CN106903093B - A kind of autonomous cleaning vehicle of embedded navaid lamps and lanterns and control method - Google Patents
A kind of autonomous cleaning vehicle of embedded navaid lamps and lanterns and control method Download PDFInfo
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- CN106903093B CN106903093B CN201710133249.3A CN201710133249A CN106903093B CN 106903093 B CN106903093 B CN 106903093B CN 201710133249 A CN201710133249 A CN 201710133249A CN 106903093 B CN106903093 B CN 106903093B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 155
- 241001465382 Physalis alkekengi Species 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 28
- 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
- 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
- 241000196324 Embryophyta Species 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 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
- 239000000126 substance Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 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
- 238000004134 energy conservation Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 3
- 239000006210 lotion Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000000356 contaminant Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000243 solution Substances 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
Abstract
A kind of autonomous cleaning vehicle of embedded navaid lamps and lanterns and control method.Cleaning vehicle includes vehicle and the main control computer, display, car body control system and the cleaning device that are installed on vehicle；The autonomous cleaning vehicle of embedded navaid lamps and lanterns provided by the invention and control method have the advantages that in lamps and lanterns cleaning process, either pilot steering or unmanned, and staff's participation amount is few, to greatly reduce the quantity and labor intensity of staff.Dry ice, carbonate etc. can be selected and be used as cleaning agent raw material, secondary slugs and secondary pollution, energy conservation and environmental protection will not be generated in entire cleaning process.Carrier of the robot as cleaning sprayer is selected, the washing and cleaning operation task of all light outlets of lamps and lanterns can be completed, cleaning speed is fast, high-efficient.In addition, the embedded autonomous cleaning vehicle of navaid lamps and lanterns can work under high temperature and severe cold environment, suspending time can be largely reduced, improves Airport Operation efficiency.
Description
Technical field
The invention belongs to civil aviaton's special equipment technical fields, more particularly to a kind of embedded autonomous cleaning vehicle of navaid lamps and lanterns
And control method.
Background technique
Airfield aid light be mainly used for vector aircraft into it is close, land, slide, take off, therefore have to its luminous intensity
There is strict demand.Wherein a fairly large number of recessed light fixture due to by wheel friction, dust dirt deposition etc. being influenced, lamp
Tool light outlets are always contaminated, so that lamp luminescence intensity be caused to decline, can also cause illusion when serious to pilot, as a result
Influence flight safety.Therefore, it is necessary to periodically be cleaned to light outlets.At present, cleaning way has artificial cleaning and semi-autonomous clear
Wash two kinds.When artificial cleaning, airport employe is driven by the vehicle to lamps and lanterns for loading cleaning device, then holds cleaning sprayer
Alignment light outlets are cleaned, it is clear that it is slow that this cleaning way has cleaning bad environments, waste of human resource, cleaning speed
Slowly, inefficiency, occupy the runway time it is long the problems such as.When semi-autonomous cleaning, staff drives lamps and lanterns cleaning vehicle, right in vehicle
Cleaning probe is manipulated, and cleans it to positive lamp luminescence mouth, or is cleaned probe automatic alignment light outlets and carried out
Cleaning.When selecting semi-autonomous cleaning way, cleaning sprayer motion carrier selects the stauros of horizontal and vertical two freedom of motion
Structure or mechanical arm configuration of connecting.When selecting cross structure, when deviation occurs in pilot steering, cleaning sprayer then can not be from just facing
Positive light outlets, cause cleaning solution to waste, and cleaning effect is undesirable.In addition, cleaning sprayer horizontal and vertical can only move along a straight line, no
It is able to rotate, the light outlets of lamps and lanterns side can only be cleaned every time, cleaning speed is slow, inefficiency.Select mechanical arm configuration of connecting
When, there are accumulated errors greatly, controls the problems such as precision is low.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of autonomous cleaning vehicle of embedded navaid lamps and lanterns and controls
Method processed.
