CN107422390B - 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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- CN107422390B CN107422390B CN201710501043.1A CN201710501043A CN107422390B CN 107422390 B CN107422390 B CN 107422390B CN 201710501043 A CN201710501043 A CN 201710501043A CN 107422390 B CN107422390 B CN 107422390B
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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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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]
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Abstract
A kind of airfield pavement foreign body intelligent detecting and purging system, including remote control unit, wheeled FOD sniffing robot and sweeping robot, FOD of the two chaptrel formula FOD sniffing robots on concurrent collaborative detection airfield pavement, and FOD alarm is issued with location information signal to remote control unit after detecting；Remote control unit is used to receive and show the alarm that wheeled FOD sniffing robot issues and location information, the running track for controlling two chaptrel formula FOD sniffing robots, is moved to anchor point for controlling wheeled FOD sweeping robot, and there is real-time monitoring and control, and remote control intervention can be carried out by proximal end in the case where distally there are abnormal conditions；The FOD location information that wheeled FOD sniffing robot is used to be provided according to remote control unit is automatically moved to anchor point and carries out cleaning task.The system can easily realize detection in conjunction with the automation of cleaning, can ensure that flight support safety, promote airport safeguard level.
Description
Technical field
The present invention relates in field of image recognition object detection and identification technology field, and in particular to a kind of airfield pavement
Foreign body intelligence detection and purging system.
Background technique
Airfield runway foreign matter FOD airfield pavement foreign body (FOD): the abbreviation of Foreign Object Debris refers to any
It is not belonging to airport but appears in Airport Operation region and may cause damages to airport or the hurtful foreign substances of aircraft.
Airfield pavement foreign body can be divided mainly into " three categories ": first is that metal class exotic.The main riveting to fall off including aircraft, vehicle etc.
The substances such as the ammunition fragment that the components such as nail, bolt and ground target training are scattered；Second is that sandstone class exotic.Mainly road face
Under the immixture of external active force and weathering, the gravel etc. that pavement slab falls off minces；Third is that software class exotic.It is main
If because falling the animal carcasses such as flying bird, bat on road face caused by bird repellent work.FOD if there is in Flying Area in Airport,
The flight safety on airport will be seriously threatened, especially is easier to damage aircraft in the critical stages such as take off, land, in some instances it may even be possible to
Lead to the major accident of fatal crass.Therefore, particularly significant is become to quick, the round-the-clock detection identification of airfield pavement foreign body.
In the detection system of common airfield pavement foreign body, there are two types of the typical methods of operation, i.e., fixed and mobile.
Include: the Tarsier(tarsier of Britain in external most representative fixed road face foreign body monitoring system), with
The FODetect of color column, tri- kinds of Singapore iFerrer.
The Tarsier system of Britain also known as tarsier are systems relatively more mature at present, are ground by QinetiQ company
Hair, it is currently further improved and updates, the FOD detection instrument utilized is continuous wave frequency radar, and working frequency exists
94.5GHz.The Tarsier system in generation is updated on the basis of having used millimetre-wave radar, and joined visible light and infrared lamp
Whether optical camera equipment, monitoring personnel can observe the FOD target of Tarsier system identification out by video monitoring equipment
It correctly and deals with, feature includes that detection range is long, wave beam is narrow and high resolution, but the system is still manually sentenced without being detached from
Disconnected this mode of FOD, and can only identify 20mm or more target, it is that international civil airport installs most FOD detection alarm systems
System.
