CN106903093A - A kind of embedded autonomous cleaning Vehicle of navaid light fixture and control method - Google Patents
A kind of embedded autonomous cleaning Vehicle of navaid light fixture and control method Download PDFInfo
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- CN106903093A CN106903093A CN201710133249.3A CN201710133249A CN106903093A CN 106903093 A CN106903093 A CN 106903093A CN 201710133249 A CN201710133249 A CN 201710133249A CN 106903093 A CN106903093 A CN 106903093A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 159
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000012459 cleaning agent Substances 0.000 claims abstract description 48
- 239000002994 raw material Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 41
- 238000002156 mixing Methods 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 34
- 238000002347 injection Methods 0.000 claims description 17
- 239000007924 injection Substances 0.000 claims description 17
- 238000004020 luminiscence type Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 238000001035 drying Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 239000003570 air Substances 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 abstract description 4
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 abstract description 2
- BVKZGUZCCUSVTD-UHFFFAOYSA-L Carbonate Chemical compound [O-]C([O-])=O BVKZGUZCCUSVTD-UHFFFAOYSA-L 0.000 abstract description 2
- 241000237858 Gastropoda Species 0.000 abstract description 2
- 235000011089 carbon dioxide Nutrition 0.000 abstract description 2
- 239000006210 lotion Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/94—Investigating contamination, e.g. dust
-
- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Automation & Control Theory (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
Abstract
A kind of embedded autonomous cleaning Vehicle of navaid light fixture and control method.Cleaning Vehicle includes vehicle and the main control computer on vehicle, display, car body control system and cleaning device；The embedded autonomous cleaning Vehicle of navaid light fixture and control method that the present invention is provided have the following advantages that：In light fixture cleaning process, either pilot steering or unmanned, staff's participation amount is few, so as to greatly reduce the quantity and labour intensity of staff.Dry ice, carbonate etc. be can select as cleaning agent raw material, secondary slugs and secondary pollution, energy-conserving and environment-protective will not be produced in whole cleaning process.From robot as the carrier of cleaning sprayer, a washing and cleaning operation task for all light outlets of light fixture can be completed, cleaning speed is fast, efficiency high.Additionally, the embedded autonomous cleaning Vehicle of navaid light fixture can work under high temperature and severe cold environment, suspending time can be largely reduced, improve Airport Operation efficiency.
Description
Technical field
The invention belongs to civil aviaton's special equipment technical field, more particularly to a kind of embedded autonomous cleaning Vehicle of navaid light fixture
And control method.
Background technology
Airfield aid light be mainly used in vector aircraft enter closely, land, slide, taking off, therefore to its luminous intensity have
There is strict demand.Wherein a fairly large number of recessed light fixture due to being influenceed by reasons such as wheel friction, dust dirt depositions, lamp
Tool light outlets are always contaminated, and so as to cause lamp luminescence intensity to decline, can also cause illusion to pilot when serious, as a result
Influence flight safety.Therefore, it is necessary to periodically be cleaned to light outlets.At present, cleaning way has artificial cleaning clear with semi-autonomous
Wash two kinds.During artificial cleaning, airport employe is driven by vehicle to the light fixture for loading cleaning device, then hand-held cleaning sprayer
Alignment light outlets are cleaned, it is clear that this cleaning way has cleaning bad environments, waste of human resource, cleaning speed and delays
Slowly, inefficiency, take the runway time it is long the problems such as.During semi-autonomous cleaning, staff drives light fixture cleaning Vehicle, right in car
Cleaning probe is manipulated, and it is aligned lamp luminescence mouthful and is cleaned, or clean probe automatic alignment light outlets and carry out
Cleaning.During from semi-autonomous cleaning way, stauros of the cleaning sprayer motion carrier from horizontal and vertical two freedom of motion
Structure or the mechanical arm configuration of series connection.During from cross structure, when deviation occurs in pilot steering, cleaning sprayer then cannot be from just facing
Positive light outlets, cause cleaning fluid to waste, and cleaning performance is undesirable.Additionally, cleaning sprayer horizontal and vertical can only move along a straight line, no
Can rotate, the light outlets of light fixture side can only be cleaned every time, cleaning speed is slow, inefficiency.From the mechanical arm configuration of series connection
When, there are problems that accumulated error is big, control accuracy is low.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of embedded autonomous cleaning Vehicle of navaid light fixture and control
Method processed.