In order to achieve the above object, the embedded autonomous cleaning vehicle of navaid lamps and lanterns provided by the invention 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
At, and opening is formed in the middle part of the chassis in compartment；
Cleaning device includes cleaning sprayer motion carrier unit and cleaning equipment unit；The cleaning sprayer motion carrier
Unit includes robot, lifting device, robot controller and image collecting device；Lifting device is arranged in the chassis in compartment
Portion surface which is provided with two lifting supports, two top limiting devices, two lower limit devices, two sliding blocks and Liang Tai
Lifting motor；The lower end of two lifting supports is separately fixed on the outside of the left and right edges of compartment upper opening, two top limit dresses
Set the top and the bottom that two lifting supports are separately mounted to two lower limit devices, side of two sliding blocks can move up and down
Formula is located at the middle part of two lifting supports, and two lifting motors are separately mounted to the upper end of two lifting supports, and are able to drive
Sliding block carries out elevating movement on lifting support；The top two sides position of robot is connected on two sliding blocks, therefore under
Portion can reach vehicle exterior by the opening on compartment under the drive of sliding block or retract to interior；Robot control
Device is arranged in driver's cabin；Image collecting device is mounted on the lower end of robot, and image collecting device, robot and lifting
Motor is electrically connected with robot controller；
The cleaning equipment unit includes cleaning equipment controller, cleaning agent storage device, cleaning agent dispenser, sky
Air pressure compression apparatus, filter device, drying device, pipe, mixing arrangement, injection apparatus, air transport device, cleaning sprayer, storage
Water installations, water delivery device, adjustment mechanism for valve, range unit, power supply unit；Wherein cleaning agent storage device, cleaning agent dispatching
Device, air compression plant, filter device, drying device, mixing arrangement, injection apparatus, air transport device, water storage device,
Water delivery device and adjustment mechanism for valve are arranged in the chassis posterior face in compartment, cleaning agent storage device by pipeline successively and clearly
Lotion dispenser is connected with mixing arrangement；Air compression plant by pipeline successively with filter device, 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
It connects；Cleaning sprayer, range unit are installed in robot lower end；Injection apparatus is mounted on mixing arrangement exit, and passes through
Pipe connects with cleaning sprayer；Cleaning equipment controller be 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；The chassis in compartment is arranged in power supply unit
Anterior face, for powering for electrical component each in cleaning equipment unit；
The car body control system includes body movement controller, positioning device, front image acquisition device and bottom
Image collecting device；Wherein positioning device is mounted on the top in compartment, and front image acquisition device is mounted on headstock front, bottom
Image collecting device is mounted on the bottom surface in compartment；Body movement controller is arranged in driver's cabin, for controlling turning for vehicle
It is electrically connected to mechanism and driving mechanism, and with positioning device, front image acquisition device and bottom image collecting device；
The main control computer and display is arranged in driver's cabin, and main control computer respectively with display,
Body movement controller, robot controller and the electrical connection of cleaning equipment controller.
The embedded autonomous cleaning vehicle of navaid lamps and lanterns further includes one and is arranged in driver's cabin and and main control computer
The communication device of electrical connection.
The robot uses parallel institution.
The display is LED display, is used for display operation control interface information and real-time lamp position Dynamic Graph
As information.
The range unit and cleaning sprayer is mounted in robot in a neighboring manner.
The control method of embedded navaid lamps and lanterns cleaning vehicle provided by the invention includes the following steps carried out in order:
1) airport employe starts vehicle, opens main control computer, and carry out model selection over the display；
2) mode for judging selection, when selection be pilot steering mode when, enter step 3), what it is when selection is independently to drive
It is entered step 6) when sailing mode；
3) airport employe drives vehicle and drives towards lamps and lanterns direction to be cleaned；
4) in vehicle travel process, using bottom image collecting device real-time image acquisition information, it is then transferred to vehicle
Body motion controller, body movement controller send main control computer to again, and in display under the control of main control computer
On shown；Judge whether lamps and lanterns in acquired image are located at the middle section of display by staff, if so, into
Step 5), otherwise return step 3)；
5) staff stops vehicle, subsequently into step 12).
