation calculation is carried out according to the temperature of the adhesive layer of the calibration points and the thickness of the adhesive layer, as shown in fig. 4, a temperature-thickness curve is generated, numerical values of all points in the infrared thermal radiation image are marked as thicknesses through the temperature-thickness curve, as shown in fig. 5, and therefore the infrared thermal radiation image is converted into an adhesive layer thickness map.
Removing the thickness data with the area not more than 5% in the glue layer thickness map, taking the maximum value, rounding up, as shown in fig. 6, modulating the glue layer thickness map of the detection area d into the rounded thickness value, sampling the glue layer temperature of the runway at intervals, collecting the glue layer temperatures of different detection areas, calculating the sampling interval by background software according to the running speed of the glue removing equipment and the length of the sampling area e, ensuring that the sampling areas are not repeated, modulating the glue layer thickness map generated by sampling at intervals, obtaining the modulated map f, as shown in fig. 7, and thus generating a thickness step curve along the running direction of the glue removing equipment.
And the calculation module 103 is used for acquiring the running speed of the glue removing equipment and calculating the working parameters of the glue removing equipment according to the thickness step curve and the running speed.
Specifically, the calculation module can automatically acquire the running speed of the glue removing equipment, a database is arranged in the calculation module, the database contains original data obtained through a large number of tests, working parameters are obtained by calling the database, the working parameters can also be calculated through a difference method, and the working parameters mainly comprise the jet pressure of the glue removing equipment and the rotating speed of the spray rod.
And the execution module 104 is used for adjusting the working state of the glue removing equipment according to the working parameters so as to perform glue removing operation.
Specifically, the execution module adopts a controller and a corresponding electric control actuator to execute the glue removing equipment, so that the glue removing equipment runs according to the working parameters output by the calculation module to perform glue removing operation.
The rear-end infrared thermal imaging module 105 is arranged at the rear end of the glue removing equipment and used for collecting the temperature of the glue layer of the runway after glue removing, generating an infrared thermal radiation image and transmitting the infrared thermal radiation image to the image processing module 102 to obtain a thickness step curve, and adjusting working parameters through the calculating module 103 to form closed-loop control.
Specifically, the rear-end infrared thermal imaging module adopts a high-precision infrared thermal imager, collects the temperature of the glue layer on the airport runway after the glue removing operation, crosses the calibration stage, directly obtains a glue layer thickness map according to the glue layer temperature and the thickness of the glue layer, obtains a thickness step curve, feeds back the thickness step curve to the calculation module to adjust working parameters after compensation, finely adjusts the working parameters of the glue removing equipment to form closed-loop control, and finally realizes higher net removing rate.
Referring to fig. 8, a schematic flow chart of an automatic glue removing control method for an airport runway based on an infrared thermal imaging technology according to an embodiment of the present application is shown, for convenience of description, only the parts related to the embodiment are shown, and the detailed description is as follows:
the second aspect of the embodiment of the application provides an automatic glue removing control method for an airport runway based on an infrared thermal imaging technology, which is implemented by the glue removing control system and specifically comprises the following steps:
s1, collecting the temperature of the rubber layer of the runway, and generating an infrared thermal radiation image;
s2, converting the infrared thermal radiation image into a glue layer thickness map, and modulating the glue layer thickness map to generate a thickness step curve on the advancing route of the glue removing equipment;
s3, collecting the driving speed of the glue removing equipment, and calculating the working parameters of the glue removing equipment according to the thickness step curve and the driving speed;
s4, adjusting the working state of the glue removing equipment according to the working parameters to perform glue removing operation;
s5, collecting the temperature of the runway rubber layer after the rubber is removed, generating an infrared thermal radiation image, transmitting the infrared thermal radiation image to the image processing module to obtain a thickness step curve, and adjusting working parameters through the calculation module to form closed-loop control.
The invention provides an automatic glue removal control system and method for an airport runway based on an infrared thermal imaging technology, which are used for detecting the pavement based on the principle that glue layers with different thicknesses have different thermal radiation and can adapt to different pavements and different weather conditions. The system can assist the runway rubber removal equipment to operate automatically and efficiently, reduce the requirements on the operation capability and experience of operators and effectively reduce the risk of runway damage.
