CN107422390A - A kind of airfield pavement foreign body intelligent detecting and purging system - Google Patents
A kind of airfield pavement foreign body intelligent detecting and purging system Download PDFInfo
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- CN107422390A CN107422390A CN201710501043.1A CN201710501043A CN107422390A CN 107422390 A CN107422390 A CN 107422390A CN 201710501043 A CN201710501043 A CN 201710501043A CN 107422390 A CN107422390 A CN 107422390A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S2013/916—Airport surface monitoring [ASDE]
Abstract
A kind of airfield pavement foreign body intelligent detecting and purging system, including remote control unit, wheeled FOD sniffing robots and sweeping robot, the FOD that two chaptrel formula FOD sniffing robots are used on concurrent collaborative detection airfield pavement, and FOD alarms are sent with location information signal to remote control unit after detecting；Remote control unit is used to receiving and show the alarm that wheeled FOD sniffing robots send and location information, the running orbit for controlling two chaptrel formula FOD sniffing robots, for controlling wheeled FOD sweeping robots to be moved to anchor point, and there is real-time monitoring and control, and Remote intervention can be carried out by near-end in the case where distally there are abnormal conditions；Wheeled FOD sniffing robots carry out cleaning task for being automatically moved to anchor point according to the FOD location informations of remote control unit offer.The system can easily realize that detection is combined with the automation cleaned, can ensure that flight support safety, lift airport safeguard level.
Description
Technical field
The present invention relates to the object detection in field of image recognition and identification technology field, and in particular to a kind of airfield pavement
Foreign body intelligence detects and purging system.
Background technology
Airfield runway foreign matter FOD airfield pavement foreign bodies (FOD)：Foreign Object Debris abbreviation, refers to any
It is not belonging to airport but appears in Airport Operation region and airport may be caused damage or the hurtful foreign substances of aircraft.
Airfield pavement foreign body can be divided mainly into " three major types "：First, metal class exotic.The main riveting to be come off including aircraft, vehicle etc.
The parts such as nail, bolt, and the material such as ammunition fragment for being scattered of ground target training；Second, sandstone class exotic.Mainly road face
Under the immixture of external active force and weathering, gravel that pavement slab comes off etc. minces；Third, software class exotic.It is main
If fall the spoils such as the flying bird on road face, bat caused by bird repellent works.FOD if there is in Flying Area in Airport,
Will serious threat airport flight safety, especially take off, the critical stage such as land is easier to damage airborne vehicle, in some instances it may even be possible to
Cause the major accident of fatal crass.Therefore, quick, the round-the-clock detection identification to airfield pavement foreign body becomes particularly significant.
In the detection system of common airfield pavement foreign body, there are two kinds of typical methods of operation, i.e., it is fixed and portable.
External most representational fixed road face foreign body monitoring system includes：The Tarsier (tarsier) of Britain, with
FODetect, tri- kinds of the Singapore iFerrer of color row.
The Tarsier systems of Britain also known as tarsier are systems relatively more ripe at present, are ground by QinetiQ companies
Hair, renewal is currently further improved, the FOD detection instruments utilized are continuous wave frequency radar, and working frequency exists
94.5GHz.The Tarsier systems in generation are updated on the basis of millimetre-wave radar has been used, and add visible ray and infrared lamp again
Whether optical camera equipment, monitoring personnel can observe FOD targets that Tarsier system identifications go out by video monitoring equipment
Correct and deal with, feature includes that detection range is long, wave beam is narrow and high resolution, but the system is still without departing from manually sentencing
This patterns of disconnected FOD, and more than 20mm targets can only be identified, it is that international civil airport installs most FOD detection alarms systems
System.
The FODetect systems of Xsight companies of Israel exploitation, on the runway edge lights of diverse location, have multiple
SDU (road face monitoring unit), is made up of 77GHz millimetre-wave radars and picture pick-up device.Small product size is smaller, multiple monitoring unit
The whole runway Surface of synergic monitoring, can complete single pass in 30s, and transmit data to central processing center,
FOD position is locked by sensor in result, prompts staff to carry out cleaning work, but the system needs staff
FOD is further confirmed that to scene, FODetect systems can effectively avoid light due to the particularity of installation site
Influenceing, easily influenceed by working environment such as high wind etc., greasy dirt corrodes seriously, while sub- detector is in large scale, the exploitation of system,
Maintenance cost is higher.