6) autonomous driving mode, staff input the number of lamps and lanterns to be cleaned over the display；
7) data for utilizing vehicle body controller real-time reception positioning device control vehicle by corresponding control algolithm and drive towards lamp
Tool；
8) judge whether front image acquisition device detects lamps and lanterns, if so, enter step 9), otherwise return step 7)；
9) vehicle body controller utilizes the data of the collected lamps and lanterns of front image acquisition device, using vision guided navigation as auxiliary
Navigation, it is common that vehicle is guided to drive towards lamps and lanterns；
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 lamps and lanterns are located at the work of cleaning device by main control computer later
In range, if so, enter step 11), otherwise return step 9)；
11) it is automatically stopped vehicle；
12) two lifting motor rotations on robot controller control lifting device, thus with movable slider in lifting support
Thus upper slide downward drops to robot at lower limit device；
13) image information of image acquisition device lamps and lanterns is utilized, and passes to robot controller, then robot
Controller sends main control computer to again, is handled by main control computer image, calculates number and the position of light outlets
Information, subsequently into step 14)；
14) robot controller receives number, the location information that main control computer calculates, control robot end's fortune
It is dynamic, make cleaning sprayer to positive lamp luminescence mouth；
15) distance using range unit detection lamp luminescence mouth apart from cleaning sprayer, and send cleaning equipment control to
Device；
16) 17) substance that judgement enters mixing arrangement is entered step when needing compressed air to enter mixing arrangement, no
Then, it enters step 18)；
17) under the control of cleaning equipment controller, cleaning agent dispenser will store clear 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
It attaches together and sets, subsequently into step 19)；
18) under the control of cleaning equipment controller, cleaning agent dispenser will store clear in cleaning agent storage device
Lotion raw material quantitative is supplied to mixing arrangement；At the same time, water delivery device is opened, is passed through the water in water storage device by water delivery device
Adjustment mechanism for valve is supplied to mixing arrangement；
19) injection apparatus is opened, injecting time is controlled；
20) lamp luminescence mouth is cleaned using cleaning agent and compressed air or cleaning agent and water；
21) using the lamps and lanterns 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 mouth stain size by corresponding algorithm, and with
Lamps and lanterns image before cleaning compares, and then judges whether that cleaning is qualified, if so, enter step 22), otherwise return step
19)；
22) judge whether to have cleaned all light outlets, if so, entering step 23), otherwise enter step 19)；
23) cleaning terminates, and moves to next lamps and lanterns and is cleaned.
The autonomous cleaning vehicle of embedded navaid lamps and lanterns provided by the invention and control method have the advantages that
In lamps and lanterns cleaning process, either pilot steering or unmanned, staff's participation amount is few, thus significantly
Reduce the quantity and labor intensity of staff.Dry ice, carbonate etc. can be selected and be used as cleaning agent raw material, cleaned entirely
Cheng Buhui generates secondary slugs and secondary pollution, energy conservation and environmental protection.Carrier of the robot as cleaning sprayer is selected, one can be completed
The washing and cleaning operation task of a all light outlets of lamps and lanterns, cleaning speed are fast, high-efficient.In addition, the embedded navaid lamps and lanterns are independently clear
Carwash can work under high temperature and severe cold environment, can largely reduce suspending time, improve Airport Operation efficiency.
Detailed description of the invention
Fig. 1 is embedded navaid lamps and lanterns cleaning vehicle main view provided by the invention.
Fig. 2 is embedded navaid lamps and lanterns cleaning vehicle top view provided by the invention.
Fig. 3 is robot position main view in embedded navaid lamps and lanterns cleaning vehicle provided by the invention.
Fig. 4 is section components composition block diagram in embedded navaid lamps and lanterns cleaning vehicle provided by the invention.
Fig. 5 is the control method flow chart of embedded navaid lamps and lanterns cleaning vehicle provided by the invention.