In order to achieve the above object, the embedded autonomous cleaning Vehicle of navaid light fixture that the present invention is provided includes：Vehicle and installation
Main control computer, display, car body control system and cleaning device on vehicle；Wherein vehicle is by driver's cabin and compartment structure
Into, and the chassis middle part in compartment is formed with opening；
Cleaning device includes cleaning sprayer motion carrier unit and cleaning equipment unit；Described cleaning sprayer motion carrier
Unit includes robot, lowering or hoisting gear, robot controller and image collecting device；Lowering or hoisting gear is arranged in the chassis in compartment
Portion surface, which is provided with two lifting supports, two top stopping means, two lower limit devices, two sliding blocks and Liang Tai
Lifting motor；The lower end of two lifting supports is separately fixed at the left and right edges outside of compartment upper shed, two spacing dresses in top
Put and be separately mounted to two top and the bottom of lifting support with two lower limit devices, the side of two sliding blocks that can move up and down
Formula is located at two middle parts of lifting support, and two lifting motors are separately mounted to two upper ends of lifting support, and can drive
Sliding block carries out elevating movement on lifting support；The top both sides position of robot is connected on two sliding blocks, therefore under
Portion under the drive of sliding block by the opening on compartment can reach vehicle exterior or retract to interior；Robot is controlled
Device is arranged in driver's cabin；Image collecting device is arranged on the lower end of robot, and image collecting device, robot and lifting
Motor is electrically connected with robot controller；
Described cleaning equipment unit includes cleaning equipment controller, cleaning agent storage device, cleaning agent dispenser, sky
Air pressure compression apparatus, filter, drying device, pipe, mixing arrangement, injection apparatus, air transport device, cleaning sprayer, storage
Water installations, water delivery device, adjustment mechanism for valve, range unit, electric supply installation；Wherein cleaning agent storage device, cleaning agent dispatching
Device, air compression plant, filter, drying device, mixing arrangement, injection apparatus, air transport device, water storage device,
Water delivery device and adjustment mechanism for valve are arranged on the chassis posterior face in compartment, cleaning agent storage device by pipeline successively with clearly
Lotion dispenser is connected with mixing arrangement；Air compression plant by pipeline successively with filter, drying device, air
Conveying device, adjustment mechanism for valve and mixing arrangement are connected；Water storage device is connected by water delivery device with adjustment mechanism for valve
Connect；Cleaning sprayer, range unit are installed in robot lower end；Injection apparatus is arranged on mixing arrangement exit, and passes through
Pipe connects with cleaning sprayer；Cleaning equipment controller is arranged in driver's cabin, and with range unit, air transport device,
Cleaning agent dispenser, adjustment mechanism for valve, water delivery device, injection apparatus electrical connection；Electric supply installation is arranged on the chassis in compartment
Anterior face, for in cleaning equipment unit each consuming parts power；
Described car body control system includes body movement controller, positioner, front image harvester and bottom
Image collecting device；Wherein positioner is arranged on the top in compartment, and front image harvester is arranged on headstock front portion, bottom
Image collecting device is arranged on the bottom surface in compartment；Body movement controller is arranged in driver's cabin, for controlling turning for vehicle
To mechanism and drive mechanism, and electrically connected with positioner, front image harvester and bottom image collecting device；
Described main control computer and display is arranged in driver's cabin, and main control computer respectively with display,
The electrical connection of body movement controller, robot controller and cleaning equipment controller.
The described embedded autonomous cleaning Vehicle of navaid light fixture is also arranged in driver's cabin and and main control computer including one
The communication device of electrical connection.
Described robot uses parallel institution.
Described display is LED display, for showing operational control interface information and real-time lamp position Dynamic Graph
As information.
Described range unit is arranged in robot in a neighboring manner with cleaning sprayer.
The control method of the embedded navaid light fixture cleaning Vehicle that the present invention is provided includes the following steps for carrying out in order：
1) airport employe starts vehicle, opens main control computer, and carry out model selection over the display；
2) judge the pattern of selection, when selection be pilot steering pattern when, into step 3), when selection is independently to drive
Enter step 6 when sailing pattern)；
3) airport employe drives vehicle and drives towards light fixture direction to be cleaned；
4) in vehicle travel process, using bottom image collecting device real-time image acquisition information, it is then transferred to car
Body motion controller, body movement controller sends main control computer to again, and in display under the control of main control computer
On shown；Whether light fixture is located at the middle section of display in the image collected by staff's judgement, in this way, enters
Step 5), otherwise return to step 3)；
5) staff stops vehicle, subsequently into step 12).
