CN104699059B - Remote-control automatic degumming system based on image recognition technology and control method thereof - Google Patents
Remote-control automatic degumming system based on image recognition technology and control method thereof Download PDFInfo
- Publication number
- CN104699059B CN104699059B CN201510096157.3A CN201510096157A CN104699059B CN 104699059 B CN104699059 B CN 104699059B CN 201510096157 A CN201510096157 A CN 201510096157A CN 104699059 B CN104699059 B CN 104699059B
- Authority
- CN
- China
- Prior art keywords
- subsystem
- offset printing
- module
- removing glue
- car
- 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.)
- Expired - Fee Related
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 77
- 238000004140 cleaning Methods 0.000 claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 42
- 239000003292 glue Substances 0.000 claims description 117
- 238000007645 offset printing Methods 0.000 claims description 94
- 239000000084 colloidal system Substances 0.000 claims description 18
- 239000000203 mixture Substances 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000005422 blasting Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a remote-control automatic degumming system based on an image recognition technology and a control method thereof. The system comprises an automatic degumming trolley and a monitor which are connected; the automatic degumming trolley comprises a trolley body and an autonomous navigation subsystem, an offset print identification subsystem, an offset print cleaning sub-system and a wireless communication subsystem; the monitor consists of a wireless communication module and a remote-control monitoring system. The remote-control automatic degumming system provided by the invention has the effects of using a camera to replace human eyes to carry out autonomous navigation and autonomous navigation automatic identification of the automatic degumming trolley, therefore the trolley body is not needed to be provided with a driving cab, the dependency on a driver by a primary degumming trolley can be reduced, the pressure on field workers by existing degumming equipment can be alleviated, the manpower saving can be beneficially realized, and the cost of a vehicle-mounted degumming trolley can be reduced; furthermore, the remote monitoring on a plurality of automatic degumming trolleys by a remote monitoring subsystem can be realized by a wireless communication technology, therefore the efficiency of cleaning up the offset print of a track can be improved.
Description
Technical field
The invention belongs to the tire offset printing clearance technique field in airfield runway touch-down zone, more particularly to a kind of to be based on image
The remote-controlled of technology of identification removes colloid system and control method automatically.
Background technology
With the prosperity and development of aviation transport, the aircraft of landing becomes increasingly intensive on airfield runway, therefore runway
The black offset printing adhered on Lu Qu road surfaces is also increasingly thickened.These black offset printings can reduce the friction between aero tyre and runway
Coefficient, so as to affect takeoff and landing safety, therefore, according to related regulations of rules, when the frictional damping coefficient on runway road surface
During less than 0.5, should just removing glue be carried out to runway.Currently, the glue-removing equipment of domestic and international airfield runway mainly include vehicular or
Person's hand propelled high pressure descaling machine, ground milling machine, Mobile shot-blasting machine etc., the such as GM- of Hefei General Machinery Institute's exploitation
300-J type vehicular airfield runway removing glue cars, Jets Systemer A/S of Britain (Jetting Systems Ltd.) develop
Vehicular removing glue car.It can be seen that, existing glue-removing equipment is required to manually be operated at the scene, i.e. the mobile side of manual control device
To, the artificial black offset printing searched on runway road surface, manually start on vehicle-mounted offset printing cleaning mechanism, manual monitoring glue-removing equipment
Meter reading etc.；Additionally, existing vehicular removing glue car purchases high with cost of use, according to civil aviaton's resource network data display,
Per platform, unit price is about 4,000,000 to the vehicular removing glue car purchased from foreign countries, and uses once the price of the removing glue car 15 to 20 ten thousand.
Under the historical background that AIRLINE ＆ AIRPORT is become increasingly prosperous, this kind equipment due to by people's power restriction and the inefficiency that seems, simultaneously because
It is expensive and be difficult to popularize；And in view of most of airport can by this kind of removing glue job placement at the night of socked-in,
The problems such as so as to cause to operate reverse staff's daily schedule black and white of this kind equipment, work load weight.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of based on the remote-controlled automatic of image recognition technology
Except colloid system and control method.