The Scratech companies of Singapore have developed IFerret intelligent videos FOD using Modern digital image identification technology
Detecting system, a video camera with high-resolution function, image processing software pin are installed at a certain distance on runway
Illumination and pavement conditions to change adjust, and the alien material on the runway of autoprobing machine field, IFerret systems can detect different
Thing size is 20mm.Camera system can with the shooting airfield runway of whole day 24 hours to obtain target, its two parts collection image and
Processing image is separation, so makes image data amount larger, and complex disposal process, the requirement to image recognition algorithm is higher,
And by illumination effect, reduce detection efficiency.
The portable road face foreign body detecting technology for seeing document report at present only has FOD Finder systems.FOD Finder
System is a set of mobile monitoring system developed by Trex Enterprises companies of the U.S., may be mounted at the roof of vehicle.
System is made up of monitoring system and daemon software processing system, and monitoring system uses 78-81GHz millimetre-wave radars, high-precision
The GPS positioning system and camera system of degree, radar scanning speed is 30 times/min, radius of investigation 200m, mounted in the one of roof
In individual radome；Camera system is also loaded on roof, for tracking found FOD；GPS positioning device is used to lock search coverage
With sign FOD geographical position, in addition, this high-precision GPS positioning device can also be applied in differential technique calibration field
Other GPS devices.FOD Finder system advantages are that resolution ratio is higher, can in time dispose and find that more than 20mm road face is different
Thing；Shortcoming is that face foreign matter can monitor discovery automatically, but needs artificial interpretation, manual cleaning.
Intelligent robot refer to it is a kind of programmable and multi-functional, for materials hauling, part, instrument operation machine；Or
It is that there is the specialized system that can change and may be programmed action in order to perform different tasks.The evaluation criterion bag of robot capability
Include：Intelligence, refer to sensation and perceive, including memory, computing, compare, differentiate, judging, decision-making, study and reasoning from logic etc.；Function,
Refer to flexibility, versatility or space occupying etc.；Physical energy, refer to power, speed, continuous service ability, reliability, combination property, longevity
Life etc..
In intelligent robot application aspect, external related research institutes and enterprise are proposed are available for researching and developing one after another
Robot platform.Such as the Willow Garage companies in the U.S. were proposed PR2 robot operating systems in 2009, except
Carry outside laser radar, touch sensor and inertial sensor, be also equipped with binocular vision navigation system and a structure light
The projector, identification and analysis of the technology completion of active vision measurement to target object can be relied on.Vision sensor is composition
One of most important sensor of robot, it is that intelligent robot perceives the most important source of world around information.For moving machine
Vision system on device people, its main target are allowed the robot to as human vision nervous system with intelligent and flexible
Mode is made a response to the environment of surrounding, and can be combined certain application target and be completed specific task.The ITALK in Europe
The humanoid robot iCub of funded projects just can carry out independent navigation by identifying the optical target on ground, its intelligence carried
New object can be learnt and recognize as the mankind by changing vision system.
The research of China's intelligent robot and application aspect, especially it is widely used in fields such as space probation, industry manufactures.
The Water robots that Beijing Information Science ＆ Technology University Automation Institute is developed, can quickly, stably by the full-view camera of carrying
Identification around information.Shanghai Communications University is successfully developed except height intellectuality welding robot, can be manufactured in industry
In it is autonomous complete weld task, substantially increase production efficiency." octopus is chivalrous " Hexapod Robot of Shanghai Communications University's research and development can
To complete the transfer task of the goods and materials under MODEL OVER COMPLEX TOPOGRAPHY.It is under the jurisdiction of Shenyang of the Chinese Academy of Sciences newly loose robot automation's share
Co., Ltd, be one using the exclusive technology of robot as core, be directed on the high-tech of the high-end equipment manufacturing of digital intelligent
Enterprise of city.The said firm is directed to Academic Research Requirements, based on wheeled, crawler type outdoor mobile robot, vision of arranging in pairs or groups,
Self-positioning class detects class sensor, there is provided various system expansion interfaces and application, and there is outstanding cross-country power and round-the-clock work
Make ability, can be that the popularization and application of the present invention provide the foundation.
