CN104599535B - A kind of unmanned is travelled frequently airfield pavement headroom management system and control method - Google Patents
A kind of unmanned is travelled frequently airfield pavement headroom management system and control method Download PDFInfo
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- 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
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Abstract
A kind of unmanned is travelled frequently airfield pavement headroom management system and control method.System includes central control module, road facial canal reason module and headroom management module；Central control module is to be arranged in control tower and inside is equipped with the computer controlling program；Road facial canal reason module includes self-propelled robot, multiple high-definition camera, multiple robots charging pile and multiple lifting type refuge case；Headroom management module includes unmanned plane, multiple high-definition camera, air pressure box cathetometer, unmanned plane charging pile and unmanned plane hangar.The unmanned that the present invention provides travels frequently airfield pavement headroom management system and control method can carry out airfield pavement and headroom inspection management the most automatically, find that in time face, road is destroyed, exotic invasive thing and periphery transfinite barrier, and automatically record, collect and report, thus reduce airport employe's quantity of travelling frequently, or even realize unmanned, there is control method scientific and reasonable, be easy to implement, the feature that safety is high.
Description
Technical field
The invention belongs to airport engineering technical field, particularly relate to a kind of unmanned and 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 General Aviation
Development, also occur in that a lot of problem.Such as, the current main landing of navigation aircraft is in existing
In Civil Aviation Airport, therefore while the pressure of the operation and maintenance that add Civil Aviation Airport, also give originally
For convenience, efficiently, navigation course line brings the factor of many inconveniences, such as Civil Aviation Airport easily
Arrange away from urban district also away from the destination of navigation, and the backwardness that traffic above-ground circuit is arranged is artificial to seizing the opportunity
Become the difficulty of transfer.
Therefore, increasing China General Aviation Corp starts to be conceived to build the navigation airport of oneself, and root
According to the development plan of country, the construction on nearly hundred navigation airports has been carried out the feasibility of programme and grinds
Study carefully.But, the operation on navigation airport is identical with normal domestic airport with maintenance criterion, needs to put in a large number
Human and material resources, thus give airport investor add investment risk.
Therefore, if can be according to CAAC's management requirement to airport, especially face, road and the pipe of headroom
Reason requirement, it is achieved intelligent, the face, road of automatization and headroom management, reduces the input of staff, very
To being the unmanned realizing navigation airport, the operation expense on navigation airport will be substantially reduced, promote
The further development of navigation.
Summary of the invention
In order to solve the problems referred to above, it is an object of the invention to provide a kind of unmanned and travel frequently airfield pavement
Headroom management system and control method.
In order to achieve the above object, the unmanned that the present invention provides is travelled frequently airfield pavement headroom management system
Including central control module, road facial canal reason module and headroom management module；Wherein, central control module is
In being arranged on control tower and inside is equipped with the computer controlling program；Road facial canal reason module includes self propelled machines
People, multiple high-definition camera, multiple robots charging pile and multiple lifting type refuge case；The most voluntarily
Formula robot is positioned on airfield runway；Multiple photographic head are arranged on self-propelled robot, multiple liftables
Formula refuge case spacing distance is arranged in the Cao Mian district of airfield runway both sides, in each lifting type refuge case
At least provided with a robot charging pile, and self-propelled robot, high-definition camera, robot charging
Stake and lifting type refuge case all with central control module wireless connections；Headroom management module includes unmanned
Machine, multiple high-definition camera, air pressure box cathetometer, unmanned plane charging pile and unmanned plane hangar；Its
In multiple high-definition cameras and air pressure box cathetometer be arranged on unmanned plane, unmanned plane hangar is arranged on
On the road shoulder of airfield runway side, at least provided with a unmanned plane charging pile in it, and unmanned plane, height
Clear photographic head, air pressure box cathetometer 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 these high definitions
The camera lens of photographic head is respectively facing 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 lifting type refuge case
Interior edge.
Described lifting type refuge case is square body structure, and on it, the side towards airfield runway is left
The opening that self-propelled robot comes in and goes out.
