CN104599535A - Unattended commuting airfield pavement clearance management system and control method - Google Patents
Unattended commuting airfield pavement clearance management system and control method Download PDFInfo
- Publication number
- CN104599535A CN104599535A CN201510039326.XA CN201510039326A CN104599535A CN 104599535 A CN104599535 A CN 104599535A CN 201510039326 A CN201510039326 A CN 201510039326A CN 104599535 A CN104599535 A CN 104599535A
- Authority
- CN
- China
- Prior art keywords
- stage
- unmanned plane
- headroom
- central control
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An unattended commuting airfield pavement clearance management system and a control method are provided. The system comprises a central control module, a pavement management module and a clearance management module, wherein the central control module is a computer which is arranged in a control tower and is internally provided with a control program; the pavement management module comprises a self-walking type robot, a plurality of high-definition cameras, a plurality of robot charging piles and a plurality of liftable refuge boxes; the clearance management module comprises an unmanned aerial vehicle, a plurality of high-definition cameras, an air pressure box hypsometer, an unmanned aerial vehicle charging pile and an unmanned aerial vehicle hangar. According to the unattended commuting airfield pavement clearance management system and the control method, airfield pavement and clearance inspection management can be automatically carried out according to a setting procedure, and pavement damage, external invaded objects and periphery ultra-limiting obstacles are found in time and are automatically recorded, collected and reported, so that the number of commuting airfield workers is reduced and an airfield is unattended; the control method is scientific and reasonable, is simple and convenient to carry out and has high safety.
Description
Technical field
The invention belongs to airport engineering technical field, particularly relate to a kind of unmanned and to travel frequently airfield pavement headroom management system and control method.
Background technology
General Aviation is the direction of Development of Civil Aviation, is also the emphasis of national development strategy.Along with the development of General Aviation, also there is a lot of problem.Such as, the current main landing of navigation aircraft is in existing Civil Aviation Airport, therefore while the pressure of operation and maintenance adding Civil Aviation Airport, also the factor of many inconveniences is brought to course line of opening the navigation or air flight originally conveniently, efficiently, easily, as the setting of Civil Aviation Airport away from urban district also away from the destination of navigation, and the backwardness that traffic above-ground circuit is arranged is to the difficulty seizing the opportunity people and cause transfer.
Therefore, increasing China General Aviation Corp starts the navigation airport being conceived to build oneself, and according to the development plan of country, the feasibility study of programme has been carried out in the construction on nearly hundred navigation airports.But the operation and maintenance standard on navigation airport is identical with normal domestic airport, need to drop into a large amount of human and material resources, thus add investment risk to the investor on airport.
Therefore, if can according to the management expectancy of CAAC to airport, especially the management expectancy of face, road and headroom, the face, road of realization intellectuality, robotization and headroom management, reduce the input of staff, or even realize the unmanned on navigation airport, will greatly reduce the operation expense on navigation airport, promote further developing of navigation.
Summary of the invention
In order to solve the problem, a kind of unmanned is the object of the present invention is to provide to travel frequently airfield pavement headroom management system and control method.
In order to achieve the above object, unmanned provided by the invention airfield pavement headroom management system of travelling frequently comprises central control module, face, road administration module and headroom management module; Wherein, central control module is to be arranged in control tower and the computing machine of control program is equipped with in inside; Face, road administration module comprises self-propelled robot, multiple high-definition camera, multiple robots charging pile and multiple Liftable type refuge case; Wherein self-propelled robot is positioned on airfield runway; Multiple camera is arranged on self-propelled robot, multiple Liftable type refuge case spacing distance is arranged in the Cao Mian district of airfield runway both sides, a robot charging pile is at least set in each Liftable type refuge case, and self-propelled robot, high-definition camera, robot charging pile and Liftable type refuge case all with central control module wireless connections; Headroom management module comprises unmanned plane, multiple high-definition camera, air pressure box holometer, unmanned plane charging pile and unmanned plane hangar; Wherein multiple high-definition camera and air pressure box holometer are arranged on unmanned plane, unmanned plane hangar is arranged on the road shoulder of airfield runway side, a unmanned plane charging pile is at least set in it, and unmanned plane, high-definition camera, air pressure box holometer and unmanned plane charging pile all with central control module wireless connections.