On the minimum dimension for the metal class foreign matter that can result in aircraft damage, there is presently no more authoritative research knot
By.By investigating and arranging the situation of more than ten of airfield pavement foreign body, in addition to tiny sandstone, the size of remaining foreign matter is all 5
It is more than millimeter.According to the data collected, current foreign countries have passed through the certification airfield pavement of FAA (Federal Aviation management board)
Monitoring foreign bodies technology, can detect identification minimum foreign matter be 20 millimeters, differed with some current demands in particular cases compared with
Far.
In summary, currently without the special skill of airfield pavement foreign body of the automatic detection identification equivalent diameter less than 20 millimeters
Art；Not integrated airfield pavement foreign body detection is with removing special technology and equipment with one；It is not equipped with carrying out airfield pavement
Foreign bodies detection is with removing the robot technology being combined, and then existing technology is limited to the degree of protection of aerodrome flight safety,
In addition, actually detected with still larger to the degree of dependence of airfield support personnel in cleaning process, and then make support personnel's
Work load is larger.In addition,
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of airfield pavement foreign body intelligent detecting with cleaning system
System, the system integration foreign bodies detection are integrated with cleaning, can easily be realized that detection is combined with the automation cleaned, can be reduced
The labor intensity of airfield support personnel, it is ensured that flight support safety, lift airport safeguard level.
To achieve these goals, the present invention provides a kind of airfield pavement foreign body intelligent detecting and purging system, including remote
Process control unit, two wheeled FOD sniffing robots and at least one wheeled FOD sweeping robots,
The FOD that two chaptrel formula FOD sniffing robots are used on concurrent collaborative detection airfield pavement, and after FOD is detected
FOD alarms are sent with location information signal to remote control unit；
Remote control unit is used to receiving and show the alarm that wheeled FOD sniffing robots send and location information, is used for
Control the running orbit of two chaptrel formula FOD sniffing robots, for controlling wheeled FOD sweeping robots to be moved to anchor point, and
With real-time monitoring and control, and under distally there are abnormal conditions can by the control of near-end operating personnel under carry out Remote
Intervention；
Wheeled FOD sniffing robots are used to be automatically moved to positioning according to the FOD location informations that remote control unit provides
Point carries out cleaning task；
The wheeled FOD sniffing robots include wheeled robot platform one, FOD intelligent detectings system, controlled in wireless with
Data transmission unit one, GPS positioning unit, processor one and power supply unit one, wherein wheeled robot platform one are used to carry
FOD intelligent detectings system, controlled in wireless and data transmission unit one, GPS positioning unit and power supply unit one, FOD intelligent detectings
System is by radar scanning FOD intelligent detectings system, infrared scan FOD intelligent detectings system, Vis scan detection and record
Member one and processor one form, and radar scanning FOD intelligent detectings system and infrared scan FOD intelligent detecting systems are respectively used to visit
Survey different types of FOD and result of detection is sent to processor one；Vis scan detects to be used to scan with recording unit one
Detection FOD simultaneously records detect operation process and generates cleaning archives in real time；The processor one is used to receive GPS positioning unit
Location information data, for receiving the radar detection signal from radar scanning FOD intelligent detecting systems, receiving and sweep from infrared
Retouch the detectable signal of FOD intelligent detecting systems, receive from detectable signal of the Vis scan detection with recording unit one and spy
The digital image data of operation process and the cleaning archives of generation are surveyed, and by wireless after being analyzed and processed to received data
Control sends FOD alarms and location information signal with data transmission unit one to remote control unit；Controlled in wireless passes with data
Defeated unit one is used for the data with entering row data communication in remote control unit, for establishing two chaptrel formula FOD sniffing robots
Communicate, for the location information data of GPS positioning unit to be sent into wheeled FOD sweeping robots；Power supply unit one, with it is corresponding
Wheeled robot platform, controlled in wireless and data transmission unit one, GPS positioning unit and FOD intelligent detectings system connection, with
For providing electric power；