The quantity of the high-definition camera installed on described unmanned plane is 3, and one of them camera lens is towards nothing
Man-machine underface, 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 in unmanned plane hangar
Edge.
Described self-propelled robot, robot charging pile, lifting type refuge case, unmanned plane, unmanned
Being equipped with GPS positioner on machine charging pile and unmanned plane hangar, therefore the signal of distributed base station covers
Travel frequently airport Zone Full.
The unmanned that the present invention provides travel frequently the control method of airfield pavement headroom management system include by
The following step that order performs:
1) the S1 stage of system electrification self-inspection: in this stage, central control module people having a common goal's facial canal respectively
Reason module and headroom management module carry out data exchange, it is judged that system the most correctly connects, subsequently into S2
Stage；
2) waiting the S2 stage of user instruction: in this stage, system waits user instruction, works as user
When central control module inputs the instruction of " starting the inspection of face, road ", in the control of central control module
Lower self-propelled robot starts, subsequently into the S3 stage；" open when user inputs on central control module
Beginning headroom is patrolled " instruction time, under the control of central control module, be positioned at the unmanned of unmanned plane hangar
Machine starts, subsequently into the S4 stage；
3) the S3 stage of flight landing is determined whether: in this stage, according to control tower signal, voluntarily
Control program in formula robot will determine that whether there is flight landing, if it is judged that be "Yes", then
Enter the S5 stage；Otherwise enter the S6 stage；
4) judging whether to need the S4 stage of 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 it is judged that be "Yes", then enter
Enter the S7 stage；Otherwise enter the S8 stage；
5) in the S5 stage of urgent danger prevention: in this stage, self-propelled robot will search for nearest rising
Fall formula refuge case, and control this lifting type refuge case by central control module and be raised on ground,
Then in self-propelled robot enters the lifting type refuge case of this lifting and pass through central control module control
Make it and drop to underground, and be connected with robot charging pile and be charged, subsequently into S9 rank
Section；
6) the S6 stage of face inspection management is carried out: in this stage, self-propelled robot will be according to setting
Fixed program and regulation path travel on runway, utilize multiple high-definition cameras mounted thereto simultaneously
Shooting face, road image, road surface damage situation is investigated and exotic (FOD) is patrolled, and
Utilize built-in image recognition software recorded trace surface damage situation and FOD inspection result, if it find that have
FOD, then remove FOD, and face, the road image after removing FOD is uploaded to central control module, should
Stage will continue 60 seconds, subsequently into the S10 stage；
7) the S7 stage of unmanned plane charging: in this stage, unmanned plane will be moved into unmanned plane charging pile
Position and be connected with charging pile and be charged, when battery electric quantity reaches 100%, enter the S8 stage
Entrance；
8) the S8 stage of headroom inspection management is carried out: in this stage, unmanned plane will leave unmanned plane machine
Headroom inspection management is also taken off to proceed by storehouse, obtains headroom inspection pipe by central control module simultaneously
The flight path of reason and the gps coordinate of potential target barrier, and by air pressure box cathetometer by rule
Determine headroom maximum permissible value to fly, shoot potential target barrier periphery by multiple high-definition cameras
Image information, be then transferred to central control module, and it be latent to utilize its interior image processing software to judge
In target obstacle whether beyond regulation headroom maximum permissible value, subsequently into S11 stage inlet；
9) judge S9 stage of whether terminating of inspection: in this stage, self-propelled robot will according in
The instruction of centre control module judges whether face inspection terminates, if it is judged that be "Yes", then terminates
Face, road inspection process, otherwise enters the entrance in S6 stage after urgent danger prevention order fulfillment；
10) judge whether to proceed the S10 stage of face inspection management: in this stage, self-propelled
Robot obtains the landing time of nearest flight by central control module, then judges whether to proceed
The inspection management of face, road, if it is judged that be "Yes", then enter the entrance in S3 stage, otherwise enters
The entrance in S5 stage；
11) judge whether to proceed the S11 stage of headroom inspection management: in this stage, unmanned plane
To judge whether headroom inspection terminates, if it is judged that be according to the instruction of central control module
"No", then terminate headroom inspection process, otherwise return the entrance in S8 stage.