The FODetect system of Xsight company, Israel exploitation, is mounted on the runway edge lights of different location, has multiple
SDU (road face monitoring unit), is made of 77GHz millimetre-wave radar and picture pick-up device.Small product size is smaller, multiple monitoring unit
The entire runway Surface of synergic monitoring, can complete single pass, and transmit data to central processing center in 30s,
The position of FOD is locked by sensor in processing result, prompts staff to carry out cleaning work, but the system needs staff
FOD is further confirmed that scene, FODetect system can effectively avoid light due to the particularity of installation site
It influences, vulnerable to the influence of 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 company of Singapore has developed IFerret intelligent video FOD using Modern digital image identification technology
Detection system installs the video camera with high-resolution function, image processing software needle at a certain distance on runway
Illumination and pavement conditions to variation adjust, and the alien material on the runway of autoprobing machine field, IFerret system can detect different
Object size is 20mm.Camera system can with 24 hours shooting airfield runways of whole day to obtain target, two parts acquire image and
Processing image is separation, makes image data amount larger in this way, complex disposal process, to the more demanding of image recognition algorithm,
And it is illuminated by the light influence, reduce detection efficiency.
Mobile road face reported in the literature foreign body detecting technology is seen at present there was only FOD Finder system.FOD Finder
System is a set of mobile monitoring system developed by Trex Enterprises company, the U.S., may be mounted at the roof of vehicle.
System is made of monitoring system and daemon software processing system, and monitoring system uses 78-81GHz millimetre-wave radar, 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 a radome；Camera system is also loaded on roof, for tracking found FOD；GPS positioning device is for locking search coverage
With the geographical location of mark FOD, in addition to this, this high-precision GPS positioning device can also be using in differential technique calibration field
Other GPS devices.FOD Finder system advantage is that resolution ratio is higher, and the road face that can dispose discovery 20mm or more in time is different
Object；The disadvantage is that road face foreign matter can monitor discovery automatically, but need artificial interpretation, manual cleaning.
Intelligent robot refer to it is a kind of programmable and multi-functional, for materials hauling, part, tool operation machine；Or
It is that there is the changeable and programmable specialized system acted in order to execute different tasks.The evaluation criterion packet of robot capability
Include: intelligence refers to feeling and perception, including memory, operation, compares, identifies, judging, decision, study and reasoning from logic etc.；Function,
Refer to flexibility, versatility or space occupying etc.；Physical energy refers to power, speed, continuous operation ability, reliability, combination property, longevity
Life etc..
In intelligent robot application aspect, external related research institutes and enterprise are proposed one after another for research and development
Robot platform.Such as the Willow Garage company in the U.S. was proposed PR2 robot operating system in 2009, in addition to
It carries except laser radar, touch sensor and inertial sensor, is also equipped with binocular vision navigation system and a structure light
The projector can complete identification and analysis to target object by the technology of active vision measurement.Visual sensor is composition
One of most important sensor of robot is the intelligent robot perception most important source of world around information.For moving machine
Vision system on device people, main target are allowed the robot to as human vision nervous system with intelligent and flexible
Mode makes a response to the environment of surrounding, and can complete specific task in conjunction with certain application target.The ITALK in Europe
The humanoid robot iCub of funded projects can carry out independent navigation by identifying the optical target on ground, the intelligence carried
New object can be learnt as the mankind and recognize by changing vision system.
The research and application aspect of China's intelligent robot are especially widely used in fields such as space probation, industry manufactures.
The Water robot that Beijing Information Science & Technology University Automation Institute is developed, can be quick, stable by the full-view camera of carrying
Identification around information.Shanghai Communications University successfully develops in addition to height intelligence welding robot, can manufacture in industry
In independently 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 is one using the exclusive technology of robot as core, is dedicated on the high-tech of the high-end equipment manufacturing of digital intelligent
Enterprise, city.The said firm is directed to Academic Research Requirements, based on wheeled, crawler type outdoor mobile robot, collocation vision,
Self-positioning class detects class sensor, provides various system expansion interfaces and application, and have outstanding cross-country power and round-the-clock work
Make ability, can provide the foundation for popularization and application of the invention.
About the minimum dimension for the metal class foreign matter that can result in aircraft damage, there is presently no more authoritative research knots
By.The case where by investigating and arranging more than ten of airfield pavement foreign body, in addition to tiny sandstone, the size of remaining foreign matter is all 5
Millimeter or more.According to the data collected, current foreign countries have passed through FAA(Federal Aviation management board) certification airfield pavement
Monitoring foreign bodies technology, can detect identification minimum foreign matter be 20 millimeters, differed with certain current demands in special circumstances compared with
Far.