Wheeled FOD sweeping robots include wheeled robot platform two, FOD positioning signal receptions unit, Vis scan
Detection and recording unit two, controlled in wireless and data transmission unit two, cleaning execution unit, power supply unit two and processor three,
Wherein wheeled robot platform two is used to carry FOD positioning signal receptions unit, Vis scan detection and recording unit two, nothing
Line traffic control and data transmission unit two, cleaning execution unit, power supply unit two and processor three；FOD positioning signal reception units
For receiving the FOD location information data sent from controlled in wireless and data transmission unit one, and received data is sent
Analyzed and processed to processor three；Controlled in wireless is used to receive the control from remote control unit with data transmission unit two
Signal and the running orbit for controlling wheeled robot platform two；Vis scan detects is used for scanning probe with recording unit two
FOD simultaneously records detect operation process and generates cleaning archives in real time；Clean the control letter that execution unit is used for reception processing device three
Number to complete cleaning work；Power supply unit two, with corresponding wheeled robot platform two, FOD positioning signal receptions unit, visible
Optical scanning detection is connected with recording unit two, cleaning execution unit, controlled in wireless and data transmission unit two and processor three, with
For providing electric power；
Remote control unit includes data processing module, signal receives and control unit, display and alarm unit, robot
Detection, clean Data Management Unit, controlled in wireless and data transmission unit three；Controlled in wireless is used to divide with data transmission unit three
Do not communicated with controlled in wireless with data transmission unit one and controlled in wireless with data transmission unit two；It is robot probe, clear
Data Management Unit is swept to be used to receive and store the related data of wheeled FOD sniffing robots detect operation process, for storing
The related data of FOD sweeping robot cleaning work processes, for establishing FOD detections and cleaning archives, for real to robot
Existing life-cycle health control, for realizing between multiple FOD sniffing robots and FOD sweeping robots work compound and long-range distant
Control and cleaning work emergency flight control, and can with for near-end operating personnel provide related data transfer and display function；Display
With alarm unit for monitoring and showing the running status of FOD sniffing robots and FOD sweeping robots, for showing that FOD is reported
Alert information and FOD sniffing robots and FOD sweeping robot operation exception information；Signal, which receives to be used to receive with control unit, to be come
Control signal from the input of near-end operator, for carrying out long-range interference control to FOD sniffing robots and FOD sweeping robots
System；Data processing module carries out the analysis of data, processing procedure.
In the technical scheme, 2 chaptrel formula FOD sniffing robots concurrent collaboratives detection airfield pavement FOD, so as to effective
Detection efficient and detection accuracy are improved, meanwhile, detect and send FOD alarms and location information to remote control unit after FOD, separately
Outside, FOD location informations can be also sent to wheeled FOD sweeping robots, wheeled FOD sweeping robots move automatically according to FOD coordinates
Dynamic to perform cleaning task, the setting of remote control unit can be monitored in real time to wheeled FOD detections, sweeping robot, meanwhile,
Also intervention can be remotely controlled in the case of its operation exception.
2 chaptrel formula FOD sniffing robots and the wheeled mutual coordinated of FOD sweeping robots, can meet complete in 30 minutes
Into airfield pavement quick detection with cleaning.The system can solve round the clock, the problem of all-weather field road face foreign matter management and control.Can be significantly
Road face foreign matter management and control precision is improved, reduces floor manager's personnel labor intensity.On the one hand can be to small by wheeled FOD sweeping robots
The airfield pavement foreign body of size (in the range of particle diameter 5-20 millimeters) is detected, identified and cleaned.On the other hand, to the big of discovery
The airfield pavement foreign body of size (more than 20 millimeters of particle diameter) is alarmed by remote control unit, positioned in time, notifies other
Clean equipment or personnel are purged operation, improve the reliability of face guarantee.
Further, the radar scanning FOD intelligent detectings system is by radar antenna, radio-frequency module and signal processing module group
Into radar antenna receives the rf modulated signal from radio-frequency module, and radio-frequency module receives the target echo from radar antenna
Signal, receives the intermediate-freuqncy signal from signal processing module transmitting, and signal processing module is used to receive the mould from radio-frequency module
Intend signal.