The quantity of the upper high-definition camera installed of described self-propelled robot is 4, and the camera lens of these high-definition cameras respectively towards the front of self-propelled robot, rear, left and right.
Described robot charging pile employing is easy to break, friable material is made, and is arranged on the edge in Liftable type refuge case.
Described Liftable type refuge case is square body structure, it leaves the opening that self-propelled robot comes in and goes out towards the side of airfield runway.
The quantity of the high-definition camera that described unmanned plane is installed is 3, one of them camera lens immediately below unmanned plane, one towards unmanned plane left wing, another is towards unmanned plane right flank.
Described unmanned plane charging pile employing is easy to break, friable material is made, and is arranged on the edge in unmanned plane hangar.
Described self-propelled robot, robot charging pile, Liftable type refuge case, unmanned plane, unmanned plane charging pile and unmanned plane hangar are equipped with GPS locating device, and therefore the quorum sensing inhibitor of distributed base station is travelled frequently airport Zone Full.
The travel frequently control method of airfield pavement headroom management system of unmanned provided by the invention comprises the following step performed in order:
1) in the S1 stage of system electrification self-inspection: in this stage, central control module respectively people having a common goal face administration module and headroom management module carries out exchanges data, judges system whether exact connect ion, then enters the S2 stage;
2) the S2 stage of user instruction is waited for: in this stage, system wait user instruction, when user inputs the instruction of " starting the inspection of face, road " on central control module, under the control of central control module, self-propelled robot starts, and then enters the S3 stage; When user inputs the instruction of " starting headroom inspection " on central control module, the unmanned plane being positioned at unmanned plane hangar under the control of central control module starts, and then enters the S4 stage;
3) judge whether the S3 stage of flight landing: in this stage, according to control tower signal, the control program in self-propelled robot will judge whether flight landing, if judged result is "Yes", then enter the S5 stage; Otherwise enter the S6 stage;
4) judge whether the S4 stage needing charging: in this stage, the control program in unmanned plane will judge whether to need charging according to battery electric quantity and backhaul distance, if judged result is "Yes", then enter the S7 stage; Otherwise enter the S8 stage;
5) the S5 stage of urgent danger prevention: in this stage, self-propelled robot is by Liftable type refuge case nearest for search, and control this Liftable type refuge case by central control module and be raised on ground, then self-propelled robot enter this lifting Liftable type refuge case in and control it by central control module and drop to underground, and be connected with robot charging pile and charge, then enter the S9 stage;
6) the S6 stage of face inspection management is carried out: in this stage, self-propelled robot travels according to the program set and prescribed path on runway, utilize multiple high-definition camera shooting faces, road image mounted thereto simultaneously, to investigate road surface damage situation and exotic (FOD) is patrolled, and utilize built-in image recognition software recording channel surface damage situation and FOD inspection result, if find that there is FOD, then remove FOD, and by face, the road image uploading after removing FOD to central control module, this stage will continue 60 seconds, then the S10 stage is entered,
7) the S7 stage of unmanned plane charging: in this stage, unmanned plane is by the position moving to unmanned plane charging pile and be connected with charging pile and charge, and when battery electric quantity reaches 100%, enters the entrance in S8 stage;
8) the S8 stage of headroom inspection management is carried out: in this stage, unmanned plane will leave unmanned plane hangar and take off to start to carry out headroom inspection management, obtain the flight path of headroom inspection management and the gps coordinate of potential target barrier by central control module simultaneously, and flown by regulation headroom maximum permissible value by air pressure box holometer, by the image information of multiple high-definition camera shooting potential target barrier periphery, then central control module is transferred to, and whether potential target barrier exceeds regulation headroom maximum permissible value to utilize the image processing software in it to judge, then S11 stage inlet is entered,
9) the S9 stage whether terminated of patrolling is judged: in this stage, self-propelled robot will judge according to the instruction of central control module whether face inspection terminates, if judged result is "Yes", then terminate face inspection process, otherwise after urgent danger prevention order fulfillment, enter the entrance in S6 stage;
10) the S10 stage proceeding face inspection management is judged whether: in this stage, self-propelled robot obtains the landing time of nearest flight by central control module, then judge whether to proceed face inspection management, if judged result is "Yes", then enter the entrance in S3 stage, otherwise enter the entrance in S5 stage;
11) the S11 stage proceeding headroom inspection management is judged whether: in this stage, unmanned plane will judge according to the instruction of central control module whether headroom inspection terminates, if judged result is "No", then terminates headroom inspection process, otherwise return the entrance in S8 stage.