In conclusion currently without the dedicated skill of automatic detection identification airfield pavement foreign body of the equivalent diameter less than 20 millimeters
Art；The special technology and equipment of not integrated airfield pavement foreign body detection and removing and one；It is not equipped with carry out airfield pavement
The robot technology that foreign bodies detection is combined with removing, and then existing technology is limited to the degree of protection of aerodrome flight safety,
In addition, it is actually detected with it is 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,
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of airfield pavement foreign body intelligent detecting and clean system
System, the system integration foreign bodies detection are integrated with cleaning, can easily realize that detection in conjunction with the automation of cleaning, can reduce
The labor intensity of airfield support personnel, it is ensured that flight support safety promotes airport safeguard level.
To achieve the goals above, 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 robot,
FOD of the two chaptrel formula FOD sniffing robots on concurrent collaborative detection airfield pavement, and after detecting FOD
FOD alarm is issued with location information signal to remote control unit；
Remote control unit is used to receive and show the alarm that wheeled FOD sniffing robot issues and location information, is used for
It controls the running track of two chaptrel formula FOD sniffing robots, be moved to anchor point for controlling wheeled FOD sweeping robot, and
It, can be long-range distant by carrying out under the control of proximal end operator with real-time monitoring and control, and in the case where distally there are abnormal conditions
The intervention of control；
The FOD location information that wheeled FOD sniffing robot is used to be provided according to remote control unit is automatically moved to positioning
Point carries out cleaning task；
The wheeled FOD sniffing robot include wheeled robot platform one, FOD intelligent detecting system, wireless control with
Data transmission unit one, GPS positioning unit and power supply unit one, wherein wheeled robot platform one is intelligently visited for carrying FOD
Examining system, wireless control and data transmission unit one, GPS positioning unit and power supply unit one, FOD intelligent detecting system is by radar
Scan FOD intelligent detecting system, infrared scan FOD intelligent detecting system, Vis scan detection and recording unit one and processing
Device one forms, and radar scanning FOD intelligent detecting system and infrared scan FOD intelligent detecting system are respectively used to detection different type
FOD and detection result is sent to processor one；Vis scan detection is used for scanning probe FOD and real with recording unit one
Shi Jilu detect operation process simultaneously generates cleaning archives；The processor one is used to receive the location information number of GPS positioning unit
According to, for receiving radar detection signal from radar scanning FOD intelligent detecting system, receiving from infrared scan FOD intelligence
The detectable signal of detection system receives detectable signal and detect operation process from Vis scan detection and recording unit one
Digital image data and generation cleaning archives, and by wireless control and data after being analyzed and processed to received data
Transmission unit one issues FOD alarm and location information signal to remote control unit；Wireless control and data transmission unit one are used
In in remote control unit carry out data communication, the data communication for establishing two chaptrel formula FOD sniffing robots, for will
The location information data of GPS positioning unit are sent to wheeled FOD sweeping robot；Power supply unit one, with corresponding wheel type machine
People's platform one, wireless control and data transmission unit one, GPS positioning unit and the connection of FOD intelligent detecting system, for providing
Electric power；
Wheeled FOD sweeping robot includes wheeled robot platform two, FOD positioning signal reception unit, Vis scan
Detection and recording unit two, wireless control and data transmission unit two, cleaning execution unit, power supply unit two and processor three,
Wherein wheeled robot platform two is for carrying FOD positioning signal reception unit, Vis scan detection and recording unit two, nothing
Line traffic control and data transmission unit two clean execution unit, power supply unit two and processor three；FOD positioning signal reception unit
For receiving the FOD location information data issued from wireless control and data transmission unit one, and received data is sent
It is analyzed and processed to processor three；Wireless control and data transmission unit two are for receiving the control from remote control unit