Further, it is seen that optical scanning detection is with recording unit one and two respectively by optical imagery module, optical control modules
Formed with near-infrared supplementary lighting module, optical imagery module receives the control instruction from optical control modules zoom, aggregation, near red
Outer supplementary lighting module receives the opening from optical control modules, closing, the control signal of light intensity adjustment, and communication module is used to receive
The data image signal of optical imagery module and the feedback signal of control module.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the structured flowchart of radar scanning probe unit in the present invention；
Fig. 3 is Vis scan detection and the structured flowchart of recording unit in the present invention.
Embodiment
The invention will be further described below.
As shown in Figure 1 to Figure 3, a kind of airfield pavement foreign body intelligent detecting and purging system, including remote control unit, two
Individual wheeled FOD sniffing robots and at least one wheeled FOD sweeping robots,
The FOD that two chaptrel formula FOD sniffing robots are used on concurrent collaborative detection airfield pavement, and after FOD is detected
FOD alarms are sent with location information signal to remote control unit；
Remote control unit is used to receiving and show the alarm that wheeled FOD sniffing robots send and location information, is used for
Control the running orbit of two chaptrel formula FOD sniffing robots, for controlling wheeled FOD sweeping robots to be moved to anchor point, and
With real-time monitoring and control, and under distally there are abnormal conditions can by the control of near-end operating personnel under carry out Remote
Intervention；
Wheeled FOD sniffing robots are used to be automatically moved to positioning according to the FOD location informations that remote control unit provides
Point carries out cleaning task；
The wheeled FOD sniffing robots include wheeled robot platform one, FOD intelligent detectings system, controlled in wireless with
Data transmission unit one, GPS positioning unit, processor one and power supply unit one, wherein wheeled robot platform one are used to carry
FOD intelligent detectings system, controlled in wireless and data transmission unit one, GPS positioning unit and power supply unit one, FOD intelligent detectings
System is by radar scanning FOD intelligent detectings system, infrared scan FOD intelligent detectings system, Vis scan detection and record
Member one and processor one form, and radar scanning FOD intelligent detectings system and infrared scan FOD intelligent detecting systems are respectively used to visit
Survey different types of FOD and result of detection is sent to processor one；Vis scan detects to be used to scan with recording unit one
Detection FOD simultaneously records detect operation process and generates cleaning archives in real time；The processor one is used to receive GPS positioning unit
Location information data, for receiving the radar detection signal from radar scanning FOD intelligent detecting systems, receiving and sweep from infrared
Retouch the detectable signal of FOD intelligent detecting systems, receive from detectable signal of the Vis scan detection with recording unit one and spy
The digital image data of operation process and the cleaning archives of generation are surveyed, and by wireless after being analyzed and processed to received data
Control sends FOD alarms and location information signal with data transmission unit one to remote control unit；Controlled in wireless passes with data
Defeated unit one is used for the data with entering row data communication in remote control unit, for establishing two chaptrel formula FOD sniffing robots
Communicate, for the location information data of GPS positioning unit to be sent into wheeled FOD sweeping robots；Power supply unit one, with it is corresponding
Wheeled robot platform, controlled in wireless and data transmission unit one, GPS positioning unit and FOD intelligent detectings system connection, with
For providing electric power；
Wheeled FOD sweeping robots include wheeled robot platform two, FOD positioning signal receptions unit, Vis scan
Detection and recording unit two, controlled in wireless and data transmission unit two, cleaning execution unit, power supply unit two and processor three,
Wherein wheeled robot platform two is used to carry FOD positioning signal receptions unit, Vis scan detection and recording unit two, nothing
Line traffic control and data transmission unit two, cleaning execution unit, power supply unit two and processor three；FOD positioning signal reception units
For receiving the FOD location information data sent from controlled in wireless and data transmission unit one, and received data is sent
Analyzed and processed to processor three；Controlled in wireless is used to receive the control from remote control unit with data transmission unit two
Signal and the running orbit for controlling wheeled robot platform two；Vis scan detects is used for scanning probe with recording unit two