6) autonomous driving pattern, staff is input into the numbering of light fixture to be cleaned over the display；
7) using the data of vehicle body controller real-time reception positioner, vehicle is controlled to drive towards lamp by corresponding control algolithm
Tool；
8) judge whether front image harvester detects light fixture, in this way, into step 9), otherwise return to step 7)；
9) data of the light fixture that vehicle body controller is collected using front image harvester, using vision guided navigation as auxiliary
Navigation, common guiding vehicle drives towards light fixture；
10) bottom image collecting device real-time image acquisition information is utilized, and passes data to vehicle body controller, then
Main control computer is passed to by vehicle body controller again, judges whether light fixture is located at the work of cleaning device by main control computer afterwards
In the range of, in this way, into step 11), otherwise return to step 9)；
11) it is automatically stopped vehicle；
12) two lifting motors are rotated on robot controller control lowering or hoisting gear, so that band movable slider is in lifting support
Upper slide downward, thus drops at lower limit device robot；
13) using the image information of image acquisition device light fixture, and robot controller is passed to, then robot
Controller sends main control computer to again, and image is processed by main control computer, calculates number and the position of light outlets
Information, subsequently into step 14)；
14) robot controller receives number, the positional information that main control computer is calculated, control robot end's fortune
It is dynamic, cleaning sprayer is aligned lamp luminescence mouthful；
15) distance of the lamp luminescence mouthful apart from cleaning sprayer is detected using range unit, and sends cleaning equipment control to
Device；
16) material into mixing arrangement is judged, when needing compressed air to enter mixing arrangement, into step 17), it is no
Then, into step 18)；
17) under the control of cleaning equipment controller, cleaning agent dispenser is clear by what is stored in cleaning agent storage device
Lotion raw material quantitative is supplied to mixing arrangement；At the same time, air transport device is opened, and is supplied to by adjustment mechanism for valve mixed
Attach together and put, subsequently into step 19)；
18) under the control of cleaning equipment controller, cleaning agent dispenser is clear by what is stored in cleaning agent storage device
Lotion raw material quantitative is supplied to mixing arrangement；At the same time, water delivery device is opened, the water in water storage device is passed through by water delivery device
Adjustment mechanism for valve is supplied to mixing arrangement；
19) injection apparatus is opened, injecting time is controlled；
20) using cleaning agent and compressed air or cleaning agent and water cleaning lamp luminescence mouthful；
21) using the light fixture image after image acquisition device cleaning, robot controller, robot are then transferred to
Controller sends main control computer to again, and main control computer finds out lamp luminescence mouthful stain size by corresponding algorithm, and with
Light fixture image before cleaning is contrasted, and then judges whether that cleaning is qualified, in this way, into step 22), otherwise return to step
19)；
22) judge whether to have cleaned all light outlets, in this way, into step 23), otherwise into step 19)；
23) cleaning terminates, and moves to next light fixture and is cleaned.
The embedded autonomous cleaning Vehicle of navaid light fixture and control method that the present invention is provided have the following advantages that：
In light fixture cleaning process, either pilot steering or unmanned, staff's participation amount is few, so that significantly
Reduce the quantity and labour intensity of staff.Dry ice, carbonate etc. be can select as cleaning agent raw material, cleaned entirely
Cheng Buhui produces secondary slugs and secondary pollution, energy-conserving and environment-protective.From robot as the carrier of cleaning sprayer, one can be completed
The washing and cleaning operation task of the individual all light outlets of light fixture, cleaning speed is fast, efficiency high.Additionally, the embedded navaid light fixture is independently clear
Carwash can work under high temperature and severe cold environment, can largely reduce suspending time, improve Airport Operation efficiency.
Brief description of the drawings
The embedded navaid light fixture cleaning Vehicle front view that Fig. 1 is provided for the present invention.
The embedded navaid light fixture cleaning Vehicle top view that Fig. 2 is provided for the present invention.
Robot position front view in the embedded navaid light fixture cleaning Vehicle that Fig. 3 is provided for the present invention.
Section components composition frame chart in the embedded navaid light fixture cleaning Vehicle that Fig. 4 is provided for the present invention.
The control method flow chart of the embedded navaid light fixture cleaning Vehicle that Fig. 5 is provided for the present invention.
Specific embodiment
The embedded navaid light fixture cleaning Vehicle and control method for being provided the present invention with specific embodiment below in conjunction with the accompanying drawings
It is described in detail.