Signal and the running track for controlling wheeled robot platform two；Vis scan detection is used for scanning probe with recording unit two
FOD simultaneously records detect operation process in real time and generates cleaning archives；Clean the control letter that execution unit is used to receive processor three
Number to complete cleaning work；Power supply unit two, with corresponding wheeled robot platform two, FOD positioning signal reception unit, visible
Optical scanning detection is connect with recording unit two, cleaning execution unit, wireless control 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 cleans Data Management Unit, wireless control and data transmission unit three；Wireless control and data transmission unit three are for dividing
It is not communicated with wireless control with data transmission unit one and wireless control with data transmission unit two；It is robot probe, clear
Data Management Unit is swept for receiving and storing the related data of wheeled FOD sniffing robot detect operation process, for storing
The related data of FOD sweeping robot cleaning work process is detected for establishing FOD with cleaning archives, for robot reality
Existing life-cycle health control, for realizing work compound between multiple FOD sniffing robots and FOD sweeping robot and long-range distant
Control and cleaning work emergency flight control, and can have for proximal end operator provide related data transfer and display function；Display
It is used to monitor and show the operating status of FOD sniffing robot and FOD sweeping robot, for showing that FOD is reported with alarm unit
Alert information and FOD sniffing robot and FOD sweeping robot are operating abnormally information；Signal, which is received, to be come with control unit for receiving
From the control signal of the input of proximal end operator, for carrying out long-range interference control to FOD sniffing robot and FOD sweeping robot
System；Data processing module carries out the analysis of data, treatment process.
In the technical scheme, 2 chaptrel formula FOD sniffing robot concurrent collaboratives detect airfield pavement FOD, so as to have
Effect improves detection efficient and detection accuracy, meanwhile, it detects and issues FOD alarm and location information to remote control unit after FOD,
In addition, also FOD location information can be issued to wheeled FOD sweeping robot, wheeled FOD sweeping robot is automatic according to FOD coordinate
Mobile to execute cleaning task, the setting of remote control unit can detect wheeled FOD, sweeping robot monitors in real time, together
When, also intervention can be remotely controlled in the case where its operation exception.
2 chaptrel formula FOD sniffing robots and the wheeled mutual coordinated of FOD sweeping robot, are able to satisfy complete in 30 minutes
It quickly detects and cleans at airfield pavement.The system can solve round the clock, all-weather field road face foreign matter control problem.It can be significant
It improves road face foreign matter and manages precision, reduce floor manager's personnel labor intensity.It on the one hand can be to small by wheeled FOD sweeping robot
The airfield pavement foreign body of size (in 5-20 millimeters of ranges of partial size) is detected, identified and is cleaned.On the other hand, to the big of discovery
The airfield pavement foreign body of size (20 millimeters of partial size or more) passes through remote control unit in time and is alarmed, positioned, and notifies other
It cleans equipment or personnel is purged operation, improve the reliability of face guarantee.
Further, the radar scanning FOD intelligent detecting system is by radar antenna, radio-frequency module and signal processing module group
At 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 emitted from signal processing module, and signal processing module is for receiving the mould from radio-frequency module
Quasi- signal.
Further, it is seen that optical scanning detection and recording unit one and two are respectively by optical imagery module, optical control modules
It is formed with near-infrared supplementary lighting module, optical imagery module is received from optical control modules zoom, the control instruction of aggregation, close red
Outer supplementary lighting module receives the control signal that opening, closing, light intensity from optical control modules adjust, and communication module is for receiving
The data image signal of optical imagery module and the feedback signal of control module.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention；
Fig. 2 is the structural block diagram of radar scanning probe unit in the present invention；
Fig. 3 is the structural block diagram of Vis scan detection and recording unit in the present invention.