FOD simultaneously records detect operation process and generates cleaning archives in real time；Clean the control letter that execution unit is used for reception processing device three
Number to complete cleaning work；Power supply unit two, with corresponding wheeled robot platform two, FOD positioning signal receptions unit, visible
Optical scanning detection is connected with recording unit two, cleaning execution unit, controlled in wireless and data transmission unit two and processor three, with
For providing electric power；
Remote control unit includes data processing module, signal receives and control unit, display and alarm unit, robot
Detection, clean Data Management Unit, controlled in wireless and data transmission unit three；Controlled in wireless is used to divide with data transmission unit three
Do not communicated with controlled in wireless with data transmission unit one and controlled in wireless with data transmission unit two；It is robot probe, clear
Data Management Unit is swept to be used to receive and store the related data of wheeled FOD sniffing robots detect operation process, for storing
The related data of FOD sweeping robot cleaning work processes, for establishing FOD detections and cleaning archives, for real to robot
Existing life-cycle health control, for realizing between multiple FOD sniffing robots and FOD sweeping robots work compound and long-range distant
Control and cleaning work emergency flight control, and can with for near-end operating personnel provide related data transfer and display function；Display
With alarm unit for monitoring and showing the running status of FOD sniffing robots and FOD sweeping robots, for showing that FOD is reported
Alert information and FOD sniffing robots and FOD sweeping robot operation exception information；Signal, which receives to be used to receive with control unit, to be come
Control signal from the input of near-end operator, for carrying out long-range interference control to FOD sniffing robots and FOD sweeping robots
System；Data processing module carries out the analysis of data, processing procedure.
In the technical scheme, 2 chaptrel formula FOD sniffing robots concurrent collaboratives detection airfield pavement FOD, so as to effective
Detection efficient and detection accuracy are improved, meanwhile, detect and send FOD alarms and location information to remote control unit after FOD, separately
Outside, FOD location informations can be also sent to wheeled FOD sweeping robots, wheeled FOD sweeping robots move automatically according to FOD coordinates
Dynamic to perform cleaning task, the setting of remote control unit can be monitored in real time to wheeled FOD detections, sweeping robot, meanwhile,
Also intervention can be remotely controlled in the case of its operation exception.
2 chaptrel formula FOD sniffing robots and the wheeled mutual coordinated of FOD sweeping robots, can meet complete in 30 minutes
Into airfield pavement quick detection with cleaning.The system can solve round the clock, the problem of all-weather field road face foreign matter management and control.Can be significantly
Road face foreign matter management and control precision is improved, reduces floor manager's personnel labor intensity.On the one hand can be to small by wheeled FOD sweeping robots
The airfield pavement foreign body of size (in the range of particle diameter 5-20 millimeters) is detected, identified and cleaned.On the other hand, to the big of discovery
The airfield pavement foreign body of size (more than 20 millimeters of particle diameter) is alarmed by remote control unit, positioned in time, notifies other
Clean equipment or personnel are purged operation, improve the reliability of face guarantee.
Radar and infrared real time scan runway detection FOD targets by wheeled FOD sniffing robots, optical imagery module
FOD targets are shot, processor carries out integrated treatment to radar, infrared acquisition information, visible light image information, and generation FOD is cleaned
After coordinate, result is transmitted to wheeled FOD sweeping robots, FOD sweeping robot automatic interpretation result of detections, according to FOD
Characteristic of division, intelligently choose cleaning device, realize the fast automatic processing after the identification of face foreign matter.Remote control unit
By robot probe, data management software system is cleaned, can be realized between multiple wheeled FOD detections, sweeping robot platform
Work compound and Remote and self-control system, realize nobody and the road face cleaning work under someone's intervention.
FOD sniffing robots and sweeping robot can also be monitored in real time by 1 bit manipulation person in remote control unit one end
Job run state, receive detection and clean data, establish airport FOD detections and clean archives, the life-cycle is realized to robot
Health control.Remote control unit receives FOD detections and sweeping robot signal, supervisory-controlled robot job state, and generation FOD is clear
Sweep operation archives.Meanwhile in non-cleaning work, health control is implemented to FOD detections and sweeping robot.