In order to achieve the above object, the automatic removing glue system of the remote-controlled vehicular based on image recognition technology that the present invention is provided
System includes：Automatic removing glue car and watch-dog two parts, wherein automatic removing glue car is wirelessly connected with watch-dog；From
Dynamic removing glue car includes car body and the independent navigation subsystem on car body, offset printing recognition subsystem, offset printing cleaning subsystem
And radio communication subsystem；Radio communication subsystem is cleared up respectively with independent navigation subsystem, offset printing recognition subsystem and offset printing
Subsystem is connected；
Described independent navigation subsystem, offset printing recognition subsystem and offset printing cleaning subsystem can pass through wireless communication
System realizes data exchange each other；
Watch-dog is the remote control platform of automatic removing glue car, is made up of wireless communication module and remote monitoring subsystem；
Remote monitoring subsystem is connected with wireless communication module, and by the radio communication on wireless communication module and automatic removing glue car
Subsystem realizes wireless connection；
Remote monitoring subsystem is used to show the state of automatic removing glue car, controls the action of automatic removing glue car, and by nothing
Line communication module is entered row information and is exchanged with automatic removing glue car.
Described radio communication subsystem and wireless communication module is GPRS wireless communication modules, described remote monitoring
System is the monitor supervision platform built on a personal computer.
Described independent navigation subsystem by runway graticule identification module, d GPS locating module, electronic-controlled power steering drive module and
Navigation central control module composition, wherein：Navigation central control module respectively with runway graticule identification module, d GPS locating module,
Electronic-controlled power steering drive module is connected with radio communication subsystem；Runway graticule identification module includes being arranged on taking the photograph for car body front end
As head and high rate burst communication chip, wherein photographic head is used to gather such as runway center line marking, runway in the identification region of car body front
The information such as sideline and tire offset printing, the white axis that high rate burst communication chip must be goed off the course using image recognition algorithm, from
Dynamic removing glue car is navigated as object of reference；Electronic-controlled power steering drive module mainly includes on-vehicle battery group, high power motor
And drive mechanism, it is mainly responsible for the actions such as left and right turning of car body and forward-reverse；Navigation central control module is mainly responsible for
The signal of radio communication subsystem and runway graticule identification module is received, the concrete action of electronic-controlled power steering drive module is controlled, together
When the kinematic parameter of current removing glue car automatically is sent to radio communication subsystem；Only when automatic removing glue car is in automatic mode,
D GPS locating module just starts, the work of secondary runway graticule identification module, and independent navigation is realized jointly.
Described offset printing recognition subsystem is made up of offset printing identification module and identification central control module, wherein offset printing identification
Module is connected by recognizing central control module with radio communication subsystem, mainly adopts high rate burst communication chip, its energy
The tire offset printing in the identification region of car body front for enough being gathered to photographic head using image recognition algorithm is identified, and by
Line template comparison technology is estimated to the rubber blanket on concrete material runway road surface；Central control module is known according to offset printing
The offset printing assessment result of other module judges whether to start offset printing cleaning subsystem, while being nothing by identification central control module 1.22
Line communication subsystem, navigation central control module and offset printing cleaning central control module provide offset printing information.
Described offset printing cleaning subsystem is by clearing up motor drive module and offset printing cleaning central control module is constituted；Cleaning
Motor drive module is mainly used in the power output of the mechanism relevant with offset printing cleaning；Offset printing cleaning central control module is obtained immediately
The signal of identification central control module and radio communication subsystem is taken, Comprehensive Control cleaning motor drive module drives corresponding removing glue
Mechanism works.
High rate burst communication chip on described runway graticule identification module and offset printing identification module is schemed using W99713
As process chip, image Parallel Processing chip I MAPCAR2 of Japan NEC and the TM320C6X of American TI Company.
The tool of the remote-controlled control method for being adopted except colloid system automatically based on image recognition technology that the present invention is provided
Body step is as follows：
1st, start the main power of automatic removing glue car and watch-dog, realize the initialization of each hardware in system；It is hardware-initiated just
Often go to step, otherwise buzzer reports an error prompting；
2nd, start remote monitoring subsystem and radio communication subsystem, realize automatic removing glue car and remote monitoring subsystem
Data communication is verified, and data check is errorless to be gone to step, and otherwise remote monitoring subsystem reports an error prompting；Remote monitoring subsystem and nothing
Line communication subsystem once starts continuous service, till manual-lock；
3rd, remote monitoring subsystem sends control instruction to automatic removing glue car, and automatic removing glue car receives these control instructions
After go to step, otherwise point out remote monitoring subsystem resend；
4th, automatic removing glue car performs the control instruction for receiving.