Specific embodiment
In the following with reference to the drawings and specific embodiments to embedded navaid lamps and lanterns cleaning vehicle provided by the invention and control method
It is described in detail.
As shown in Fig. 1-Fig. 4, the embedded autonomous cleaning vehicle of navaid lamps and lanterns provided by the invention 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 29 He of driver's cabin
Compartment 30 is constituted, and is formed with opening in the middle part of the chassis in compartment 30；
Cleaning device includes cleaning sprayer motion carrier unit and cleaning equipment unit；The cleaning sprayer motion carrier
Unit includes robot 6, lifting device 7, robot controller 21 and image collecting device 23；Lifting device 7 is arranged in compartment
30 chassis middle part surface which is provided with two lifting supports, 31, two top limiting device 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 30 upper opening of compartment
On the outside of right hand edge, two top limiting device 8a and two lower limit device 8b are separately mounted to the upper of two lifting supports 31
Lower part, two sliding blocks 26 are located at the middle part of two lifting supports 31 in a manner of it can move up and down, and two lifting motors 35 divide
It is not mounted on the upper end of two lifting supports 31, and is able to drive sliding block 26 and carries out elevating movement on lifting support 31；Machine
The top two sides position of people 6 is connected on two sliding blocks 26, therefore lower part can pass through compartment under the drive of sliding block 26
Opening on 30 reaches 30 outside of compartment or retracts to inside compartment 30；Robot controller 21 is arranged in driver's cabin 29；
Image collecting device 23 is mounted 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；
The cleaning equipment unit includes cleaning equipment controller 22, cleaning agent storage device 11, cleaning agent dispatching dress
It is defeated to set 10, air compression plant 18, filter device 17, drying device 15, pipe 16, mixing arrangement 19, injection apparatus 13, air
Send device 14, cleaning sprayer 24, water storage device 32, water delivery device 33, adjustment mechanism for valve 34, range unit 25, power supply unit
5；Wherein cleaning agent storage device 11, cleaning agent dispenser 10, air compression plant 18, filter device 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 set
Set 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 device 17, drying device 15, air transport device
14, adjustment mechanism for valve 34 and mixing arrangement 19 are connected；Water storage device 32 passes through water delivery device 33 and adjustment mechanism for valve 34
It is connected；Cleaning sprayer 24, range unit 25 are installed in 6 lower end of robot；Injection apparatus 13 is mounted on mixing arrangement 19 and goes out
At mouthful, and connected by pipe 16 with cleaning sprayer 24；Cleaning equipment controller 22 be 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；The chassis anterior face in compartment 30 is arranged in power supply unit 5, for supplying for electrical component each in cleaning equipment unit
Electricity；
The car body control system includes body movement controller 20, positioning device 9,1 and of front image acquisition device
Bottom image collecting device 27；Wherein positioning device 9 is mounted on the top in compartment 30, and front image acquisition device 1 is mounted on vehicle
Head front, bottom image collecting device 27 are mounted on the bottom surface in compartment 30；Body movement controller 20 is arranged in driver's cabin 29
It is interior, for controlling steering mechanism and the driving mechanism of vehicle 28, and with positioning device 9, front image acquisition device 1 and bottom
Image collecting device 27 is electrically connected；
The 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 embedded autonomous cleaning vehicle of navaid lamps and lanterns further includes one and is arranged in driver's cabin 29 and calculates with master control
The communication device 36 that machine 2 is electrically connected.
The robot 6 uses parallel institution.
The display 4 is LED display, is used for display operation control interface information and real-time lamp position Dynamic Graph
As information.
The range unit 25 and cleaning sprayer 24 is mounted in a neighboring manner in robot 6.
Now embedded navaid lamps and lanterns cleaning vehicle application method provided by the invention is described below:
Entire cleaning process can be divided into lamps and lanterns just to positive process and lamps and lanterns accurate contraposition and automatic cleaning process two parts.
Wherein, lamps and lanterns just have unmanned and pilot steering both of which available positive process.