Travel frequently airfield pavement headroom management system and control method tool of unmanned provided by the invention has the following advantages: 1) intelligent.Road facial canal reason and headroom management realize the automatic inspection of robot and unmanned plane, analysis and management completely, and the work pressure of reduction staff, reduce a staff quantity.2) reliability is high.Utilize the feature of the sustainable work of robot and unmanned plane, can realize the uninterrupted efficient management of airfield pavement and headroom, reliability is high.
Accompanying drawing explanation
Fig. 1 is that unmanned provided by the invention is travelled frequently road facial canal reason module arrangement figure in airfield pavement headroom management system.
Fig. 2 be unmanned provided by the invention travel frequently airfield pavement headroom management system face, road administration module in self-propelled robot and upper high-definition camera arrangenent diagram thereof.
Fig. 3 is that unmanned provided by the invention is travelled frequently headroom management module arrangement figure in airfield pavement headroom management system.
Fig. 4 is that unmanned provided by the invention is travelled frequently airfield pavement headroom management system composition diagram.
Fig. 5 is that unmanned provided by the invention is travelled frequently the control method process flow diagram of airfield pavement headroom management system.
Embodiment
Below in conjunction with the drawings and specific embodiments, travel frequently airfield pavement headroom management system and control method of unmanned provided by the invention is described in detail.
As shown in Fig. 1-Fig. 4, unmanned provided by the invention airfield pavement headroom management system of travelling frequently comprises central control module 1, face, road administration module 2 and headroom management module 3; Wherein, central control module 1 is equipped with the computing machine of control program for being arranged in control tower and inside; Face, road administration module 2 comprises self-propelled robot 4, multiple high-definition camera 5, multiple robots charging pile 6 and multiple Liftable type refuge case 7; Wherein self-propelled robot 4 is positioned on airfield runway; Multiple camera 5 is arranged on self-propelled robot 4, multiple Liftable type refuge case 7 spacing distance is arranged in the Cao Mian district of airfield runway both sides, a robot charging pile 6 is at least set in each Liftable type refuge case 7, and self-propelled robot 4, high-definition camera 5, robot charging pile 6 and Liftable type refuge case 7 all with central control module 1 wireless connections; Headroom management module 3 comprises unmanned plane 8, multiple high-definition camera, air pressure box holometer, unmanned plane charging pile 11 and unmanned plane hangar 12; Wherein multiple high-definition camera and air pressure box holometer are arranged on unmanned plane 8, unmanned plane hangar 12 is arranged on the road shoulder of airfield runway side, a unmanned plane charging pile 11 is at least set in it, and unmanned plane 8, high-definition camera, air pressure box holometer and unmanned plane charging pile 11 all with central control module 1 wireless connections.
The quantity of high-definition camera 5 that described self-propelled robot 4 installs is 4, and the camera lens of these high-definition cameras 5 respectively towards the front of self-propelled robot 4, rear, left and right.
Described robot charging pile 6 adopts easy to break, friable material to make, and to prevent it from damaging self-propelled robot 4, is arranged on the edge in Liftable type refuge case 7.
Described Liftable type refuge case 7 is square body structure, it leaves the opening that self-propelled robot 4 comes in and goes out towards the side of airfield runway.
The quantity of high-definition camera that described unmanned plane 8 is installed is 3, one of them camera lens immediately below unmanned plane 8, one towards unmanned plane 8 left wing, another is towards unmanned plane 8 right flank.
Described unmanned plane charging pile 11 adopts easy to break, friable material to make, and to prevent it from damaging unmanned plane 8, is arranged on the edge in unmanned plane hangar 12.