Specific 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
A wheeled FOD sniffing robot and at least one wheeled FOD sweeping robot,
FOD of the two chaptrel formula FOD sniffing robots on concurrent collaborative detection airfield pavement, and after detecting FOD
FOD alarm is issued with location information signal to remote control unit；
Remote control unit is used to receive and show the alarm that wheeled FOD sniffing robot issues and location information, is used for
It controls the running track of two chaptrel formula FOD sniffing robots, be moved to anchor point for controlling wheeled FOD sweeping robot, and
It, can be long-range distant by carrying out under the control of proximal end operator with real-time monitoring and control, and in the case where distally there are abnormal conditions
The intervention of control；
The FOD location information that wheeled FOD sniffing robot is used to be provided according to remote control unit is automatically moved to positioning
Point carries out cleaning task；
The wheeled FOD sniffing robot include wheeled robot platform one, FOD intelligent detecting system, wireless control with
Data transmission unit one, GPS positioning unit and power supply unit one, wherein wheeled robot platform one is intelligently visited for carrying FOD
Examining system, wireless control and data transmission unit one, GPS positioning unit and power supply unit one, FOD intelligent detecting system is by radar
Scan FOD intelligent detecting system, infrared scan FOD intelligent detecting system, Vis scan detection and recording unit one and processing
Device one forms, and radar scanning FOD intelligent detecting system and infrared scan FOD intelligent detecting system are respectively used to detection different type
FOD and detection result is sent to processor one；Vis scan detection is used for scanning probe FOD and real with recording unit one
Shi Jilu detect operation process simultaneously generates cleaning archives；The processor one is used to receive the location information number of GPS positioning unit
According to, for receiving radar detection signal from radar scanning FOD intelligent detecting system, receiving from infrared scan FOD intelligence
The detectable signal of detection system receives detectable signal and detect operation process from Vis scan detection and recording unit one
Digital image data and generation cleaning archives, and by wireless control and data after being analyzed and processed to received data
Transmission unit one issues FOD alarm and location information signal to remote control unit；Wireless control and data transmission unit one are used
In in remote control unit carry out data communication, the data communication for establishing two chaptrel formula FOD sniffing robots, for will
The location information data of GPS positioning unit are sent to wheeled FOD sweeping robot；Power supply unit one, with corresponding wheel type machine
People's platform one, wireless control and data transmission unit one, GPS positioning unit and the connection of FOD intelligent detecting system, for providing
Electric power；
Wheeled FOD sweeping robot includes wheeled robot platform two, FOD positioning signal reception unit, Vis scan
Detection and recording unit two, wireless control and data transmission unit two, cleaning execution unit, power supply unit two and processor three,
Wherein wheeled robot platform two is for carrying FOD positioning signal reception unit, Vis scan detection and recording unit two, nothing
Line traffic control and data transmission unit two clean execution unit, power supply unit two and processor three；FOD positioning signal reception unit
For receiving the FOD location information data issued from wireless control and data transmission unit one, and received data is sent
It is analyzed and processed to processor three；Wireless control and data transmission unit two are for receiving the control from remote control unit
Signal and the running track for controlling wheeled robot platform two；Vis scan detection is used for scanning probe with recording unit two
FOD simultaneously records detect operation process in real time and generates cleaning archives；Clean the control letter that execution unit is used to receive processor three
Number to complete cleaning work；Power supply unit two, with corresponding wheeled robot platform two, FOD positioning signal reception unit, visible
Optical scanning detection is connect with recording unit two, cleaning execution unit, wireless control 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 cleans Data Management Unit, wireless control and data transmission unit three；Wireless control and data transmission unit three are for dividing
It is not communicated with wireless control with data transmission unit one and wireless control with data transmission unit two；It is robot probe, clear
Data Management Unit is swept for receiving and storing the related data of wheeled FOD sniffing robot detect operation process, for storing
The related data of FOD sweeping robot cleaning work process is detected for establishing FOD with cleaning archives, for robot reality
Existing life-cycle health control, for realizing work compound between multiple FOD sniffing robots and FOD sweeping robot and long-range distant
Control and cleaning work emergency flight control, and can have for proximal end operator provide related data transfer and display function；Display
It is used to monitor and show the operating status of FOD sniffing robot and FOD sweeping robot, for showing that FOD is reported with alarm unit
Alert information and FOD sniffing robot and FOD sweeping robot are operating abnormally information；Signal, which is received, to be come with control unit for receiving
From the control signal of the input of proximal end operator, for carrying out long-range interference control to FOD sniffing robot and FOD sweeping robot
System；Data processing module carries out the analysis of data, treatment process.