(1) lamps and lanterns are just to just
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 the lamps and lanterns direction running that vehicle 28 is cleaned towards needs, when traveling to 12 top of lamps and lanterns to be cleaned,
The location information for acquiring lamps and lanterns 12 in real time using bottom image collecting device 27, is then transferred to body movement controller 20, vehicle
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 lamps and lanterns 12 appear within the scope of the specific region of display 4, vehicle 28 stops, later in the control of robot controller 21
Under drop to robot 6 at lower limit device 8b by lifting device 7, the lower part of robot 6 leans out compartment 30 at this time
Open outside.
2. unmanned
Airport employe opens main control computer 2, and autonomous cleaning model is selected on display 4, and it is clear to input needs
The lamps and lanterns number washed.The data of 20 receiving positioner 9 of body movement controller obtain self vehicle position information, pass through phase
The driving mechanism for the algorithm control vehicle 28 answered and steering mechanism, so that vehicle 28 is mobile towards 12 direction of lamps and lanterns to be cleaned, when
Lamps and lanterns 12 appear in front image acquisition device 1 within sweep of the eye when, using vision guided navigation as assisting navigation, common guide car
28 mobile towards 12 direction of lamps and lanterns, until bottom image collecting device 27 detects lamps and lanterns 12 in the working range of cleaning device
When, vehicle 28 stops, and robot 6 is made to drop to lower part limit by lifting device 7 under the control of robot controller 21 later
At the device 8b of position, the lower part of robot 6 leans out the open outside in compartment 30 at this time.
(2) lamps and lanterns accurate contraposition and automatic cleaning
The image information of lamps and lanterns 12 is closely acquired 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 handles image, calculates the number of light outlets
And location information, then sending robot controller 21 to, robot controller 21 controls 6 end of robot by corresponding algorithm
It moves, so that a certain light outlets of the cleaning sprayer 24 in robot 6 to positive lamps and lanterns 12.Cleaning equipment controller 22 receives ranging
Range information between the cleaning sprayer 24 detected of device 25 and light outlets controls the make-and-break time of injection apparatus 13, is cleaning
Under the control of device controller 22, cleaning agent raw material quantitative that cleaning agent dispenser 10 will store in cleaning agent storage device 11
It is supplied to mixing arrangement 19；At the same time, compressed air or water are passed through to control 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, which passes through
Filter 17, drier 15 are supplied to by air transport device 14 through adjustment mechanism for valve 34 after carrying out contaminant filter and drying respectively
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 lamps and lanterns 12 by cleaning sprayer 24 and cleans to it, improves
Cleaning efficiency saves 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 having cleaned a light outlets, image is acquired 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, 6 end movement of robot and to be moved to cleaning sprayer 24 next
Light outlets are repeated the above process and are cleaned, until having cleaned all light outlets.
In addition, in the process of cleaning, also using communication device 36 by this cleaning vehicle under the control of main control computer 2
The information such as position, speed, cleaning lamps and lanterns number send monitoring center to, to meet monitoring personnel real time monitoring needs, and can
Receive the remote control instruction from monitoring personnel.
In the cleaning process of practical lamps and lanterns 12, it can choose above pilot steering to lamps and lanterns or on autonomous driving to lamps and lanterns
One of side is combined with autonomous cleaning to complete washing and cleaning operation task.After the completion of washing and cleaning operation, in robot controller
Robot 6 rises at the limiting device 8a of top under 21 control.
As shown in figure 5, the control method of embedded navaid lamps and lanterns cleaning vehicle provided by the invention includes carrying out in order
The following steps:
1) airport employe starts vehicle 28, opens main control computer 2, and model selection is carried out on display 4；
2) mode for judging selection, when selection be pilot steering mode when, enter step 3), what it is when selection is independently to drive
It is entered step 6) when sailing mode；
3) airport employe drives vehicle 28 and drives towards 12 direction of lamps and lanterns to be cleaned；
4) it in 28 driving process of vehicle, using 27 real-time image acquisition information of bottom image collecting device, 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；Judge that whether lamps and lanterns 12 are positioned at the center of display 4 in acquired image by staff
Region, if so, enter step 5), otherwise return step 3)；
5) staff stops vehicle 28, subsequently into step 12).