Various embodiments are described herein for various devices, circuits, apparatuses, systems, and/or methods. Numerous specific details are set forth in order to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. However, it will be understood by those skilled in the art that the embodiments may be practiced without such specific details. In other instances, well-known operations, components and elements have been described in detail so as not to obscure the embodiments in the description. It will be appreciated by those of ordinary skill in the art that the embodiments herein and shown are non-limiting examples, and thus, it can be appreciated that the specific structural and functional details disclosed herein may be representative and do not necessarily limit the scope of the embodiments.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. The utility model provides an automatic control system that removes glues of airport runway based on infrared thermal imaging technique which characterized in that includes:
the front-end infrared thermal imaging module is arranged at the front end of the glue removing equipment and used for collecting the temperature of a glue layer of the runway and generating an infrared thermal radiation image;
the image processing module is used for converting the infrared thermal radiation image into a glue layer thickness map and modulating the glue layer thickness map so as to generate a thickness step curve on the advancing route of the glue removing equipment;
the calculation module is used for acquiring the running speed of the glue removing equipment and calculating the working parameters of the glue removing equipment according to the thickness step curve and the running speed; and
and the execution module is used for adjusting the working state of the glue removing equipment according to the working parameters so as to perform glue removing operation.
2. The automatic glue removing control system for the airport runway based on the infrared thermal imaging technology as claimed in claim 1, further comprising:
the back end infrared thermal imaging module is arranged at the back end of the glue removing equipment and used for collecting the temperature of the glue layer of the runway after glue removing, generating an infrared thermal radiation image and transmitting the infrared thermal radiation image to the image processing module to obtain the thickness step curve, and the working parameter is adjusted through the calculating module to form closed-loop control.
3. The automatic glue removing control system for the airport runway based on the infrared thermal imaging technology as claimed in claim 1, characterized in that the infrared thermal radiation image is converted into a glue layer thickness map by the following means:
selecting at least two calibration points from the infrared thermal radiation image, extracting the glue layer on the runway at the calibration points, measuring the thickness of the glue layer, generating a temperature-thickness curve according to the thickness of the glue layer and the temperature of the glue layer, and marking the numerical values of all the points in the infrared thermal radiation image as the thickness through the temperature-thickness curve so as to generate the glue layer thickness map.
4. The system of claim 3, wherein the temperature-thickness curve is generated by interpolation.
5. The automatic glue removing control system for the airport runway based on the infrared thermal imaging technology as claimed in claim 3, wherein the glue layer thickness map is modulated to generate a thickness step curve on the advancing route of the glue removing device, which is realized by the following means:
removing thickness data with the area not more than 5% in the glue layer thickness map, taking the maximum value, rounding, modulating the glue layer thickness map into the rounded thickness value, carrying out interval sampling on the runway glue layer temperature, and modulating the glue layer thickness map generated by each interval sampling, thereby generating the thickness step curve.
6. The system of claim 5, wherein the sampling interval is determined by the running speed and the length of the sampling area.
7. The automatic glue removing control system for the airport runway based on the infrared thermal imaging technology as claimed in claim 1, wherein the working parameters of the glue removing device are calculated according to the thickness step curve and the driving speed, and the method is realized by the following steps:
and a database is arranged in the calculation module, and the working parameters are obtained by calling the database.
8. The automatic glue removing control system for the airport runway based on the infrared thermal imaging technology as claimed in claim 1, wherein the execution module adopts a controller and a corresponding electric control actuator to execute the glue removing device.
9. An automatic glue removal control method for an airport runway based on an infrared thermal imaging technology is characterized by comprising the following steps:
s1, collecting the temperature of the rubber layer of the runway, and generating an infrared thermal radiation image;
s2, converting the infrared thermal radiation image into a glue layer thickness map, and modulating the glue layer thickness map to generate a thickness step curve on a forward route of the glue removing equipment;
s3, collecting the running speed of the glue removing equipment, and calculating the working parameters of the glue removing equipment according to the thickness step curve and the running speed;
and S4, adjusting the working state of the glue removing equipment according to the working parameters to perform glue removing operation.
10. The method for controlling the automatic glue removing of the airport runway based on the infrared thermal imaging technology as claimed in claim 9, further comprising the following steps after adjusting the working state of the glue removing device according to the working parameters:
and collecting the temperature of the runway rubber layer after the rubber is removed, generating an infrared thermal radiation image, transmitting the infrared thermal radiation image to an image processing module to obtain the thickness step curve, and adjusting working parameters through a calculation module to form closed-loop control.
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| CN202110635778.XA CN113391632B (en) | 2021-06-08 | 2021-06-08 | Automatic glue removal control system and method for airport runway based on infrared thermal imaging technology |
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