As shown in Fig. 1-Fig. 4, the embedded autonomous cleaning Vehicle of navaid light fixture that the present invention is provided includes：Vehicle 28 and installation
Main control computer 2, display 4, car body control system and cleaning device on vehicle 28；Wherein vehicle 28 is by the He of driver's cabin 29
Compartment 30 is constituted, and the chassis middle part in compartment 30 is formed with opening；
Cleaning device includes cleaning sprayer motion carrier unit and cleaning equipment unit；Described cleaning sprayer motion carrier
Unit includes robot 6, lowering or hoisting gear 7, robot controller 21 and image collecting device 23；Lowering or hoisting gear 7 is arranged on compartment
30 chassis middle part surface, which is provided with the top of two lifting supports 31, two stopping means 8a, two lower limit devices
8b, two sliding blocks 26 and two lifting motors 35；The lower end of two lifting supports 31 is separately fixed at a left side for the upper shed of compartment 30
Right hand edge outside, two top stopping means 8a and two lower limit device 8b are separately mounted to the upper of two lifting supports 31
Bottom, two sliding blocks 26 are located at two middle parts of lifting support 31, two 35 points of lifting motors in the way of it can move up and down
Not An Zhuan two upper ends of lifting support 31, and elevating movement can be carried out on lifting support 31 with movable slider 26；Machine
The top both sides position of people 6 is connected on two sliding blocks 26, therefore bottom can pass through compartment under the drive of sliding block 26
Opening on 30 reaches the outside of compartment 30 or retracts to inside compartment 30；Robot controller 21 is arranged in driver's cabin 29；
Image collecting device 23 is arranged on the lower end of robot 6, and image collecting device 23, robot 6 and lifting motor 35 and machine
Device people controller 21 is electrically connected；
Described cleaning equipment unit includes cleaning equipment controller 22, cleaning agent storage device 11, cleaning agent dispatching dress
Put 10, air compression plant 18, filter 17, drying device 15, pipe 16, mixing arrangement 19, injection apparatus 13, air defeated
Send device 14, cleaning sprayer 24, water storage device 32, water delivery device 33, adjustment mechanism for valve 34, range unit 25, electric supply installation
5；Wherein cleaning agent storage device 11, cleaning agent dispenser 10, air compression plant 18, filter 17, drying device 15,
Mixing arrangement 19, injection apparatus 13, air transport device 14, water storage device 32, water delivery device 33 and adjustment mechanism for valve 34 set
Put the chassis posterior face in compartment 30, cleaning agent storage device 11 by pipeline successively with cleaning agent dispenser 10 and mix
Device 19 is connected；Air compression plant 18 by pipeline successively with filter 17, drying device 15, air transport device
14th, adjustment mechanism for valve 34 and mixing arrangement 19 are connected；Water storage device 32 is by water delivery device 33 and adjustment mechanism for valve 34
It is connected；Cleaning sprayer 24, range unit 25 are installed in the lower end of robot 6；Injection apparatus 13 goes out installed in mixing arrangement 19
At mouthful, and connected with cleaning sprayer 24 by pipe 16；Cleaning equipment controller 22 is arranged in driver's cabin 29, and with survey
Away from device 25, air transport device 14, cleaning agent dispenser 10, adjustment mechanism for valve 34, water delivery device 33, injection apparatus 13
Electrical connection；Electric supply installation 5 is arranged on the chassis anterior face in compartment 30, for being each consuming parts confession in cleaning equipment unit
Electricity；
Described car body control system includes body movement controller 20, positioner 9, the and of front image harvester 1
Bottom image collecting device 27；Wherein positioner 9 is arranged on the top in compartment 30, and front image harvester 1 is arranged on car
Head is anterior, and bottom image collecting device 27 is arranged on the bottom surface in compartment 30；Body movement controller 20 is arranged on driver's cabin 29
It is interior, steering mechanism and drive mechanism for controlling vehicle 28, and with positioner 9, front image harvester 1 and bottom
Image collecting device 27 is electrically connected；
Described main control computer 2 and display 4 is arranged in driver's cabin 29, and main control computer 2 respectively with it is aobvious
Show that device 4, body movement controller 20, robot controller 21 and cleaning equipment controller 22 are electrically connected.
The described embedded autonomous cleaning Vehicle of navaid light fixture is also arranged in driver's cabin 29 including one and is calculated with master control
The communication device 36 of the electrical connection of machine 2.
Described robot 6 uses parallel institution.
Described display 4 is LED display, for showing operational control interface information and real-time lamp position Dynamic Graph
As information.
Described range unit 25 is arranged in robot 6 in a neighboring manner with cleaning sprayer 24.
Now the embedded navaid light fixture cleaning Vehicle application method that the present invention is provided is described below：
Whole cleaning process aligns process and light fixture accurate contraposition and automatic cleaning process two parts at the beginning of being divided into light fixture.
Wherein, process is aligned at the beginning of light fixture has unmanned and pilot steering both of which available.
(1) aligned at the beginning of light fixture
1. pilot steering
Airport employe starts vehicle 28 and opens main control computer 2, and artificial cleaning model is selected on display 4.