6) autonomous driving mode, staff input the number of lamps and lanterns 12 to be cleaned on display 4；
7) data for utilizing 20 real-time reception positioning device 9 of vehicle body controller control vehicle 28 by corresponding control algolithm
Drive towards lamps and lanterns 12；
8) judge whether front image acquisition device 1 detects lamps and lanterns 12, if so, enter step 9), otherwise return step
7)；
9) vehicle body controller 20 is made vision guided navigation using the data of the collected lamps and lanterns 12 of front image acquisition device 1
It is common that vehicle 28 is guided to drive towards lamps and lanterns 12 for assisting navigation；
10) 27 real-time image acquisition information of bottom image collecting device 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 lamps and lanterns 12 are located at cleaning by main control computer 2 later
In the working range of device, if so, enter step 11), otherwise return step 9)；
11) it is automatically stopped vehicle 28；
12) robot controller 21 controls two lifting motors 35 on lifting device 7 and rotates, to rise with movable slider 26
Thus slide downward on descending branch column 31 drops to robot 6 at lower limit device 8b；
13) image information of lamps and lanterns 12 is acquired using image collecting device 23, and passes to robot controller 21, then
Robot controller 21 sends main control computer 2 to again, is handled by main control computer 2 image, calculates light outlets
Number and location information, subsequently into step 14)；
14) robot controller 21 receives number, the location information that main control computer 2 calculates, and controls 6 end of robot
Movement, makes cleaning sprayer 24 to positive lamp luminescence mouth；
15) distance of the lamp luminescence mouth apart from cleaning sprayer 24 is detected using range unit 25, and sends cleaning equipment to
Controller 22；
16) 17) substance that judgement enters mixing arrangement 19 is entered step when needing compressed air to enter mixing arrangement,
Otherwise, it enters step 18)；
17) under the control of cleaning equipment controller 22, cleaning agent dispenser 10 will store 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
It sets 34 and is supplied to mixing arrangement 19, subsequently into step 19)；
18) under the control of cleaning equipment controller 22, cleaning agent dispenser 10 will store 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) lamp luminescence mouth is cleaned using cleaning agent and compressed air or cleaning agent and water；
21) using the lamps and lanterns image after the acquisition 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 by corresponding algorithm finds out lamp luminescence mouth stain
It is small, and compared with the lamps and lanterns image before cleaning, then judge whether that cleaning is qualified, if so, entering step 22), otherwise returns
Return step 19)；
22) judge whether to have cleaned all light outlets, if so, entering step 23), otherwise enter step 19)；
23) cleaning terminates, and moves to next lamps and lanterns and is cleaned.