The unmanned that the present invention provides travels frequently airfield pavement headroom management system and control method have as
Lower advantage: 1) intelligent.Road facial canal reason and headroom management are fully achieved the automatic of robot and unmanned plane
Patrolling, analyze and manage, reduce the work pressure of staff, reduce a staff quantity.2) may be used
High by property.Utilize the feature of the sustainable work of robot and unmanned plane, airfield pavement and headroom can be realized
Uninterrupted high-efficiency management, reliability is high.
Accompanying drawing explanation
Fig. 1 travels frequently road facial canal reason mould in airfield pavement headroom management system for the unmanned that the present invention provides
Block layout drawing.
Fig. 2 travels frequently for the unmanned that the present invention provides the road facial canal reason of airfield pavement headroom management system
Self-propelled robot and upper high-definition camera layout drawing thereof in module.
Fig. 3 travels frequently headroom management mould in airfield pavement headroom management system for the unmanned that the present invention provides
Block layout drawing.
Fig. 4 travels frequently airfield pavement headroom management system composition diagram for the unmanned that the present invention provides.
Fig. 5 travels frequently for the unmanned that the present invention provides the control method stream of airfield pavement headroom management system
Cheng Tu.
Detailed description of the invention
Airfield pavement of travelling frequently, with specific embodiment, the unmanned that the present invention provides below in conjunction with the accompanying drawings is clean
Blank pipe reason system and control method are described in detail.
As shown in Fig. 1 Fig. 4, the unmanned that the present invention provides is travelled frequently airfield pavement headroom management system
Including central control module 1, road facial canal reason module 2 and headroom management module 3；Wherein, central authorities control mould
Block 1 is to be arranged in control tower and inside is equipped with the computer controlling program；Road facial canal reason module 2 includes certainly
Line robot 4, multiple high-definition camera 5, multiple robots charging pile 6 and multiple lifting type are taken refuge
Case 7；Wherein self-propelled robot 4 is positioned on airfield runway；Multiple photographic head 5 are arranged on self-propelled machine
On device people 4, multiple lifting type refuge case 7 spacing distances are arranged in the Cao Mian district of airfield runway both sides,
At least provided with a robot charging pile 6 in each lifting type refuge case 7, and self-propelled robot 4,
High-definition camera 5, robot charging pile 6 and lifting type refuge case 7 all with central control module 1 nothing
Line connects；Headroom management module 3 includes that height surveyed by unmanned plane 8, multiple high-definition camera, air pressure box
Meter, unmanned plane charging pile 11 and unmanned plane hangar 12；Plurality of high-definition camera and air pressure box
Cathetometer is arranged on unmanned plane 8, and unmanned plane hangar 12 is arranged on the road shoulder of airfield runway side, its
Interior at least provided with a unmanned plane charging pile 11, and unmanned plane 8, high-definition camera, air pressure box
Cathetometer and unmanned plane charging pile 11 all with central control module 1 wireless connections.
The quantity of the high-definition camera 5 installed on described self-propelled robot 4 is 4, and these
The camera lens of high-definition camera 5 is respectively facing the front of self-propelled robot 4, rear, left and right.
Described robot charging pile 6 uses easy to break, friable material to make, to prevent it from damaging self-propelled
Robot 4, is arranged on the edge in lifting type refuge case 7.
Described lifting type refuge case 7 is square body structure, and on it, the side towards airfield runway is stayed
There is the opening that self-propelled robot 4 comes in and goes out.
The quantity of high-definition camera installed on described unmanned plane 8 is 3, one of them camera lens towards
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 uses easy to break, friable material to make, unmanned to prevent it from damaging
Machine 8, is arranged on the edge in unmanned plane hangar 12.
Described self-propelled robot 4, robot charging pile 6, lifting type refuge case 7, unmanned plane 8,
It is equipped with GPS positioner, therefore distributed base station on unmanned plane charging pile 11 and unmanned plane hangar 12
Signal cover and travel frequently airport Zone Full.