Then staff drives vehicle 28 towards the light fixture direction running for needing cleaning, when traveling is to 12 top of light fixture to be cleaned,
Using the positional information of the Real-time Collection light fixture 12 of bottom image collecting device 27, body movement controller 20, car are then transferred to
Body motion controller 20 sends main control computer 2 to again, and is shown on display 4 under the control of main control computer 2；
When light fixture 12 is appeared in the range of the specific region of display 4, vehicle 28 stops, afterwards in the control of robot controller 21
Under robot 6 is dropped at lower limit device 8b by lowering or hoisting gear 7, now the bottom of robot 6 leans out compartment 30
Open outside.
2. it is unmanned
Airport employe opens main control computer 2, and autonomous cleaning model is selected on display 4, and it is clear to be input into needs
The light fixture numbering washed.The data of the receiving positioner 9 of body movement controller 20, obtain self vehicle position information, by phase
The drive mechanism of the algorithm control vehicle 28 answered and steering mechanism so that vehicle 28 is moved towards the direction of light fixture 12 to be cleaned, when
Light fixture 12 appear in front image harvester 1 within sweep of the eye when, using vision guided navigation as assisting navigation, common guide car
28 towards the movement of the direction of light fixture 12, until bottom image collecting device 27 detects light fixture 12 in the working range of cleaning device
When, vehicle 28 stops, and robot 6 is dropped to bottom by lowering or hoisting gear 7 under the control of robot controller 21 afterwards and limits
At the device 8b of position, now the bottom of robot 6 leans out the open outside in compartment 30.
(2) light fixture accurate contraposition and automatic cleaning
The image information of light fixture 12 is closely gathered using image collecting device 23, and sends robot controller 21 to,
Robot controller 21 sends main control computer 2 to, and main control computer 2 is processed image, calculates the number of light outlets
And positional information, then sending robot controller 21 to, robot controller 21 controls the end of robot 6 by corresponding algorithm
Motion so that the cleaning sprayer 24 in robot 6 aligns a certain light outlets of light fixture 12.Cleaning equipment controller 22 receives range finding
Range information between cleaning sprayer 24 that device 25 is detected and light outlets, controls the make-and-break time of injection apparatus 13, in cleaning
Under the control of device controller 22, the cleaning agent raw material quantitative that cleaning agent dispenser 10 will be stored in cleaning agent storage device 11
It is supplied to mixing arrangement 19；At the same time, controlled to be passed through compressed air or water by adjustment mechanism for valve 34 as needed
Mixing arrangement 19；When needing to be passed through compressed air, required compressed air is provided by air compression plant 18, the air passes through
Filter 17, drier 15 are supplied to by air transport device 14 after carrying out contaminant filter and drying respectively through adjustment mechanism for valve 34
Mixing arrangement 19, compressed air will be mixed with cleaning agent raw material in mixing arrangement 19, then be passed through by injection apparatus 13
Pipe 16 is supplied to cleaning sprayer 24, finally sprays to the light outlets of light fixture 12 by cleaning sprayer 24 and it is cleaned, and improves
Cleaning efficiency, saving cleaning raw material；When needing to be passed through water, by water delivery device 33 by the water in water storage device 32 through valve regulated
Device 34 is supplied to mixing arrangement 19, is cleaned；When a light outlets have been cleaned, image is gathered by image collecting device 23
And sending robot controller 21 to, robot controller 21 detects light intensity by corresponding algorithm, to judge whether that cleaning is closed
Lattice.If unqualified, continue to clean, when cleaning qualified, the end movement of robot 6 and to move to cleaning sprayer 24 next
Light outlets, repeat said process and are cleaned, until having cleaned all light outlets.
In addition, in cleaning process, also using communication device 36 by this cleaning Vehicle under the control of main control computer 2
Position, speed, the cleaning information transmission such as light fixture number to Surveillance center, to meet monitoring personnel monitor in real time needs, and can
Receive the remote control instruction from monitoring personnel.
In the cleaning process of actual light fixture 12, pilot steering can be selected to light fixture top or autonomous driving to light fixture
One kind in side, is combined to complete washing and cleaning operation task with autonomous cleaning.After the completion of washing and cleaning operation, in robot controller
Robot 6 is risen at top stopping means 8a under 21 control.