The present invention provide based on the remote-controlled automatically except colloid system and control method have following skill of image recognition technology
Art effect：
1st, replace human eye using photographic head, carry out self-navigation and the offset printing automatic identification of automatic removing glue car, therefore car body
On driver's cabin need not be set, it is to avoid dependence of original removing glue car to driver, alleviate existing glue-removing equipment to work on the spot
The pressure of personnel, contributes to saving manpower, reduces the cost of vehicular removing glue car；
2nd, remote monitoring of the remote monitoring subsystem to the automatic removing glue car of multiple stage is realized using wireless communication technology, is carried
The high efficiency of runway offset printing cleaning.
Description of the drawings
The remote-controlled automatic removing glue block diagram of system based on image recognition technology that Fig. 1 is provided for the present invention.
Fig. 2 removes independent navigation subsystem in colloid system automatically for what the present invention was provided based on the remote-controlled of image recognition technology
Composition frame chart.
Fig. 3 removes offset printing recognition subsystem in colloid system automatically for what the present invention was provided based on the remote-controlled of image recognition technology
Composition frame chart.
Fig. 4 removes offset printing cleaning subsystem in colloid system automatically for what the present invention was provided based on the remote-controlled of image recognition technology
Composition frame chart.
The remote-controlled control method sketch for removing colloid system automatically based on image recognition technology that Fig. 5 is provided for the present invention.
Fig. 6 removes a watch-dog manipulation in colloid system automatically for what the present invention was provided based on the remote-controlled of image recognition technology
Simulation drawing during multiple stage automatic removing glue car.
Specific embodiment
Removed automatically based on the remote-controlled of image recognition technology to what the present invention was provided with specific embodiment below in conjunction with the accompanying drawings
Colloid system and its control method are described in detail.
As shown in figure 1, the present invention provide based on the remote-controlled automatically except colloid system includes removing automatically of image recognition technology
Glue car 1 and the two parts of watch-dog 2, wherein automatic removing glue car 1 is wirelessly connected with watch-dog 2；Automatic removing glue car 1
Independent navigation subsystem 1.1, offset printing recognition subsystem 1.2, offset printing cleaning subsystem 1.3 including car body and on car body
And radio communication subsystem 1.4；Radio communication subsystem 1.4 respectively with independent navigation subsystem 1.1, offset printing recognition subsystem
1.2 are connected with offset printing cleaning subsystem 1.3；
Described independent navigation subsystem 1.1, offset printing recognition subsystem 1.2 and offset printing cleaning subsystem 1.3 can pass through
Radio communication subsystem 1.4 realizes data exchange each other；
Watch-dog 2 is the remote control platform of automatic removing glue car 1, by wireless communication module 2.1 and remote monitoring subsystem
2.2 composition；Remote monitoring subsystem 2.2 is connected with wireless communication module 2.1, and by wireless communication module 2.1 with it is automatic
Radio communication subsystem 1.4 on removing glue car 1 realizes wireless connection；
Remote monitoring subsystem 2.2 is used to show the state of automatic removing glue car 1, controls the action of automatic removing glue car 1, and leads to
Cross wireless communication module 2.1 and enter row information with automatic removing glue car 1 and exchange.
Described radio communication subsystem 1.4 and wireless communication module 2.1 is GPRS wireless communication modules, and described is long-range
Monitor And Control Subsystem 2.2 is the monitor supervision platform built on a personal computer.