Further, the radar scanning FOD intelligent detectings system is by radar antenna, radio-frequency module and signal processing module group
Into radar antenna receives the rf modulated signal from radio-frequency module, and radio-frequency module receives the target echo from radar antenna
Signal, receives the intermediate-freuqncy signal from signal processing module transmitting, and signal processing module is used to receive the mould from radio-frequency module
Intend signal.Radar antenna uses millimeter radar antenna, and so airfield pavement foreign body of the equivalent diameter less than 20 millimeters can be carried out
Efficiently identify.
Further, it is seen that optical scanning detection is with recording unit one and two respectively by optical imagery module, optical control modules
Formed with near-infrared supplementary lighting module, optical imagery module receives the control instruction from optical control modules zoom, aggregation, near red
Outer supplementary lighting module receives the opening from optical control modules, closing, the control signal of light intensity adjustment, and communication module is used to receive
The data image signal of optical imagery module and the feedback signal of control module.
Claims (3)
1. a kind of airfield pavement foreign body intelligent detecting and purging system, including remote control unit, it is characterised in that also including two
Individual wheeled FOD sniffing robots and at least one wheeled FOD sweeping robots,
The FOD that two chaptrel formula FOD sniffing robots are used on concurrent collaborative detection airfield pavement, and sent after FOD is detected
FOD alarms with location information signal to remote control unit；
Remote control unit is used to receiving and show the alarm that wheeled FOD sniffing robots send and location information, for controlling
The running orbit of two chaptrel formula FOD sniffing robots, for controlling wheeled FOD sweeping robots to be moved to anchor point, and have
Real-time monitoring and control, and under distally there are abnormal conditions can by the control of near-end operating personnel under carry out the dry of Remote
In advance；
Wheeled FOD sniffing robots are used to be automatically moved to positioning click-through according to the FOD location informations that remote control unit provides
Row cleaning task；
The wheeled FOD sniffing robots include wheeled robot platform one, FOD intelligent detectings system, controlled in wireless and data
Transmission unit one, GPS positioning unit, processor one and power supply unit one, wherein wheeled robot platform one are used to carry FOD intelligence
Can detection system, controlled in wireless and data transmission unit one, GPS positioning unit and power supply unit one, FOD intelligent detectings system by
Radar scanning FOD intelligent detectings system, infrared scan FOD intelligent detectings system, Vis scan detection with recording unit one and
Processor one forms, and radar scanning FOD intelligent detectings system and infrared scan FOD intelligent detecting systems are respectively used to detection difference
Result of detection is simultaneously sent to processor one by the FOD of type；Vis scan detects is used for scanning probe FOD with recording unit one
And detect operation process is recorded in real time and generates cleaning archives；The processor one is used for the positioning letter for receiving GPS positioning unit
Cease data, come from infrared scan FOD for receiving the radar detection signal from radar scanning FOD intelligent detecting systems, receiving
The detectable signal of intelligent detecting system, receive detectable signal and detect operation from Vis scan detection with recording unit one
The digital image data of process and the cleaning archives of generation, and after being analyzed and processed to received data by controlled in wireless with
Data transmission unit one sends FOD alarms and location information signal to remote control unit；Controlled in wireless and data transmission unit
One is used to communicate, use with entering row data communication in remote control unit, for establishing the data of two chaptrel formula FOD sniffing robots
In the location information data of GPS positioning unit are sent into wheeled FOD sweeping robots；Power supply unit one, with it is corresponding wheeled
Robot platform, controlled in wireless and data transmission unit one, GPS positioning unit and the connection of FOD intelligent detectings system, for carrying
Power supply power；
Wheeled FOD sweeping robots include wheeled robot platform two, FOD positioning signal receptions unit, Vis scan detection
With recording unit two, controlled in wireless and data transmission unit two, clean execution unit, power supply unit two and processor three, wherein
Wheeled robot platform two is used to carry FOD positioning signal receptions unit, Vis scan detection and recording unit two, wireless controlled