As shown in figure 5, the control method of the embedded navaid light fixture cleaning Vehicle of present invention offer includes what is carried out in order
The following steps：
1) airport employe starts vehicle 28, opens main control computer 2, and in the selection of the enterprising row mode of display 4；
2) judge the pattern of selection, when selection be pilot steering pattern when, into step 3), when selection is independently to drive
Enter step 6 when sailing pattern)；
3) airport employe drives vehicle 28 and drives towards the direction of light fixture 12 to be cleaned；
4) during the traveling of vehicle 28, using the real-time image acquisition information of bottom image collecting device 27, it is then transported on
To body movement controller 20, body movement controller 20 sends main control computer 2 to again, and in the control of main control computer 2
Under shown on display 4；Whether light fixture 12 is positioned at the center of display 4 in judging the image for collecting by staff
Region, in this way, into step 5), otherwise return to step 3)；
5) staff stops vehicle 28, subsequently into step 12).
6) autonomous driving pattern, staff is input into the numbering of light fixture 12 to be cleaned on display 4；
7) using the data of the real-time reception positioner 9 of vehicle body controller 20, vehicle 28 is controlled by corresponding control algolithm
Drive towards light fixture 12；
8) judge whether front image harvester 1 detects light fixture 12, in this way, into step 9), otherwise return to step
7)；
9) data of the light fixture 12 that vehicle body controller 20 is collected using front image harvester 1, vision guided navigation is made
It is assisting navigation, common guiding vehicle 28 drives towards light fixture 12；
10) the real-time image acquisition information of bottom image collecting device 27 is utilized, and passes data to vehicle body controller 20,
Then main control computer 2 is passed to by vehicle body controller 20 again, judges whether light fixture 12 is located at cleaning by main control computer 2 afterwards
In the working range of device, in this way, into step 11), otherwise return to step 9)；
11) it is automatically stopped vehicle 28；
12) two lifting motors 35 are rotated on the control of robot controller 21 lowering or hoisting gear 7, so that band movable slider 26 is rising
Slide downward on descending branch post 31, thus drops at lower limit device 8b robot 6；
13) image information of light fixture 12 is gathered using image collecting device 23, and passes to robot controller 21, then
Robot controller 21 sends main control computer 2 to again, and image is processed by main control computer 2, calculates light outlets
Number and positional information, subsequently into step 14)；
14) robot controller 21 receives number, the positional information that main control computer 2 is calculated, control robot 6 end
Motion, makes cleaning sprayer 24 align lamp luminescence mouthful；
15) distance of the lamp luminescence mouthful apart from cleaning sprayer 24 is detected using range unit 25, and sends cleaning equipment to
Controller 22；
16) material into mixing arrangement 19 is judged, when needing compressed air to enter mixing arrangement, into step 17),
Otherwise, into step 18)；
17) under the control of cleaning equipment controller 22, cleaning agent dispenser 10 will be stored up in cleaning agent storage device 11
The cleaning agent raw material quantitative deposited is supplied to mixing arrangement 19；At the same time, air transport device 14 is opened, and is filled by valve regulated
Put 34 and be supplied to mixing arrangement 19, subsequently into step 19)；
18) under the control of cleaning equipment controller 22, cleaning agent dispenser 10 will be stored up in cleaning agent storage device 11
The cleaning agent raw material quantitative deposited is supplied to mixing arrangement 19；At the same time, water delivery device 33 is opened, by water delivery device 33 by water storage
Water in device 32 is supplied to mixing arrangement 19 through adjustment mechanism for valve 34；
19) injection apparatus 13 is opened, injecting time is controlled；
20) using cleaning agent and compressed air or cleaning agent and water cleaning lamp luminescence mouthful；
21) using the light fixture image after the collection cleaning of image collecting device 23, robot controller 21, machine are then transferred to
Device people controller 21 sends main control computer 2 to again, and it is big that main control computer 2 finds out lamp luminescence mouthful stain by corresponding algorithm
It is small, and contrasted with the light fixture image before cleaning, then judge whether that cleaning is qualified, in this way, into step 22), otherwise return
Return step 19)；
22) judge whether to have cleaned all light outlets, in this way, into step 23), otherwise into step 19)；
23) cleaning terminates, and moves to next light fixture and is cleaned.