As shown in Fig. 2 described independent navigation subsystem 1.1 is by runway graticule identification module 1.11, d GPS locating module
1.12nd, electronic-controlled power steering drive module 1.13 and navigation central control module 1.14 are constituted, wherein：Navigation central control module 1.14
Respectively with runway graticule identification module 1.11, d GPS locating module 1.12, electronic-controlled power steering drive module 1.13 and radio communication subsystem
System 1.4 is connected；Runway graticule identification module 1.11 includes being arranged on the photographic head and high rate burst communication chip of car body front end,
Wherein photographic head is used to gather the information such as runway center line marking, runway sideline and tire offset printing in the identification region of car body front, high
The white axis that fast picture processing chip must be goed off the course using image recognition algorithm, automatic removing glue car 1 enters as object of reference
Row navigation；Wherein high rate burst communication chip using low side such as W99713 picture processing chips, it is high-end such as the figure of Japanese NEC
TM320C6X as parallel processing chip I MAPCAR2 and American TI Company etc.；Electronic-controlled power steering drive module 1.13 mainly includes car
Set of cells, high power motor and drive mechanism are carried, it is mainly responsible for the actions such as left and right turning of car body and forward-reverse；Navigation
Central control module 1.14 is mainly responsible for receiving the signal of radio communication subsystem 1.4 and runway graticule identification module 1.11, control
Brake force turns to the concrete action of drive module 1.13, while sending current removing glue car 1 automatically to radio communication subsystem 1.4
Kinematic parameter；Only when automatic removing glue car 1 is in automatic mode, d GPS locating module 1.12 just starts, the identification of secondary runway graticule
Module 1.1 works, and independent navigation is realized jointly.
As shown in figure 3, described offset printing recognition subsystem 1.2 is by offset printing identification module 1.21 and identification central control module
1.22 compositions, wherein offset printing identification module 1.21 are connected by identification central control module 1.22 with radio communication subsystem 1.4
Connect, mainly adopt high rate burst communication chip, low side such as W99713 picture processing chips, it is high-end such as the image of Japanese NEC
TM320C6X of parallel processing chip I MAPCAR2 and American TI Company etc., it can be adopted using image recognition algorithm to photographic head
Tire offset printing in the car body front identification region of collection is identified, and concrete material is run by online template matching technology
Rubber blanket in road surface is estimated；Offset printing assessment result of the central control module 1.22 according to offset printing identification module 1.21
Judge whether start offset printing cleaning subsystem 1.3, while by identification central control module 1.22 be radio communication subsystem 1.4,
Navigation central control module 1.14 and offset printing cleaning central control module 1.32 provide offset printing information.
As shown in figure 4, described offset printing cleaning subsystem 1.3 is by cleaning motor drive module 1.31 and offset printing cleaning central authorities
Control module 1.32 is constituted；Cleaning motor drive module 1.31 is mainly used in the power output of the mechanism relevant with offset printing cleaning；
Offset printing cleaning central control module 1.32 obtains the letter of identification central control module 1.22 and radio communication subsystem 1.4 immediately
Number, Comprehensive Control cleaning motor drive module 1.31 drives corresponding removing glue mechanism to work.
It is logical with the data of remote monitoring subsystem 2.2 that described radio communication subsystem 1.4 is mainly responsible for automatic removing glue car 1
Letter, these data types include control instruction, state parameter and image information, wherein, control instruction includes automatic removing glue car
Navigation instruction, offset printing identification instruction, removing glue instruction, start and pause instruction, the operation ginseng of for example automatic removing glue car 1 of state parameter
Number, image information refers to the image that automatic removing glue car 1 shoots in current position；By the subsystem, it is possible to achieve automatic removing glue
The remote control function of car 1.
Driver's cabin is not set on the car body of described automatic removing glue car 1, car load relies on driven by power, is led by photographic head
Boat and the lookup of offset printing, equipped with wireless communication system, and are monitored by remote monitoring subsystem 2.2.
The automatic removing glue car 1 has two kinds of mode of operations, i.e. automatic mode and remote control mode.Wherein automatic mode refers to work
Make the order that personnel send automatic running by remote monitoring subsystem 2.2 to automatic removing glue car 1, subsequent removing glue car 1 automatically is certainly
It is dynamic to start displacement, speed and direction that the automatic decision of independent navigation subsystem 1.1 goes out the automatic needs of removing glue car 1, and automatic
A kind of mode of operation of subsystem 1.3 is removed in offset printing recognition subsystem 1.2 and offset printing；Remote control mode refers to that automatic removing glue car 1 connects
Started a kind of mode of operation of corresponding subsystem and functional module by the real time control command of remote monitoring subsystem 2.2.