The control of airfield pavement headroom management system as it is shown in figure 5, the unmanned that the present invention provides is travelled frequently
Method includes the following step performed in order:
1) the S1 stage of system electrification self-inspection: in this stage, central control module 1 people having a common goal face respectively
Management module 2 and headroom management module 3 carry out data exchange, it is judged that system the most correctly connects, then
Enter the S2 stage；
2) waiting the S2 stage of user instruction: in this stage, system waits user instruction, works as user
When central control module 1 inputs the instruction of " starting the inspection of face, road ", at central control module 1
Control lower self-propelled robot 4 to start, subsequently into the S3 stage；When user is at central control module 1
During the instruction that upper input " starts headroom inspection ", under the control of central control module 1, it is positioned at unmanned plane
Unmanned plane 8 in hangar 12 starts, subsequently into the S4 stage；
3) the S3 stage of flight landing is determined whether: in this stage, according to control tower signal, voluntarily
Control program in formula robot 4 will determine that whether there is flight landing, if it is judged that be "Yes",
Then enter the S5 stage；Otherwise enter the S6 stage；
4) judge whether to need the S4 stage of charging: in this stage, the control program in unmanned plane 8
To judge whether to need charging, if it is judged that be "Yes", then according to battery electric quantity and backhaul distance
Enter the S7 stage；Otherwise enter the S8 stage；
5) in the S5 stage of urgent danger prevention: in this stage, self-propelled robot 4 can by nearest for search
Lift refuge case 7, and control this lifting type refuge case 7 be raised to ground by central control module 1
On face, in then self-propelled robot 4 enters the lifting type refuge case 7 of this lifting and by central
Control module 1 controls it and drops to underground, and is connected with robot charging pile 6 and is charged,
Subsequently into the S9 stage；
6) the S6 stage of face inspection management is carried out: in this stage, self-propelled robot 4 will be according to
The program and the regulation path that set travel on runway, utilize multiple high-definition cameras mounted thereto simultaneously
5 shooting face, road images, road surface damage situation is investigated and exotic (FOD) is patrolled,
And utilize built-in image recognition software recorded trace surface damage situation and FOD inspection result, if it find that have
FOD, then remove FOD, and face, the road image after removing FOD is uploaded to central control module 1, should
Stage will continue 60 seconds, subsequently into the S10 stage；
7) in the S7 stage of unmanned plane charging: in this stage, unmanned plane 8 will be moved into unmanned plane charging
Stake 11 position and be connected with charging pile 11 and be charged, when battery electric quantity reaches 100%, enter
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 also takes off to proceed by headroom inspection management, obtains headroom by central control module 1 simultaneously
The flight path of inspection management and the gps coordinate of potential target barrier, and survey height by air pressure box
Meter flies by regulation headroom maximum permissible value, shoots potential target obstacle by multiple high-definition cameras
The image information of thing periphery, is then transferred to central control module 1, and utilizes its interior image procossing soft
Part judges that potential target barrier, whether beyond regulation headroom maximum permissible value, enters subsequently into the S11 stage
Mouthful；
9) the S9 stage whether inspection terminates is judged: in this stage, self-propelled robot 4 is by basis
The instruction of central control module 1 judges whether face inspection terminates, if it is judged that be "Yes", then
Terminate face, road inspection process, after urgent danger prevention order fulfillment, otherwise enter the entrance in S6 stage；
10) judge whether to proceed the S10 stage of face inspection management: in this stage, self-propelled
Robot 4 obtains the landing time of nearest flight by central control module 1, then judges whether to continue
Carry out face inspection management, if it is judged that be "Yes", then enter the entrance in S3 stage, otherwise
Enter the entrance in S5 stage；
11) judge whether to proceed the S11 stage of headroom inspection management: in this stage, unmanned plane
According to the instruction of central control module 1,8 will judge whether headroom inspection terminates, if it is judged that be
"No", then terminate headroom inspection process, otherwise return the entrance in S8 stage.
Airfield pavement headroom management System Working Principle of now being travelled frequently by the unmanned that the present invention provides illustrates
As follows: when airdrome control personnel need to utilize this unmanned to travel frequently airfield pavement headroom management system to machine
On central control module 1, time inspection in face, road, field, first input " starting the inspection of face, road " instruction,
Under the control of central control module 1, self-propelled robot 4 sentences voluntarily by startup and according to control tower signal
Whether having flight landing on disconnected airfield runway, as confirmed without flight landing, self-propelled robot 4 will be according to
The program and the regulation path that set travel on runway, utilize multiple high-definition cameras mounted thereto simultaneously
5 shooting face, road images, to investigate road surface damage situation and FOD patrols, and in utilizing
The image recognition software recorded trace surface damage situation put and FOD inspection result, once find to there is FOD,
Removed immediately, and face, the road image after FOD will be removed be uploaded to central control module 1, finally existed
Face inspection process is terminated under the control of central control module 1；If confirming have flight landing, self-propelled machine
Device people 4 will the nearest lifting type refuge case 7 of search, and control this by central control module 1 and can rise
Fall formula refuge case 7 is raised on ground, and then self-propelled robot 4 is by lifting type refuge case 7
On opening enter inside it, and control lifting type refuge case 7 drop to by central control module 1
Underground, and be connected with robot charging pile 6 and be charged, then at urgent danger prevention order fulfillment
After carry out face inspection the most according to the method described above.
When airdrome control personnel need to utilize this unmanned to travel frequently airfield pavement headroom management system to machine
On central control module 1, when field headroom is patrolled, first 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 from
Row judges whether to need charging according to battery electric quantity and backhaul distance, will be moved into unmanned plane as charged and fills
The electricity position of stake 11 is also connected with charging pile 11 and is charged, until battery electric quantity reaches 100%,
Unmanned plane hangar 12 will be left as terminated rear unmanned plane 8 without charging or charging and take off to proceed by only
Empty inspection management, obtains the flight path of headroom inspection management and potential by central control module 1 simultaneously
The gps coordinate of target obstacle, and entered by regulation headroom maximum permissible value by air pressure box cathetometer
Row flight, by the image information of multiple high-definition cameras shooting potential target barrier periphery, then passes
It is defeated by central control module 1, and utilizes whether its interior image processing software judges potential target barrier
Beyond regulation headroom maximum permissible value, under the control of central control module 1, finally terminate headroom patrolled
Journey.
Claims (1)
1. unmanned is travelled frequently a control method for airfield pavement headroom management system, and described is unmanned
Airfield pavement headroom management system of travelling frequently on duty includes central control module (1), road facial canal reason module (2)
With headroom management module (3)；Wherein, central control module (1) is in being arranged on control tower and inside dress
There is the computer of control program；Road facial canal reason module (2) includes self-propelled robot (4), Duo Gegao
Clear photographic head (5), multiple robots charging pile (6) and multiple lifting type refuge case (7)；Its
Middle self-propelled robot (4) is positioned on airfield runway；Multiple photographic head (5) are arranged on self propelled machines
On people (4), multiple lifting type refuge case (7) spacing distances are arranged on the careless face of airfield runway both sides
Qu Shang, at least provided with a robot charging pile (6) in each lifting type refuge case (7), and
Self-propelled robot (4), high-definition camera (5), robot charging pile (6) and lifting type are kept away
Difficult case (7) all with central control module (1) wireless connections；Headroom management module (3) includes unmanned
Machine (8), multiple high-definition camera, air pressure box cathetometer, unmanned plane charging pile (11) and nothing
Man-machine hangar (12)；Plurality of high-definition camera and air pressure box cathetometer are arranged on unmanned plane (8)
On, unmanned plane hangar (12) is arranged on the road shoulder of airfield runway side, at least provided with a nothing in it
Man-machine charging pile (11), and unmanned plane (8), high-definition camera, air pressure box cathetometer and
Unmanned plane charging pile (11) all with central control module (1) wireless connections；
It is characterized in that: described control method includes the following step performed in order:
1) in the S1 stage of system electrification self-inspection: in this stage, central control module (1) is same respectively
Road facial canal reason module (2) and headroom management module (3) carry out data exchange, it is judged that system is the most correct
Connect, subsequently into the S2 stage；
2) waiting the S2 stage of user instruction: in this stage, system waits user instruction, works as user
When the instruction that the upper input of central control module (1) " starts the inspection of face, road ", at central control module
(1) under control, self-propelled robot (4) starts, subsequently into the S3 stage；When user is in central authorities
During the instruction that the upper input of control module (1) " starts headroom inspection ", in central control module (1)
Control under be positioned at unmanned plane hangar (12) unmanned plane (8) start, subsequently into the S4 stage；
3) the S3 stage of flight landing is determined whether: in this stage, according to control tower signal, voluntarily
Control program in formula robot (4) will determine that whether there is flight landing, if it is judged that be "Yes",
Then enter the S5 stage；Otherwise enter the S6 stage；
4) judge whether to need the S4 stage of charging: in this stage, the control in unmanned plane (8)
Program will judge whether to need charging according to battery electric quantity and backhaul distance, if it is judged that be "Yes",
Then enter the S7 stage；Otherwise enter the S8 stage；
5) in the S5 stage of urgent danger prevention: in this stage, self-propelled robot (4) will search for recently
Lifting type refuge case (7), and control this lifting type refuge case by central control module (1)
(7) being raised on ground, then self-propelled robot (4) enters the lifting type of this lifting and takes refuge
In case (7) and control it by central control module (1) and drop to underground, and fill with robot
Electricity stake (6) connects and is charged, subsequently into the S9 stage；
6) carrying out the S6 stage of face inspection management: in this stage, self-propelled robot (4) will
Travel on runway according to the program set and regulation path, utilize multiple high definitions mounted thereto simultaneously
Photographic head (5) shooting face, road image, road surface damage situation is investigated and FOD patrols,
And utilize built-in image recognition software recorded trace surface damage situation and FOD inspection result, if it find that have
FOD, then remove FOD, and face, the road image after removing FOD is uploaded to central control module (1),
This stage will continue 60 seconds, subsequently into the S10 stage；
7) the S7 stage of unmanned plane charging: in this stage, unmanned plane (8) will be moved into unmanned plane
The position of charging pile (11) is also connected and is charged with charging pile (11), when battery electric quantity reaches 100%
Time, 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 nothing
Man-machine hangar (12) also takes off to proceed by headroom inspection management, simultaneously by central control module (1)
Obtain flight path and the gps coordinate of potential target barrier of headroom inspection management, and by air pressure
Power box cathetometer flies by regulation headroom maximum permissible value, potential by the shooting of multiple high-definition cameras
The image information of target obstacle periphery, is then transferred to central control module (1), and in utilizing it
Image processing software judge that potential target barrier, whether beyond regulation headroom maximum permissible value, then enters
Enter S11 stage inlet；
9) judging the S9 stage whether inspection terminates: in this stage, self-propelled robot (4) will
Instruction according to central control module (1) judges whether face inspection terminates, if it is judged that be "Yes",
Then terminate face inspection process, after urgent danger prevention order fulfillment, otherwise enter the entrance in S6 stage；
10) judge whether to proceed the S10 stage of face inspection management: in this stage, self-propelled
Robot (4) obtains the landing time of nearest flight by central control module (1), and then judgement is
No proceed face inspection management, if it is judged that be "Yes", then entrance the S3 stage entrance,
Otherwise enter the entrance in S5 stage；
11) judge whether to proceed the S11 stage of headroom inspection management: in this stage, unmanned plane
(8) will judge whether headroom inspection terminates according to the instruction of central control module (1), if it is determined that
Result is "No", then terminate headroom inspection process, otherwise return the entrance in S8 stage.
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| 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 |
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| 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 |
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| 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 |
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| JP2000331300A (en) * | 1999-05-24 | 2000-11-30 | Nec Software Kyushu Ltd | Air traffic flow managing system and air traffic flow managing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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