Described self-propelled robot 4, robot charging pile 6, Liftable type refuge case 7, unmanned plane 8, unmanned plane charging pile 11 and unmanned plane hangar 12 are equipped with GPS locating device, and therefore the quorum sensing inhibitor of distributed base station is travelled frequently airport Zone Full.
As shown in Figure 5, the travel frequently control method of airfield pavement headroom management system of unmanned provided by the invention comprises the following step performed in order:
1) in the S1 stage of system electrification self-inspection: in this stage, central control module 1 respectively people having a common goal face administration module 2 and headroom management module 3 carries out exchanges data, judges system whether exact connect ion, then enters the S2 stage;
2) the S2 stage of user instruction is waited for: in this stage, system wait user instruction, when user inputs the instruction of " starting the inspection of face, road " on central control module 1, under the control of central control module 1, self-propelled robot 4 starts, and then enters the S3 stage; When user inputs the instruction of " starting headroom inspection " on central control module 1, the unmanned plane 8 being positioned at unmanned plane hangar 12 under the control of central control module 1 starts, and then enters the S4 stage;
3) judge whether the S3 stage of flight landing: in this stage, according to control tower signal, the control program in self-propelled robot 4 will judge whether flight landing, if judged result is "Yes", then enter the S5 stage; Otherwise enter the S6 stage;
4) judge whether the S4 stage needing charging: in this stage, the control program in unmanned plane 8 will judge whether to need charging according to battery electric quantity and backhaul distance, if judged result is "Yes", then enter the S7 stage; Otherwise enter the S8 stage;
5) the S5 stage of urgent danger prevention: in this stage, self-propelled robot 4 is by Liftable type refuge case 7 nearest for search, and control this Liftable type refuge case 7 by central control module 1 and be raised on ground, then self-propelled robot 4 enter this lifting Liftable type refuge case 7 in and control it by central control module 1 and drop to underground, and be connected with robot charging pile 6 and charge, then enter the S9 stage;
6) the S6 stage of face inspection management is carried out: in this stage, self-propelled robot 4 travels according to the program set and prescribed path on runway, utilize multiple high-definition cameras 5 mounted thereto to take face image simultaneously, to investigate road surface damage situation and exotic (FOD) is patrolled, and utilize built-in image recognition software recording channel surface damage situation and FOD inspection result, if find that there is FOD, then remove FOD, and by face, the road image uploading after removing FOD to central control module 1, this stage will continue 60 seconds, then the S10 stage is entered,
7) the S7 stage of unmanned plane charging: in this stage, unmanned plane 8 will move to the position of unmanned plane charging pile 11 and be connected with charging pile 11 and charge, and when battery electric quantity reaches 100%, enter the entrance in S8 stage;
8) the S8 stage of headroom inspection management is carried out: in this stage, unmanned plane 8 will leave unmanned plane hangar 12 and take off to start to carry out headroom inspection management, obtain the flight path of headroom inspection management and the gps coordinate of potential target barrier by central control module 1 simultaneously, and flown by regulation headroom maximum permissible value by air pressure box holometer, by the image information of multiple high-definition camera shooting potential target barrier periphery, then central control module 1 is transferred to, and whether potential target barrier exceeds regulation headroom maximum permissible value to utilize the image processing software in it to judge, then S11 stage inlet is entered,
9) the S9 stage whether terminated of patrolling is judged: in this stage, self-propelled robot 4 will judge according to the instruction of central control module 1 whether face inspection terminates, if judged result is "Yes", then terminate face inspection process, otherwise after urgent danger prevention order fulfillment, enter the entrance in S6 stage;
10) the S10 stage proceeding face inspection management is judged whether: in this stage, self-propelled robot 4 obtains the landing time of nearest flight by central control module 1, then judge whether to proceed face inspection management, if judged result is "Yes", then enter the entrance in S3 stage, otherwise enter the entrance in S5 stage;
11) the S11 stage proceeding headroom inspection management is judged whether: in this stage, unmanned plane 8 will judge according to the instruction of central control module 1 whether headroom inspection terminates, if judged result is "No", then terminates headroom inspection process, otherwise return the entrance in S8 stage.