Claims (6)
1. a kind of embedded autonomous cleaning vehicle of navaid lamps and lanterns, it is characterised in that: the embedded autonomous cleaning vehicle of navaid lamps and lanterns
It include: vehicle (28) and the main control computer (2) being mounted on vehicle (28), display (4), car body control system and cleaning dress
It sets；Wherein vehicle (28) is made of driver's cabin (29) and compartment (30), and is formed with opening in the middle part of the chassis of compartment (30)；
Cleaning device includes cleaning sprayer motion carrier unit and cleaning equipment unit；The cleaning sprayer motion carrier unit
Including robot (6), lifting device (7), robot controller (21) and image collecting device (23)；Lifting device (7) setting
Chassis middle part surface in compartment (30) which is provided with two lifting supports (31), two top limiting devices (8a), under two
Portion's limiting device (8b), two sliding block (26) He Liangtai lifting motors (35)；The lower end of two lifting supports (31) is fixed respectively
On the outside of the left and right edges of compartment (30) upper opening, two top limiting devices (8a) and two lower limit devices (8b) are respectively
The top and the bottom of two lifting supports (31) are mounted on, two sliding blocks (26) are located at two lifting branch in a manner of it can move up and down
The middle part of column (31), two lifting motors (35) are separately mounted to the upper end of two lifting supports (31), and are able to drive sliding block
(26) elevating movement is carried out on lifting support (31)；The top two sides position of robot (6) is connected to two sliding blocks
(26) on, thus lower part can pass through under the drive of sliding block (26) opening on compartment (30) reach compartment (30) it is external or
It is internal to retract to compartment (30)；Robot controller (21) setting is in driver's cabin (29)；Image collecting device (23) is mounted on
The lower end of robot (6), and image collecting device (23), robot (6) and lifting motor (35) and robot controller
(21) it is electrically connected；
The cleaning equipment unit includes cleaning equipment controller (22), cleaning agent storage device (11), cleaning agent dispatching dress
Set (10), air compression plant (18), filter device (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), power supply unit (5)；Wherein cleaning agent storage device (11), cleaning agent dispenser (10), air
Compression set (18), filter device (17), drying device (15), mixing arrangement (19), injection apparatus (13), air transport device
(14), the chassis posterior face in compartment (30) is arranged in water storage device (32), water delivery device (33) and adjustment mechanism for valve (34),
Cleaning agent storage device (11) is successively connected with cleaning agent dispenser (10) and mixing arrangement (19) by pipeline；Air pressure
Compression apparatus (18) is successively filled with filter device (17), drying device (15), air transport device (14), valve regulated by pipeline
It sets (34) and mixing arrangement (19) is connected；Water storage device (32) is connected by water delivery device (33) with adjustment mechanism for valve (34)
It connects；Cleaning sprayer (24), range unit (25) are installed in robot (6) lower end；Injection apparatus (13) is mounted on mixing arrangement
(19) exit, and connected by pipe (16) with cleaning sprayer (24)；Cleaning equipment controller (22) is arranged in 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；The chassis anterior face in compartment (30) is arranged in power supply unit (5),
For powering for electrical component each in cleaning equipment unit；
The car body control system includes body movement controller (20), positioning device (9), front image acquisition device (1)
With bottom image collecting device (27)；Wherein positioning device (9) is mounted on the top of compartment (30), front image acquisition device
(1) it is mounted on headstock front, bottom image collecting device (27) is mounted on the bottom surface of compartment (30)；Body movement controller
(20) setting is in driver's cabin (29), for controlling steering mechanism and the driving mechanism of vehicle (28), and and positioning device
(9), front image acquisition device (1) and bottom image collecting device (27) electrical connection；
The main control computer (2) and display (4) is arranged in driver's cabin (29), and main control computer (2) is respectively
It is 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 lamps and lanterns according to claim 1, it is characterised in that: the embedded navaid
The autonomous cleaning vehicle of lamps and lanterns further includes a setting in the communication device that driver's cabin (29) is interior and is electrically connected with main control computer (2)
(36)。
3. the embedded autonomous cleaning vehicle of navaid lamps and lanterns according to claim 1, it is characterised in that: the robot (6)
Using parallel institution.
4. the embedded autonomous cleaning vehicle of navaid lamps and lanterns according to claim 1, it is characterised in that: the display (4)
For LED display, it to be used for display operation control interface information and real-time lamp position dynamic image data.
5. the embedded autonomous cleaning vehicle of navaid lamps and lanterns according to claim 1, it is characterised in that: the range unit
(25) it is mounted on robot (6) in a neighboring manner with cleaning sprayer (24).