Claims (6)
1. a kind of embedded autonomous cleaning Vehicle of navaid light fixture, it is characterised in that：The described embedded autonomous cleaning Vehicle of navaid light fixture
Including：Vehicle (28) and the main control computer (2) on vehicle (28), display (4), car body control system and cleaning dress
Put；Wherein vehicle (28) is made up of driver's cabin (29) and compartment (30), and the chassis middle part of compartment (30) is formed with opening；
Cleaning device includes cleaning sprayer motion carrier unit and cleaning equipment unit；Described cleaning sprayer motion carrier unit
Including robot (6), lowering or hoisting gear (7), robot controller (21) and image collecting device (23)；Lowering or hoisting gear (7) is set
In the chassis middle part surface of compartment (30), two lifting supports (31), two top stopping means (8a) are which is provided with, under two
Portion's stopping means (8b), two sliding blocks (26) and two lifting motors (35)；The lower end of two lifting supports (31) is fixed respectively
In the left and right edges outside of compartment (30) upper shed, two top stopping means (8a) and two lower limit devices (8b) are respectively
Installed in two top and the bottom of lifting support (31), two sliding blocks (26) are located at two in the way of it can move up and down and rise descending branch
The middle part of post (31), two lifting motors (35) are separately mounted to two upper ends of lifting support (31), and can be with movable slider
(26) elevating movement is carried out on lifting support (31)；The top both sides position of robot (6) is connected to two sliding blocks
(26) on, thus bottom can under the drive of sliding block (26) by the opening on compartment (30) reach compartment (30) it is outside or
Retract to compartment (30) internal；Robot controller (21) is arranged in driver's cabin (29)；Image collecting device (23) is arranged on
The lower end of robot (6), and image collecting device (23), robot (6) and lifting motor (35) and robot controller
(21) electrically connect；
Described cleaning equipment unit includes cleaning equipment controller (22), cleaning agent storage device (11), cleaning agent dispatching dress
Put (10), air compression plant (18), filter (17), drying device (15), pipe (16), mixing arrangement (19), injection
Device (13), air transport device (14), cleaning sprayer (24), water storage device (32), water delivery device (33), adjustment mechanism for valve
(34), range unit (25), electric supply installation (5)；Wherein cleaning agent storage device (11), cleaning agent dispenser (10), air
Compression set (18), filter (17), drying device (15), mixing arrangement (19), injection apparatus (13), air transport device
(14), water storage device (32), water delivery device (33) and adjustment mechanism for valve (34) are arranged on the chassis posterior face in compartment (30),
Cleaning agent storage device (11) is connected with cleaning agent dispenser (10) and mixing arrangement (19) successively by pipeline；Air pressure
Compression apparatus (18) are filled with filter (17), drying device (15), air transport device (14), valve regulated successively by pipeline
Put (34) and mixing arrangement (19) is connected；Water storage device (32) is connected by water delivery device (33) with adjustment mechanism for valve (34)
Connect；Cleaning sprayer (24), range unit (25) are installed in robot (6) lower end；Injection apparatus (13) is installed in mixing arrangement
(19) exit, and connected with cleaning sprayer (24) by pipe (16)；Cleaning equipment controller (22) is arranged on driver's cabin
(29) in, and with range unit (25), air transport device (14), cleaning agent dispenser (10), adjustment mechanism for valve
(34), water delivery device (33), injection apparatus (13) electrical connection；Electric supply installation (5) is arranged on the chassis anterior face in compartment (30),
For in cleaning equipment unit each consuming parts power；
Described car body control system includes body movement controller (20), positioner (9), front image harvester (1)
With bottom image collecting device (27)；Wherein positioner (9) is installed in the top of compartment (30), front image harvester
(1) anterior installed in headstock, bottom image collecting device (27) is on the bottom surface of compartment (30)；Body movement controller
(20) it is arranged in driver's cabin (29), steering mechanism and drive mechanism for controlling vehicle (28), and and positioner
(9), front image harvester (1) and bottom image collecting device (27) are electrically connected；
Described main control computer (2) and display (4) is arranged in driver's cabin (29), and main control computer (2) is respectively
Electrically connected with display (4), body movement controller (20), robot controller (21) and cleaning equipment controller (22).
2. the embedded autonomous cleaning Vehicle of navaid light fixture according to claim 1, it is characterised in that：Described embedded navaid
The autonomous cleaning Vehicle of light fixture also includes one and is arranged on the communication device for electrically connecting in driver's cabin (29) and with main control computer (2)
(36)。
3. the embedded autonomous cleaning Vehicle of navaid light fixture according to claim 1, it is characterised in that：Described robot (6)
Using parallel institution.
4. the embedded autonomous cleaning Vehicle of navaid light fixture according to claim 1, it is characterised in that：Described display (4)
It is LED display, for showing operational control interface information and real-time lamp position dynamic image data.
5. the embedded autonomous cleaning Vehicle of navaid light fixture according to claim 1, it is characterised in that：Described range unit
(25) it is arranged in robot (6) in a neighboring manner with cleaning sprayer (24).