In the technical scheme, 2 chaptrel formula FOD sniffing robot concurrent collaboratives detect airfield pavement FOD, so as to have
Effect improves detection efficient and detection accuracy, meanwhile, it detects and issues FOD alarm and location information to remote control unit after FOD,
In addition, also FOD location information can be issued to wheeled FOD sweeping robot, wheeled FOD sweeping robot is automatic according to FOD coordinate
Mobile to execute cleaning task, the setting of remote control unit can detect wheeled FOD, sweeping robot monitors in real time, together
When, also intervention can be remotely controlled in the case where its operation exception.
2 chaptrel formula FOD sniffing robots and the wheeled mutual coordinated of FOD sweeping robot, are able to satisfy complete in 30 minutes
It quickly detects and cleans at airfield pavement.The system can solve round the clock, all-weather field road face foreign matter control problem.It can be significant
It improves road face foreign matter and manages precision, reduce floor manager's personnel labor intensity.It on the one hand can be to small by wheeled FOD sweeping robot
The airfield pavement foreign body of size (in 5-20 millimeters of ranges of partial size) is detected, identified and is cleaned.On the other hand, to the big of discovery
The airfield pavement foreign body of size (20 millimeters of partial size or more) passes through remote control unit in time and is alarmed, positioned, and notifies other
It cleans equipment or personnel is purged operation, improve the reliability of face guarantee.
Radar and infrared real time scan runway detection FOD target by wheeled FOD sniffing robot, optical imagery module
FOD target is shot, processor carries out integrated treatment to radar, infrared acquisition information, visible light image information, generates FOD and cleans
After coordinate, processing result is transmitted to wheeled FOD sweeping robot, FOD sweeping robot automatic interpretation detection result, according to FOD
Characteristic of division, intelligently choose cleaning device, the fast automatic processing after realizing the identification of road face foreign matter.Remote control unit
By robot probe, data management software system is cleaned, is able to achieve between multiple wheeled FOD detections, sweeping robot platform
Work compound and remote control and self-control system realize the road face cleaning work under nobody and someone intervene.
FOD sniffing robot and sweeping robot can also be monitored in real time by 1 bit manipulation person in remote control unit one end
Job run state receives detection and cleans data, establishes airport FOD detection and cleans archives, realizes the life-cycle to robot
Health control.Remote control unit receives FOD detection and sweeping robot signal, supervisory-controlled robot job state, and it is clear to generate FOD
Sweep operation archives.Meanwhile in non-cleaning work, health control is implemented to FOD detection and sweeping robot.
Further, the radar scanning FOD intelligent detecting system is by radar antenna, radio-frequency module and signal processing module group
At 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 emitted from signal processing module, and signal processing module is for receiving the mould from radio-frequency module
Quasi- signal.Radar antenna uses millimeter radar antenna, in this way can airfield pavement foreign body to equivalent diameter less than 20 millimeters carry out
It efficiently identifies.