6. a kind of control method of the embedded autonomous cleaning vehicle of navaid lamps and lanterns as described in claim 1, it is characterised in that: described
Control method include the following steps carried out in order:
1) airport employe starts vehicle (28), opens main control computer (2), and carry out model selection on display (4)；
2) mode for judging selection, when selection be pilot steering mode when, enter step 3), what it is when selection is autonomous driving mould
It is entered step 6) when formula；
3) airport employe drives vehicle (28) and drives towards lamps and lanterns to be cleaned (12) direction；
4) it in vehicle (28) driving process, using bottom image collecting device (27) real-time image acquisition information, is then transported on
It gives body movement controller (20), body movement controller (20) sends main control computer (2) to again, and in main control computer
(2) it is shown on display (4) under control；Judge whether lamps and lanterns in acquired image (12) are located at by staff
The middle section of display (4), if so, enter step 5), otherwise return step 3)；
5) staff stops vehicle (28), subsequently into step 12)；
6) autonomous driving mode, staff input the number of lamps and lanterns to be cleaned (12) on display (4)；
7) data for utilizing vehicle body controller (20) real-time reception positioning device (9) control vehicle by corresponding control algolithm
(28) lamps and lanterns (12) are driven towards；
8) judge whether front image acquisition device (1) detects lamps and lanterns (12), if so, enter step 9), otherwise return step
7)；
9) vehicle body controller (20) utilizes the data of front image acquisition device (1) collected lamps and lanterns (12), by vision guided navigation
As assisting navigation, vehicle (28) are guided to drive towards lamps and lanterns (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) are passed to by vehicle body controller (20) again, whether lamps and lanterns (12) are judged by main control computer (2) later
In the working range of cleaning device, if so, enter step 11), otherwise return step 9)；
11) vehicle (28) are automatically stopped；
12) upper two lifting motors (35) rotation of robot controller (21) control lifting device (7), thus with movable slider (26)
The slide downward on lifting support (31) thus drops to robot (6) at lower limit device (8b)；
13) using the image information of image collecting device (23) acquisition lamps and lanterns (12), and robot controller (21) are passed to, so
Robot controller (21) sends main control computer (2) to again afterwards, is handled by main control computer (2) image, is calculated
The number and location information of light outlets, subsequently into step 14)；
14) robot controller (21) receives number, the location information that main control computer (2) calculate, control robot (6) end
End motion makes cleaning sprayer (24) to positive lamp luminescence mouth；
15) distance using range unit (25) detection lamp luminescence mouth apart from cleaning sprayer (24), and send cleaning equipment to
Controller (22)；
16) 17) substance that judgement enters mixing arrangement (19) is entered step when needing compressed air to enter mixing arrangement, no
Then, it enters step 18)；
17) under the control of cleaning equipment controller (22), cleaning agent dispenser (10) will be in 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) are opened, and by valve
Regulating device (34) is supplied to mixing arrangement (19), subsequently into step 19)；
18) under the control of cleaning equipment controller (22), cleaning agent dispenser (10) will be in 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) are 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) are opened, controls injecting time；
20) lamp luminescence mouth is cleaned using cleaning agent and compressed air or cleaning agent and water；
21) using the lamps and lanterns image after image collecting device (23) acquisition cleaning, robot controller (21), machine are then transferred to
Device people controller (21) is sent to main control computer (2) again, and main control computer (2) finds out lamp luminescence mouth by corresponding algorithm
Stain size, and compared with the lamps and lanterns image before cleaning, it is qualified then to judge whether cleaning, if so, enter step 22),
Otherwise return step 19)；
22) judge whether to have cleaned all light outlets, if so, entering step 23), otherwise enter step 19)；
23) cleaning terminates, and moves to next lamps and lanterns and is cleaned.
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| TWI632091B (en) * | 2017-08-18 | 2018-08-11 | 國家中山科學研究院 | Motorized anti-corrosion cleaning system |
| CN110549254A (en) * | 2019-09-27 | 2019-12-10 | 北京爱德空港设备工程有限公司 | Integrated navigation aid lamp cleaning and detecting vehicle |
| CN112215145A (en) * | 2020-10-12 | 2021-01-12 | 招商局重庆交通科研设计院有限公司 | Tunnel lighting lamp cleaning effect monitoring method based on image comparison |
| CN112676271A (en) * | 2021-01-21 | 2021-04-20 | 中国民航大学 | Intelligent dry ice cleaning device for embedded navigation aid lamp 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 |