6. a kind of control method of embedded navaid light fixture cleaning Vehicle as claimed in claim 1, it is characterised in that：Described control
Method processed includes the following steps for carrying out in order：
1) airport employe starts vehicle (28), opens main control computer (2), and in the enterprising row mode selection of display (4)；
2) judge the pattern of selection, when selection be pilot steering pattern when, into step 3), when selection is autonomous driving mould
Enter step 6 during formula)；
3) airport employe drives vehicle (28) and drives towards light fixture (12) direction to be cleaned；
4) during vehicle (28) traveling, using bottom image collecting device (27) real-time image acquisition information, it is then transported on
Send main control computer (2) to again to body movement controller (20), body movement controller (20), and in main control computer
(2) shown on display (4) under control；Whether light fixture (12) is located in judging the image for collecting by staff
The middle section of display (4), in this way, into step 5), otherwise return to step 3)；
5) staff stops vehicle (28), subsequently into step 12).
6) autonomous driving pattern, staff is input into the numbering of light fixture (12) to be cleaned on display (4)；
7) using the data of vehicle body controller (20) real-time reception positioner (9), vehicle is controlled by corresponding control algolithm
(28) light fixture (12) is driven towards；
8) judge whether front image harvester (1) detects light fixture (12), in this way, into step 9), otherwise return to step
7)；
9) data of the light fixture (12) that vehicle body controller (20) is collected using front image harvester (1), by vision guided navigation
As assisting navigation, vehicle (28) is guided to drive towards light fixture (12) jointly；
10) bottom image collecting device (27) real-time image acquisition information is utilized, and passes data to vehicle body controller (20),
Then main control computer (2) is passed to by vehicle body controller (20) again, whether light fixture (12) is judged by main control computer (2) afterwards
In the working range of cleaning device, in this way, into step 11), otherwise return to step 9)；
11) it is automatically stopped vehicle (28)；
12) robot controller (21) controls upper two lifting motors (35) of lowering or hoisting gear (7) to rotate, so that band movable slider (26)
The slide downward on lifting support (31), thus drops to lower limit device (8b) place by robot (6)；
13) using the image information of image collecting device (23) collection light fixture (12), and robot controller (21) is passed to, so
Robot controller (21) sends main control computer (2) to again afterwards, and image is processed by main control computer (2), calculates
The number and positional information of light outlets, subsequently into step 14)；
14) robot controller (21) receives number, the positional information that main control computer (2) is calculated, control robot (6) end
End motion, makes cleaning sprayer (24) align lamp luminescence mouthful；
15) distance of the lamp luminescence mouthful apart from cleaning sprayer (24) is detected using range unit (25), and sends cleaning equipment to
Controller (22)；
16) material into mixing arrangement (19) is judged, when needing compressed air to enter mixing arrangement, into step 17), it is no
Then, into step 18)；
17) under the control of cleaning equipment controller (22), cleaning agent dispenser (10) is by cleaning agent storage device (11)
The cleaning agent raw material quantitative of storage is supplied to mixing arrangement (19)；At the same time, air transport device (14) is opened, and by valve
Adjusting means (34) is supplied to mixing arrangement (19), subsequently into step 19)；
18) under the control of cleaning equipment controller (22), cleaning agent dispenser (10) is by cleaning agent storage device (11)
The cleaning agent raw material quantitative of storage is supplied to mixing arrangement (19)；At the same time, water delivery device (33) is opened, by water delivery device
(33) water in water storage device (32) is supplied to mixing arrangement (19) through adjustment mechanism for valve (34)；
19) injection apparatus (13) is opened, injecting time is controlled；
20) using cleaning agent and compressed air or cleaning agent and water cleaning lamp luminescence mouthful；
21) using the light fixture image after image collecting device (23) collection cleaning, robot controller (21), machine are then transferred to
Device people controller (21) sends main control computer (2) to again, and main control computer (2) finds out lamp luminescence mouthful by corresponding algorithm
Stain size, and contrasted with the light fixture image before cleaning, then judge whether that cleaning is qualified, in this way, into step 22),
Otherwise return to step 19)；
22) judge whether to have cleaned all light outlets, in this way, into step 23), otherwise into step 19)；
23) cleaning terminates, and moves to next light fixture and is cleaned.
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| CN201710133249.3A CN106903093B (en) | 2017-03-08 | 2017-03-08 | A kind of autonomous cleaning vehicle of embedded navaid lamps and lanterns and control method |
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| CN201710133249.3A CN106903093B (en) | 2017-03-08 | 2017-03-08 | A kind of autonomous cleaning vehicle of embedded navaid lamps and lanterns and control method |
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Application publication date: 20170630 Assignee: TIANJIN JIUYUE TECHNOLOGY Co.,Ltd. Assignor: CIVIL AVIATION University OF CHINA Contract record no.: X2024980002388 Denomination of invention: An embedded navigation light fixture autonomous cleaning vehicle and its control method Granted publication date: 20190405 License type: Common License Record date: 20240301 |
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