Airfield pavement headroom management System Working Principle of now being travelled frequently by unmanned provided by the invention is described below: when airdrome control personnel need to utilize this unmanned travel frequently airfield pavement headroom management system airfield pavement is patrolled time, first on central control module 1, input " starting the inspection of face, road " instruction, under the control of central control module 1, self-propelled robot 4 is by startup and judge whether airfield runway has flight landing voluntarily according to control tower signal, as confirmed without flight landing, self-propelled robot 4 travels according to the program set and prescribed path on runway, utilize multiple high-definition cameras 5 mounted thereto to take face image simultaneously, to investigate road surface damage situation and FOD patrols, and utilize built-in image recognition software recording channel surface damage situation and FOD inspection result, once find to there is FOD, removed immediately, and by face, the road image uploading after removing FOD to central control module 1, under the control of central control module 1, finally terminate face inspection process, if confirm there is flight landing, self-propelled robot 4 is by Liftable type refuge case 7 nearest for search, and control this Liftable type refuge case 7 by central control module 1 and be raised on ground, then self-propelled robot 4 enters its inside by the opening on Liftable type refuge case 7, and control Liftable type refuge case 7 by central control module 1 and drop to underground, and be connected with robot charging pile 6 and charge, then after urgent danger prevention order fulfillment, again carry out face inspection according to the method described above.
When airdrome control personnel need to utilize this unmanned travel frequently airfield pavement headroom management system obstacle free airspace is patrolled time, first on central control module 1, input " starting headroom inspection " instruction, under the control of central control module 1, the unmanned plane 8 being positioned at unmanned plane hangar 12 will start, and judge whether to need charging according to battery electric quantity and backhaul distance voluntarily, to the position of unmanned plane charging pile 11 be moved to as charged and be connected with charging pile 11 and charge, until battery electric quantity reaches 100%, unmanned plane hangar 12 will be left as terminated rear unmanned plane 8 without the need to charging or charging and take off to start to carry out headroom inspection management, obtain the flight path of headroom inspection management and the gps coordinate of potential target barrier by central control module 1 simultaneously, and flown by regulation headroom maximum permissible value by air pressure box holometer, by the image information of multiple high-definition camera shooting potential target barrier periphery, then central control module 1 is transferred to, and whether potential target barrier exceeds regulation headroom maximum permissible value to utilize the image processing software in it to judge, under the control of central control module 1, finally terminate headroom inspection process.
Claims (8)
1. unmanned is travelled frequently an airfield pavement headroom management system, it is characterized in that: described unmanned airfield pavement headroom management system of travelling frequently comprises central control module (1), face, road administration module (2) and headroom management module (3); Wherein, central control module (1) is equipped with the computing machine of control program for being arranged in control tower and inside; Face, road administration module (2) comprises self-propelled robot (4), multiple high-definition camera (5), multiple robots charging pile (6) and multiple Liftable type refuge case (7); Wherein self-propelled robot (4) is positioned on airfield runway; Multiple camera (5) is arranged on self-propelled robot (4), multiple Liftable type refuge case (7) spacing distance is arranged in the Cao Mian district of airfield runway both sides, a robot charging pile (6) is at least set in each Liftable type refuge case (7), and self-propelled robot (4), high-definition camera (5), robot charging pile (6) and Liftable type refuge case (7) all with central control module (1) wireless connections; Headroom management module (3) comprises unmanned plane (8), multiple high-definition camera, air pressure box holometer, unmanned plane charging pile (11) and unmanned plane hangar (12); Wherein multiple high-definition camera and air pressure box holometer are arranged on unmanned plane (8), unmanned plane hangar (12) is arranged on the road shoulder of airfield runway side, a unmanned plane charging pile (11) is at least set in it, and unmanned plane (8), high-definition camera, air pressure box holometer and unmanned plane charging pile (11) all with central control module (1) wireless connections.
2. unmanned according to claim 1 is travelled frequently airfield pavement headroom management system, it is characterized in that: the quantity of the upper high-definition camera (5) installed of described self-propelled robot (4) is 4, and the camera lens of these high-definition cameras (5) respectively towards the front of self-propelled robot (4), rear, left and right.