Further, it is seen that optical scanning detection and recording unit one and two are respectively by optical imagery module, optical control modules
It is formed with near-infrared supplementary lighting module, optical imagery module is received from optical control modules zoom, the control instruction of aggregation, close red
Outer supplementary lighting module receives the control signal that opening, closing, light intensity from optical control modules adjust, and communication module is for receiving
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, which is characterized in that further include two
A wheeled FOD sniffing robot and at least one wheeled FOD sweeping robot,
FOD of the two chaptrel formula FOD sniffing robots on concurrent collaborative detection airfield pavement, and issued after detecting FOD
FOD alarm is with location information signal to remote control unit；
Remote control unit is used to receive and show the alarm that wheeled FOD sniffing robot issues and location information, for controlling
The running track of two chaptrel formula FOD sniffing robots is moved to anchor point for controlling wheeled FOD sweeping robot, and has
Real-time monitoring and control, and in the case where distally there are abnormal conditions, remote control can be carried out by under the control of proximal end operator
Intervene；
The FOD location information that wheeled FOD sniffing robot is used to be provided according to remote control unit is automatically moved to positioning and clicks through
Row cleaning task；
The wheeled FOD sniffing robot includes wheeled robot platform one, FOD intelligent detecting system, wireless control and data
Transmission unit one, GPS positioning unit and power supply unit one, wherein wheeled robot platform one is for carrying FOD intelligent detecting system
System, wireless control and data transmission unit one, GPS positioning unit and power supply unit one, FOD intelligent detecting system is by radar scanning
FOD intelligent detecting system, infrared scan FOD intelligent detecting system, Vis scan detection and recording unit one and processor one
Composition, radar scanning FOD intelligent detecting system and infrared scan FOD intelligent detecting system are respectively used to detect different types of
Detection result is simultaneously sent to processor one by FOD；Vis scan detection is used for scanning probe FOD and real-time with recording unit one
Record detect operation process simultaneously generates cleaning archives；The processor one be used for receive GPS positioning unit location information data,
For receiving radar detection signal from radar scanning FOD intelligent detecting system, receiving from infrared scan FOD intelligent detecting
The detectable signal of system is received from Vis scan detection and the detectable signal of recording unit one and the number of detect operation process
The cleaning archives of word image data and generation, and transmitted after being analyzed and processed to received data by wireless control and data
Unit one issues FOD alarm and location information signal to remote control unit；Wireless control and data transmission unit one be used for
Data communication is carried out in remote control unit, the data communication for establishing two chaptrel formula FOD sniffing robots, is used for GPS
The location information data of positioning unit are sent to wheeled FOD sweeping robot；Power supply unit one is put down with corresponding wheeled robot
Platform one, wireless control and data transmission unit one, GPS positioning unit and the connection of FOD intelligent detecting system, for providing electricity
Power；
Wheeled FOD sweeping robot includes wheeled robot platform two, FOD positioning signal reception unit, Vis scan detection
With recording unit two, wireless control and data transmission unit two, clean execution unit, power supply unit two and processor three, wherein
Wheeled robot platform two is for carrying FOD positioning signal reception 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 unit is used for
The FOD location information data issued from wireless control and data transmission unit one are received, and received data is sent to place
Reason device three is analyzed and processed；Wireless control and data transmission unit two are for receiving the control signal from remote control unit
And control the running track of wheeled robot platform two；Vis scan detection is used for scanning probe FOD simultaneously with recording unit two
Detect operation process is recorded in real time and generates cleaning archives；It cleans execution unit and is used to receive the control signal of processor three with complete
At cleaning work；Power supply unit two, with corresponding wheeled robot platform two, FOD positioning signal reception unit, Vis scan
Detection is connect with recording unit two, cleaning execution unit, wireless control and data transmission unit two and processor three, for mentioning
For electric power；
Remote control unit includes data processing module, signal receives and control unit, display and alarm unit, robot are visited
It surveys, clean Data Management Unit, wireless control and data transmission unit three；Wireless control is with data transmission unit three for distinguishing
It is communicated with wireless control with data transmission unit one and wireless control with data transmission unit two；Robot probe, cleaning
Data Management Unit is for receiving and storing the related data of wheeled FOD sniffing robot detect operation process, for storing FOD
The related data of sweeping robot cleaning work process is detected for establishing FOD with cleaning archives, for realizing entirely to robot
Service life health control, for realizing work compound and remote control between multiple FOD sniffing robots and FOD sweeping robot and
Cleaning work emergency flight control, and can have for proximal end operator provide related data transfer and display function；Display and report
Alert unit is for monitoring and showing the operating status of FOD sniffing robot and FOD sweeping robot, for showing FOD alarm signal
Breath and FOD sniffing robot and FOD sweeping robot are operating abnormally information；Signal is received with control unit for receiving from close
Hold the control signal of the input of operator, for carrying out long-range interference control to FOD sniffing robot and FOD sweeping robot；
Data processing module carries out the analysis of data, treatment process.