As shown in figure 5, the remote-controlled automatic control adopted except colloid system based on image recognition technology that the present invention is provided
Method processed is comprised the following steps that：
1st, start the main power of automatic removing glue car 1 and watch-dog 2, realize the initialization of each hardware in system；It is hardware-initiated
Normally go to step 2, otherwise buzzer reports an error prompting；
2nd, start remote monitoring subsystem 2.2 and radio communication subsystem 1.4, realize automatic removing glue car 1 and remote monitoring
The data communication verification of subsystem 2.2, data check is errorless to go to step 3, and otherwise remote monitoring subsystem 2.2 reports an error prompting；Far
Range monitoring subsystem 2.2 and radio communication subsystem 1.4 once start continuous service, till manual-lock；
3rd, remote monitoring subsystem 2.2 sends control instruction to automatic removing glue car 1, and automatic removing glue car 1 receives these controls
4 are gone to step after system instruction, otherwise points out remote monitoring subsystem 2.2 to resend；
4th, automatic removing glue car 1 performs the control instruction for receiving.
Under above-mentioned control method, the different control instructions of remote monitoring subsystem 2.2 are operated in can automatic removing glue car 1
Automatically and under remote control both of which, wherein, when remote monitoring subsystem 2.2 starts the automatic mode of automatic removing glue car 1, automatically
Automatic navigation subsystem 1.1, offset printing recognition subsystem 1.2 and offset printing are cleared up subsystem 1.3 by removing glue car 1, until automatic
Removing glue car 1 stops this mode of operation；When remote monitoring subsystem 2.2 starts the remote control mode of automatic removing glue car 1, remove automatically
Glue car 1 will only start the corresponding subsystem of control instruction, otherwise automatic removing glue car 1 automatic pause instruction.
For different instructions, automatic removing glue car 1 has different actions, specific as follows.
Automatically when removing glue car is arranged to remote control mode, can successively receive and such as give an order：
Pause instruction A1, now the independent navigation subsystem 1.1 of automatic removing glue car 1, offset printing recognition subsystem 1.2, offset printing
Cleaning subsystem 1.3 is in halted state, but radio communication subsystem 1.4 and remote monitoring subsystem 2.2 in normal
Working condition.
The view data that photographic head shoots is sent to channel radio by navigation instruction A2, the central control module 1.14 that now navigates
Letter subsystem 1.4, remote monitoring subsystem 2.2 to be obtained and carry out figure after the view data that radio communication subsystem 1.4 is uploaded in real time
As recovering, operator checks the kinematic parameter such as speed, direction of the automatic removing glue car 1 of reselection after the real time imaging of recovery, remotely
These kinematic parameters are sent to automatic removing glue car 1 by Monitor And Control Subsystem 2.2 again, and automatic removing glue car 1 is according to these kinematic parameter controls
The motion of its own is made, while automatically removing glue car 1 is until receiving other kinematic parameters with the kinematic parameter persistent movement
Only；
Offset printing identification instructs A3, and now automatic removing glue car 1 starts offset printing recognition subsystem 1.2.The subsystem first with
Image recognition algorithm estimates the area ratio of black offset printing on automatic removing glue front side concrete track road surface, and then, offset printing is known
The area ratio is sent to remote monitoring subsystem 2.2 and is shown by small pin for the case system 1.2.Automatically removing glue car 1 can start offset printing identification
The premise of subsystem 1.2 is certain position that automatic removing glue car 1 is on runway.
Subsystem 1.3 is cleared up in offset printing cleaning instruction A4, the now automatic startup of removing glue car 1 offset printing, subsystem controls cleaning
Motor drive module 1.31 drives the work of removing glue mechanism.
Automatically when removing glue car 1 is arranged to automatic mode, pause instruction can only be received from remote monitoring subsystem 2.2, i.e.,
In this mode, the automatic navigation subsystem 1.1 of automatic removing glue car 1, offset printing recognition subsystem 1.2 and offset printing cleaning subsystem
1.3, just can stop when receiving pause instruction.