System and data transmission unit two, cleaning execution unit, power supply unit two and processor three；FOD positioning signal reception units are used for
The FOD location information data sent from controlled in wireless and data transmission unit one are received, and received data is sent to place
Reason device three is analyzed and processed；Controlled in wireless is used to receive the control signal from remote control unit with data transmission unit two
And control the running orbit of wheeled robot platform two；Vis scan detects is used for scanning probe FOD simultaneously with recording unit two
Detect operation process is recorded in real time and generates cleaning archives；Clean execution unit and be used for the control signal of reception processing device three with complete
Into cleaning work；Power supply unit two, with corresponding wheeled robot platform two, FOD positioning signal receptions unit, Vis scan
Detection is connected with recording unit two, cleaning execution unit, controlled in wireless and data transmission unit two and processor three, for carrying
Power supply power；
Remote control unit includes data processing module, signal is received and visited with control unit, display and alarm unit, robot
Survey, clean Data Management Unit, controlled in wireless and data transmission unit three；Controlled in wireless is used to distinguish with data transmission unit three
Communicated with controlled in wireless with data transmission unit one and controlled in wireless with data transmission unit two；Robot probe, cleaning
Data Management Unit is used to receive and store the related data of wheeled FOD sniffing robots detect operation process, for storing FOD
The related data of sweeping robot cleaning work process, for establishing FOD detections with cleaning archives, complete for being realized to robot
Life-span health control, for realize between multiple FOD sniffing robots and FOD sweeping robots work compound and Remote and
Cleaning work emergency flight control, and can have for near-end operating personnel provide related data transfer and display function；Display and report
Alert unit is used to monitor and show the running status of FOD sniffing robots and FOD sweeping robots, for showing FOD alarm signals
Breath and FOD sniffing robots and FOD sweeping robot operation exception information；Signal receives to be used to receive near with control unit
Hold the control signal of the input of operator, for carrying out long-range interference control to FOD sniffing robots and FOD sweeping robots；
Data processing module carries out the analysis of data, processing procedure.
2. a kind of airfield pavement foreign body intelligent detecting and purging system according to claim 1, it is characterised in that the radar
Scanning FOD intelligent detectings system is made up of radar antenna, radio-frequency module and signal processing module, and radar antenna receives and comes from radio frequency
The rf modulated signal of module, radio-frequency module receive the target echo signal from radar antenna, and reception comes from signal transacting mould
The intermediate-freuqncy signal of block transmitting, signal processing module are used to receive the analog signal from radio-frequency module.
3. a kind of airfield pavement foreign body intelligent detecting according to claim 1 or claim 2 and purging system, it is characterised in that visible
Optical scanning detection is with recording unit one and two respectively by optical imagery module, optical control modules and near-infrared supplementary lighting module group
Into optical imagery module receives the control instruction from optical control modules zoom, aggregation, and near-infrared supplementary lighting module is received and come from
Opening, closing, the control signal of light intensity adjustment of optical control modules, communication module are used for the numeral for receiving optical imagery module
The feedback signal of picture signal and control module.
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| CN109471098A (en) * | 2018-09-27 | 2019-03-15 | 中科宇达（北京）科技有限公司 | Utilize the airfield runway foreign matter detecting method of FOD radar phase coherence information |
| CN109782286A (en) * | 2019-03-23 | 2019-05-21 | 张恩宁 | A kind of airfield pavement clean condition quickly checks system and inspection method |
| CN110873861A (en) * | 2018-09-03 | 2020-03-10 | 中国移动通信集团设计院有限公司 | Indoor navigation method and device |
| WO2020109603A1 (en) * | 2018-11-29 | 2020-06-04 | Roboxi As | Runway maintenance apparatus |
| CN111696390A (en) * | 2020-06-23 | 2020-09-22 | 五冶集团上海有限公司 | Intelligent airport runway FOD device and working process thereof |
| CN111781937A (en) * | 2020-08-07 | 2020-10-16 | 江苏普达迪泰科技有限公司 | Unmanned formation control system of foreign matter detection and cleaning system and control method thereof |
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| CN111926748A (en) * | 2020-08-07 | 2020-11-13 | 普达迪泰（天津）智能装备科技有限公司 | Intelligent airport runway warehouse-dividing management system |
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