2. a kind of airfield pavement foreign body intelligent detecting and purging system according to claim 1, which is characterized in that the radar
Scanning FOD intelligent detecting system is made of radar antenna, radio-frequency module and signal processing module, and radar antenna, which receives, comes from radio frequency
The rf modulated signal of module, radio-frequency module receive the target echo signal from radar antenna, receive and come from signal processing mould
The intermediate-freuqncy signal of block transmitting, signal processing module is for receiving 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, which is characterized in that visible
Optical scanning detection and recording unit one and two are respectively by optical imagery module, optical control modules and near-infrared supplementary lighting module group
At optical imagery module is received from optical control modules zoom, the control instruction of aggregation, and the reception of near-infrared supplementary lighting module comes from
The control signal that opening, closing, the light intensity of optical control modules adjust, communication module are used to receive the number of optical imagery module
The feedback signal of picture signal and control module.
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| CN108535789A (en) * | 2018-05-23 | 2018-09-14 | 成都圭目机器人有限公司 | A kind of foreign matter identifying system based on airfield runway |
| CN108919374A (en) * | 2018-07-26 | 2018-11-30 | 深圳市智能机器人研究院 | A kind of foreign body detection system for airfield runway based on structure light |
| CN110873861B (en) * | 2018-09-03 | 2022-01-25 | 中国移动通信集团设计院有限公司 | Indoor navigation method and device |
| CN109471098B (en) * | 2018-09-27 | 2020-05-12 | 中科宇达（北京）科技有限公司 | Airport runway foreign matter detection method utilizing FOD radar phase coherence information |
| GB201819471D0 (en) * | 2018-11-29 | 2019-01-16 | Steine Ken Erik | Runway maintenance apparatus |
| CN109782286A (en) * | 2019-03-23 | 2019-05-21 | 张恩宁 | A kind of airfield pavement clean condition quickly checks system and inspection method |
| KR102217540B1 (en) * | 2019-05-07 | 2021-02-19 | 엘지전자 주식회사 | Moving robot and Controlling method for the same |
| CN111696390B (en) * | 2020-06-23 | 2023-01-20 | 五冶集团上海有限公司 | Intelligent airport runway FOD device and working process thereof |
| CN111827196A (en) * | 2020-07-29 | 2020-10-27 | 无锡职业技术学院 | FOD intelligent patrol vehicle for airport runway |
| 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 |
| 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 |
| CN111926747A (en) * | 2020-08-07 | 2020-11-13 | 北京普达迪泰科技有限公司 | Foreign matter detection and cleaning system for unmanned airport pavement |
| CN112180365A (en) * | 2020-09-17 | 2021-01-05 | 北京中兵智航软件技术有限公司 | Device and system for identifying FOD (field of view) of field level |
| CN112285706A (en) * | 2020-11-18 | 2021-01-29 | 北京望远四象科技有限公司 | FOD detection method, device and system |
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| US5947636A (en) * | 1995-06-28 | 1999-09-07 | Sandia Corporation | Rapid road repair vehicle |
| JP4230395B2 (en) * | 2004-03-24 | 2009-02-25 | 三菱電機株式会社 | Surveillance mobile |
| CN103018785A (en) * | 2011-09-21 | 2013-04-03 | 沈阳理工大学 | Airfield runway foreign substance detecting system |
| CN106199750A (en) * | 2015-05-04 | 2016-12-07 | 中国科学院上海高等研究院 | Flying Area in Airport activity foreign matter detection system and detection method thereof |
| CN105549110A (en) * | 2015-12-08 | 2016-05-04 | 北京无线电计量测试研究所 | Airport runway foreign object debris detection device and airport runway foreign object debris detection method |
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