Automatically when removing glue car 1 is arranged to automatic mode, independent navigation subsystem 1.1 can automatically rely on d GPS locating module
1.12 and machine vision navigated.Wherein, machine vision navigation refers to and recognized and calculated using high rate burst communication chip
The speed and two, direction kinematic parameter of the automatic removing glue car 1 of the axis line position information in the front of removing glue car 1, and then control automatically,
D GPS locating module 1.12 provides rough positional information for automatic removing glue car 1 during being somebody's turn to do, and machine vision navigation is automatic removing glue
Car provides accurate positional information.If working condition of the removing glue car 1 in automatic mode, and offset printing recognition subsystem 1.2 automatically
(ratio can be with offset printing area ratio in unit area during artificial removing glue as mark more than certain ratio for the offset printing area ratio for estimating
It is accurate) when, automatic offset printing at once is cleared up subsystem 1.3 by automatic removing glue car 1, and adjusts independent navigation subsystem 1.1 at once
Kinematic parameter to removing glue kinematic parameter；When automatic removing glue car 1 not offset printing remove working condition when, automatic removing glue car 1 from
Main Navigational Movements parameter is normally travel kinematic parameter；The removing glue kinematic parameter of independent navigation subsystem 1.1 and automatic removing glue car 1
Moving speed in offset printing cleaning work is adapted, and normally travel kinematic parameter is with automatic removing glue car 1 not in offset printing fettler
Moving speed when making is adapted；During independent navigation pattern, automatic removing glue car 1 can only be sailed runway road surface is up, otherwise
Give a warning information.
Fig. 6 removes a watch-dog manipulation in colloid system automatically for what the present invention was provided based on the remote-controlled of image recognition technology
Simulation drawing during multiple stage automatic removing glue car.As shown in fig. 6, watch-dog 2 is located in the office building on airport, the He of runway left side bearing 3
There is the automatic removing glue car 1 of 5 same models between axis 4, it is automatic without arranging between runway right side bearing 5 and axis 4
Removing glue car 1.Wherein each automatic removing glue car 1 has unique regular coding, and this regular coding is by radio communication subsystem 1.4
Held, the automatic removing glue car 1 of multiple stage is made a distinction for remote monitoring subsystem 2.2, therefore, a radio communication subsystem
1.4 data that can only receive a remote monitoring subsystem 2.2, and same remote monitoring subsystem 2.2 can receive multiple
The data that radio communication subsystem 1.4 sends；When 5 automatic removing glue cars 1 in figure are manipulated by a watch-dog 2, it is only necessary to one
Name staff, saves manpower, improves efficiency.
Finally, it is to be more clearly understood from the invention, here makees following statement.
In sum, the control method of the automatic removing glue car in specific embodiment described in this case is in order that in the art
Technical staff be more fully understood the invention, and be not intended to limit the invention with above-described embodiment.It is any without departing from
The technical scheme of the spirit and scope of the invention, or to each system or each part described in embodiment of the present invention content
Alternative, all should cover within the protection domain of the invention patent.