3. unmanned according to claim 1 is travelled frequently airfield pavement headroom management system, it is characterized in that: described robot charging pile (6) adopts easy to break, friable material to make, and is arranged on the edge in Liftable type refuge case (7).
4. unmanned according to claim 1 is travelled frequently airfield pavement headroom management system, it is characterized in that: described Liftable type refuge case (7) is square body structure, it leaves the opening that self-propelled robot (4) comes in and goes out towards the side of airfield runway.
5. unmanned according to claim 1 is travelled frequently airfield pavement headroom management system, it is characterized in that: the quantity of the upper high-definition camera installed of described unmanned plane (8) is 3, one of them camera lens is immediately below unmanned plane (8), one towards unmanned plane (8) left wing, another is towards unmanned plane (8) right flank.
6. unmanned according to claim 1 is travelled frequently airfield pavement headroom management system, it is characterized in that: described unmanned plane charging pile (11) adopts easy to break, friable material to make, and is arranged on the edge in unmanned plane hangar (12).
7. unmanned according to claim 1 is travelled frequently airfield pavement headroom management system, it is characterized in that: described self-propelled robot (4), robot charging pile (6), Liftable type refuge case (7), unmanned plane (8), unmanned plane charging pile (11) and unmanned plane hangar (12) are equipped with GPS locating device, therefore the quorum sensing inhibitor of distributed base station is travelled frequently airport Zone Full.
8. unmanned as claimed in claim 1 is travelled frequently a control method for airfield pavement headroom management system, it is characterized in that: described control method comprises the following step performed in order:
1) the S1 stage of system electrification self-inspection: in this stage, central control module (1) respectively people having a common goal face administration module (2) and headroom management module (3) carries out exchanges data, judge system whether exact connect ion, then enter the S2 stage;
2) the S2 stage of user instruction is waited for: in this stage, system wait user instruction, when user is in the instruction that the upper input of central control module (1) " starts the inspection of face, road ", under the control of central control module (1), self-propelled robot (4) starts, and then enters the S3 stage; When user is in the instruction that the upper input of central control module (1) " starts headroom inspection ", the unmanned plane (8) being positioned at unmanned plane hangar (12) under the control of central control module (1) starts, and then enters the S4 stage;
3) judge whether the S3 stage of flight landing: in this stage, according to control tower signal, the control program in self-propelled robot (4) will judge whether flight landing, if judged result is "Yes", then enter the S5 stage; Otherwise enter the S6 stage;
4) judge whether the S4 stage needing charging: in this stage, the control program in unmanned plane (8) will judge whether to need charging according to battery electric quantity and backhaul distance, if judged result is "Yes", then enter the S7 stage; Otherwise enter the S8 stage;
5) the S5 stage of urgent danger prevention: in this stage, self-propelled robot (4) is by Liftable type refuge case (7) nearest for search, and control this Liftable type refuge case (7) be raised on ground by central control module (1), then self-propelled robot (4) enter this lifting Liftable type refuge case (7) in and control it by central control module (1) and drop to underground, and be connected with robot charging pile (6) and charge, then enter the S9 stage;
6) the S6 stage of face inspection management is carried out: in this stage, self-propelled robot (4) travels according to the program set and prescribed path on runway, utilize multiple high-definition cameras (5) shooting face, road image mounted thereto simultaneously, to investigate road surface damage situation and FOD patrols, and utilize built-in image recognition software recording channel surface damage situation and FOD inspection result, if find that there is FOD, then remove FOD, and by face, the road image uploading after removing FOD to central control module (1), this stage will continue 60 seconds, then the S10 stage is entered,
7) the S7 stage of unmanned plane charging: in this stage, unmanned plane (8) will move to the position of unmanned plane charging pile (11) and be connected with charging pile (11) and charge, when battery electric quantity reaches 100%, enter the entrance in S8 stage;