Claims (4)
1. a kind of remote-controlled vehicular based on image recognition technology removes colloid system automatically, and it includes automatic removing glue car (1) and prison
Control device (2) two parts, wherein automatic removing glue car (1) is wirelessly connected with watch-dog (2)；Automatic removing glue car (1)
Independent navigation subsystem (1.1), offset printing recognition subsystem (1.2), offset printing cleaning subsystem including car body and on car body
System (1.3) and radio communication subsystem (1.4)；Radio communication subsystem (1.4) respectively with independent navigation subsystem (1.1), glue
Print recognition subsystem (1.2) is connected with offset printing cleaning subsystem (1.3)；
Described independent navigation subsystem (1.1), offset printing recognition subsystem (1.2) and offset printing cleaning subsystem (1.3) can lead to
Cross radio communication subsystem (1.4) realization data exchange each other；
Watch-dog (2) for automatic removing glue car (1) remote control platform, by wireless communication module (2.1) and remote monitoring subsystem
System (2.2) composition；Remote monitoring subsystem (2.2) is connected with wireless communication module (2.1), and by wireless communication module
(2.1) realize wirelessly being connected with the radio communication subsystem (1.4) on automatic removing glue car (1)；
Remote monitoring subsystem (2.2) for showing the state of automatic removing glue car (1), controlling the action of automatic removing glue car (1), and
Enter row information with automatic removing glue car (1) by wireless communication module (2.1) to exchange；
It is characterized in that：Described independent navigation subsystem (1.1) is by runway graticule identification module (1.11), d GPS locating module
(1.12), electronic-controlled power steering drive module (1.13) and navigation central control module (1.14) composition, wherein：Navigation central authorities control mould
Block (1.14) respectively with runway graticule identification module (1.11), d GPS locating module (1.12), electronic-controlled power steering drive module (1.13)
It is connected with radio communication subsystem (1.4)；Runway graticule identification module (1.11) includes being arranged on the photographic head of car body front end
With high rate burst communication chip, wherein photographic head is used to gather car body front identification region inner track center line, runway sideline and wheel
The information of tire offset printing, the white axis that high rate burst communication chip must be goed off the course using image recognition algorithm, automatic removing glue car
(1) navigated as object of reference；Electronic-controlled power steering drive module (1.13) mainly includes on-vehicle battery group, high power motor
And drive mechanism, the action that its left and right for being mainly responsible for car body is turned with forward-reverse；Navigation central control module (1.14) is main
It is responsible for receiving the signal of radio communication subsystem (1.4) and runway graticule identification module (1.11), control electronic-controlled power steering drives
The concrete action of module (1.13), while sending the motion ginseng of current removing glue car (1) automatically to radio communication subsystem (1.4)
Number；Only when automatic removing glue car (1) is in automatic mode, d GPS locating module (1.12) just starts, secondary runway graticule identification mould
Block (1.1) works, and independent navigation is realized jointly.
2. the remote-controlled vehicular based on image recognition technology according to claim 1 removes colloid system automatically, and its feature exists
In：Described offset printing recognition subsystem (1.2) is made up of offset printing identification module (1.21) and identification central control module (1.22),
Wherein offset printing identification module (1.21) is connected by recognizing central control module (1.22) with radio communication subsystem (1.4),
High rate burst communication chip is mainly adopted, it can utilize the car body front identification region that image recognition algorithm is gathered to photographic head
Interior tire offset printing is identified, and the rubber blanket on concrete material runway road surface is entered by online template matching technology
Row assessment；Central control module (1.22) judges whether to start offset printing according to the offset printing assessment result of offset printing identification module (1.21)
Cleaning subsystem (1.3), while by identification central control module (1.22) be radio communication subsystem (1.4), navigation central authorities control
Molding block (1.14) and offset printing cleaning central control module (1.32) provide offset printing information.
3. the remote-controlled vehicular based on image recognition technology according to claim 1 removes colloid system automatically, and its feature exists
In：Described offset printing cleaning subsystem (1.3) is by cleaning motor drive module (1.31) and offset printing cleaning central control module
(1.32) constitute；Cleaning motor drive module (1.31) is mainly used in the power output of the mechanism relevant with offset printing cleaning；Offset printing
Cleaning central control module (1.32) obtains the letter of identification central control module (1.22) and radio communication subsystem (1.4) immediately
Number, Comprehensive Control cleaning motor drive module (1.31) drives corresponding removing glue mechanism work.