8) the S8 stage of headroom inspection management is carried out: in this stage, unmanned plane (8) will leave unmanned plane hangar (12) and take off to start to carry out headroom inspection management, obtain the flight path of headroom inspection management and the gps coordinate of potential target barrier by central control module (1) simultaneously, and flown by regulation headroom maximum permissible value by air pressure box holometer, by the image information of multiple high-definition camera shooting potential target barrier periphery, then central control module (1) is transferred to, and whether potential target barrier exceeds regulation headroom maximum permissible value to utilize the image processing software in it to judge, then S11 stage inlet is entered,
9) the S9 stage whether terminated of patrolling is judged: in this stage, self-propelled robot (4) will judge according to the instruction of central control module (1) whether face inspection terminates, if judged result is "Yes", then terminate face inspection process, otherwise after urgent danger prevention order fulfillment, enter the entrance in S6 stage;
10) the S10 stage proceeding face inspection management is judged whether: in this stage, self-propelled robot (4) obtains the landing time of nearest flight by central control module (1), then judge whether to proceed face inspection management, if judged result is "Yes", then enter the entrance in S3 stage, otherwise enter the entrance in S5 stage;
11) the S11 stage proceeding headroom inspection management is judged whether: in this stage, unmanned plane (8) will judge according to the instruction of central control module (1) whether headroom inspection terminates, if judged result is "No", then terminate headroom inspection process, otherwise return the entrance in S8 stage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510039326.XA CN104599535B (en) | 2015-01-27 | 2015-01-27 | A kind of unmanned is travelled frequently airfield pavement headroom management system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510039326.XA CN104599535B (en) | 2015-01-27 | 2015-01-27 | A kind of unmanned is travelled frequently airfield pavement headroom management system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104599535A true CN104599535A (en) | 2015-05-06 |
| CN104599535B CN104599535B (en) | 2016-08-17 |
Family
ID=53125278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510039326.XA Expired - Fee Related CN104599535B (en) | 2015-01-27 | 2015-01-27 | A kind of unmanned is travelled frequently airfield pavement headroom management system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104599535B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159318A (en) * | 2015-09-23 | 2015-12-16 | 郑州大学 | Ecological civilization monitoring device and system |
| CN106101511A (en) * | 2016-08-10 | 2016-11-09 | 南京奇蛙智能科技有限公司 | A kind of full-automatic unmanned machine system |
| CN106254188A (en) * | 2016-08-09 | 2016-12-21 | 衣佳鑫 | Robot electric quantity control method and system in Internet of Things |
| CN106849355A (en) * | 2017-02-10 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of transformer station's detecting system based on X-ray machine people |
| WO2018027572A1 (en) * | 2016-08-09 | 2018-02-15 | 衣佳鑫 | Electric quantity control method and system for robot in internet of things |
| CN109946751A (en) * | 2019-04-12 | 2019-06-28 | 中国民用航空飞行学院 | A kind of automatic detection method of airfield runway FOD of unmanned plane |
| CN112802269A (en) * | 2020-12-31 | 2021-05-14 | 成都希福生物科技有限公司 | Ice powder online sale system and method |
| CN115796603A (en) * | 2023-01-29 | 2023-03-14 | 中国民航大学 | Method and device for evaluating operation influence of civil aviation navigation airport, storage medium and terminal |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000331300A (en) * | 1999-05-24 | 2000-11-30 | Nec Software Kyushu Ltd | Air traffic flow managing system and air traffic flow managing method |
| CN103194991A (en) * | 2013-04-03 | 2013-07-10 | 西安电子科技大学 | Road cleaning system and method through intelligent robot |
| CN103413466A (en) * | 2013-07-08 | 2013-11-27 | 中国航空无线电电子研究所 | Airborne visible ground guide and warning device and guide and warning method thereof |
| CN203723322U (en) * | 2014-03-07 | 2014-07-23 | 蒋雪峰 | All-dimensional airport bird collision avoidance system based on Internet of Things |
-
2015
- 2015-01-27 CN CN201510039326.XA patent/CN104599535B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000331300A (en) * | 1999-05-24 | 2000-11-30 | Nec Software Kyushu Ltd | Air traffic flow managing system and air traffic flow managing method |
| CN103194991A (en) * | 2013-04-03 | 2013-07-10 | 西安电子科技大学 | Road cleaning system and method through intelligent robot |
| CN103413466A (en) * | 2013-07-08 | 2013-11-27 | 中国航空无线电电子研究所 | Airborne visible ground guide and warning device and guide and warning method thereof |
| CN203723322U (en) * | 2014-03-07 | 2014-07-23 | 蒋雪峰 | All-dimensional airport bird collision avoidance system based on Internet of Things |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159318A (en) * | 2015-09-23 | 2015-12-16 | 郑州大学 | Ecological civilization monitoring device and system |
| CN106254188A (en) * | 2016-08-09 | 2016-12-21 | 衣佳鑫 | Robot electric quantity control method and system in Internet of Things |
| WO2018027572A1 (en) * | 2016-08-09 | 2018-02-15 | 衣佳鑫 | Electric quantity control method and system for robot in internet of things |
| CN106101511A (en) * | 2016-08-10 | 2016-11-09 | 南京奇蛙智能科技有限公司 | A kind of full-automatic unmanned machine system |
| CN106849355A (en) * | 2017-02-10 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of transformer station's detecting system based on X-ray machine people |
| CN109946751A (en) * | 2019-04-12 | 2019-06-28 | 中国民用航空飞行学院 | A kind of automatic detection method of airfield runway FOD of unmanned plane |
| CN112802269A (en) * | 2020-12-31 | 2021-05-14 | 成都希福生物科技有限公司 | Ice powder online sale system and method |
| CN115796603A (en) * | 2023-01-29 | 2023-03-14 | 中国民航大学 | Method and device for evaluating operation influence of civil aviation navigation airport, storage medium and terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104599535B (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104599535A (en) | Unattended commuting airfield pavement clearance management system and control method | |
| EP4053021A1 (en) | Unmanned aerial vehicle airport, unmanned aerial vehicle system, patrol inspection system, method, control apparatus, device, storage medium, and unmanned aerial vehicle cruising system | |
| CN104243935B (en) | Airport field prison aims of systems monitoring method based on video identification | |
| CN105389988B (en) | A kind of express highway intelligent cruising inspection system of multiple no-manned plane collaboration | |
| CN103605365B (en) | The entire roboticized work method that substation equipment filth is patrolled and examined, judges and cleaned | |
| CN102854881B (en) | Unmanned plane UAV automatic control system | |
| CN106875707A (en) | A kind of aerial traffic police's system for emergent traffic scene | |
| CN108572661A (en) | A kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control method | |
| CN105449876A (en) | Automatic wireless charging system for power line-patrol multi-rotor type aircraft | |
| CN207345845U (en) | A kind of railway line security hidden danger cruising inspection system | |
| CN102654940A (en) | Traffic information acquisition system based on unmanned aerial vehicle and processing method of traffic information acquisition system | |
| CN102328751A (en) | System for assisting airport runway perambulation inspection | |
| CN204360217U (en) | A kind of novel independent navigation quadrotor | |
| CN112684806A (en) | Electric power inspection unmanned aerial vehicle system based on dual obstacle avoidance and intelligent identification | |
| KR102184693B1 (en) | Automatic landing method of unmanned aerial vehicle into ground-free vehicle, and automatic landing device of unmanned aerial vehicles | |
| CN205354374U (en) | Large -scale parking area car position detecting system based on solar energy unmanned aerial vehicle crowd | |
| CN107957732A (en) | Unmanned plane lands redundant pilot system automatically | |
| CN206775646U (en) | A kind of engineering construction safety mechanism for monitoring | |
| CN107992061A (en) | A kind of the wisdom laboratory machine people means of delivery and system | |
| CN107992083A (en) | The system and method for logistics unmanned plane flight course planning is carried out based on power grid map | |
| CN113568427B (en) | Unmanned aerial vehicle autonomous landing mobile platform method and system | |
| CN107554341A (en) | A kind of intelligent charging system and its control method based on unmanned plane | |
| CN211207172U (en) | Mine power supply line autonomous inspection unmanned aerial vehicle control system with fusion of multiple sensing modules | |
| CN207496960U (en) | It improves safety guarantee and saves the airport intelligence ladder vehicle system of operation cost | |
| JP6973294B2 (en) | Vehicle search system and vehicle search method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20200127 |