4. the remote-controlled vehicular based on image recognition technology according to claim 1 and 2 removes colloid system, its feature automatically
It is：High rate burst communication chip on described runway graticule identification module (1.11) and offset printing identification module (1.21) is adopted
W99713 picture processing chips, image Parallel Processing chip I MAPCAR2 of Japan NEC and the TM320C6X of American TI Company.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510096157.3A CN104699059B (en) | 2015-03-04 | 2015-03-04 | Remote-control automatic degumming system based on image recognition technology and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510096157.3A CN104699059B (en) | 2015-03-04 | 2015-03-04 | Remote-control automatic degumming system based on image recognition technology and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104699059A CN104699059A (en) | 2015-06-10 |
| CN104699059B true CN104699059B (en) | 2017-04-12 |
Family
ID=53346288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510096157.3A Expired - Fee Related CN104699059B (en) | 2015-03-04 | 2015-03-04 | Remote-control automatic degumming system based on image recognition technology and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104699059B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105887736B (en) * | 2016-04-21 | 2017-05-10 | 中国民航大学 | Automatic airfield runway glue removal system |
| CN111455913A (en) * | 2020-03-18 | 2020-07-28 | 北京华威智远量子科技有限公司 | Rubber cleaning equipment for airport runways |
| CN111942380B (en) * | 2020-08-18 | 2021-10-26 | 安徽锦富清洁有限公司 | Airport runway sweeper capable of identifying airport runway line |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2556260Y (en) * | 2002-06-14 | 2003-06-18 | 合肥华特喷射技术工程有限公司 | Glue-removing machine set for runway of airport |
| CN2776740Y (en) * | 2005-02-01 | 2006-05-03 | 济南萨博特种汽车有限公司 | Airfield gum removing car chassis transmission mechanism |
-
2015
- 2015-03-04 CN CN201510096157.3A patent/CN104699059B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2556260Y (en) * | 2002-06-14 | 2003-06-18 | 合肥华特喷射技术工程有限公司 | Glue-removing machine set for runway of airport |
| CN2776740Y (en) * | 2005-02-01 | 2006-05-03 | 济南萨博特种汽车有限公司 | Airfield gum removing car chassis transmission mechanism |
Non-Patent Citations (4)
| Title |
|---|
| Design of Command and Dispatch System of Airport Support Vehicle;Li-wen Wang.etc;《Automation & Instrumentation》;20100331(第3期);第290-293页 * |
| 基于GPRS网络的飞机除冰液加热监控系统;王立文 等;《测控技术》;20150228;第34卷(第2期);第73-76页 * |
| 机场特种车辆指挥调度系统设计;刘晓琳 等;《自动化与仪表》;20100331(第3期);第1-4节、附图1-5 * |
| 飞机跑道胶痕的自动识别系统设计与实现;刘晓琳 等;《计算机测量与控制》;20141231(第12期);第0-4节、附图1-6 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104699059A (en) | 2015-06-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108622432B (en) | Intelligent take-off and landing and autonomous cruising system of pick up type vehicle-mounted unmanned aerial vehicle | |
| CN101941451B (en) | Intermittent train control system | |
| CN105825713B (en) | The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) | |
| CN103794044B (en) | In conjunction with car networking with the traffic control method of the conversion that relaxes | |
| CN111427041B (en) | Emergency stop system of unmanned vehicle in mining area | |
| CN104699059B (en) | Remote-control automatic degumming system based on image recognition technology and control method thereof | |
| CN106697322A (en) | Automatic abutting system and method for boarding bridge | |
| CN106125766A (en) | A kind of railway line based on unmanned plane patrols and examines monitoring system and method for inspecting | |
| CN106948302A (en) | A kind of unmanned cleaning car | |
| CN107958593B (en) | Traffic monitoring system based on vehicle running track | |
| US20210380280A1 (en) | Method and apparatus for automated de-icing of aircraft | |
| WO2023045760A1 (en) | Automatic train uncoupling robot and system | |
| CN103434352A (en) | Accompanying flight system arranged on land vehicle | |
| CN111402874B (en) | Intelligent steering control system of aircraft tractor based on combination of voice and vision | |
| CN105487092A (en) | Navigation system for airport lounge bridge docking airplane hatch | |
| CN107957726A (en) | Unmanned vehicle navigation system | |
| CN110865638A (en) | Remote control system of unmanned engineering operation equipment | |
| CN203974234U (en) | Double word car formula wide cut code ink jet printing machine | |
| DE102018206520A1 (en) | Method for cleaning vehicle sensors and unmanned aerial vehicle for such a method | |
| CN210982767U (en) | Active responder system for simulating rail transit | |
| CN108688473A (en) | A kind of double source trolley-bus collector control system and control method | |
| CN201965478U (en) | Wireless shunting signal monitoring device for train yards | |
| CN113608454A (en) | Intelligent environmental sanitation sprinkling control method | |
| CN208255718U (en) | One kind intelligently climbing vehicle control | |
| CN106004925A (en) | Bottom detection system for rail transportation means |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |