CN111910566A - Airport runway foreign matter automatic detection and clearance system - Google Patents
Airport runway foreign matter automatic detection and clearance system Download PDFInfo
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- CN111910566A CN111910566A CN202010662137.9A CN202010662137A CN111910566A CN 111910566 A CN111910566 A CN 111910566A CN 202010662137 A CN202010662137 A CN 202010662137A CN 111910566 A CN111910566 A CN 111910566A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides an automatic detection and cleaning system for foreign matters on airfield runways, which comprises a support, a camera control center, an image processing center, a trolley, an object stage, a robot, a recoverer and an industrial personal computer, wherein the camera is arranged on the support, the camera control center is used for transmitting airfield runway images collected by the camera to the image processing center, the image processing center detects image information of the foreign matters according to the airfield runway images, calculates three-dimensional space coordinate information of the foreign matters on the airfield runways and transmits the three-dimensional space coordinate information of the foreign matters on the airfield runways to the industrial personal computer, and the industrial personal computer controls the trolley and the robot to move according to the three-dimensional space coordinate information of the foreign matters on the airfield runways so. The invention detects and cleans the foreign matters on the airfield runway by the image processing technology and the robot technology, thereby effectively improving the efficiency of detecting and cleaning the foreign matters on the airfield runway and greatly reducing the workload and the cost.
Description
Technical Field
The invention relates to the technical field of foreign matter detection, in particular to an automatic detection and cleaning system for foreign matters on an airport runway.
Background
With the development of economy in China, airplanes become an indispensable part of people in outgoing, the flight safety is concerned more and more widely, when the airplanes slide on the runway at high speed, foreign matters on the runway seriously threaten the safety of the airplanes and surrounding personnel and vehicles, and the loss of the aviation industry caused by accidents caused by the fragments of the runway reaches billions of dollars every year. The types of foreign bodies on airport runways are quite numerous, such as aircraft and engine connectors (nuts, screws, washers, fuses, etc.), machine tools, flying objects (nails, personal certificates, pens, pencils, etc.), wildlife, leaves, stones and sand, pavement materials, wood blocks, plastic or polyethylene materials, paper products, ice ballast in operating areas, etc. Foreign objects on the airport pavement can be easily drawn into the engine, resulting in engine failure. In 5 months to 2008 in 5 months, 4500 more events of damaging tires by foreign matters on airport runways occur in China civil aviation. The foreign objects not only cause huge direct loss, but also cause indirect loss such as flight delay, take-off interruption, runway closing and the like, and the indirect loss is at least 4 times of the direct loss.
The international FOD (Foreign Object detection in airport runways) monitoring system mainly comprises a Tarsier1100(T1100) FOD detection system, a FODetect system, an ifrret intelligent video detection system and a FOD Finder system, and the FOD monitoring systems can detect Foreign objects in airport runways. However, after the system detects the foreign matters on the airfield runway, the airfield runway needs to be manually cleaned, and the speed and efficiency for cleaning the foreign matters on the airfield runway are low and need to be improved.
Disclosure of Invention
In order to solve the problem that the existing FOD monitoring system has lower speed and efficiency for cleaning foreign matters on an airport runway, the invention provides an automatic detection and cleaning system for foreign matters on the airport runway, which has the following specific technical scheme:
an automatic detection and cleaning system for foreign matters on airfield runways comprises a support, cameras, a camera control center, an image processing center, a trolley, an object stage, a robot, a recoverer and an industrial personal computer, wherein the support is arranged on two sides of the airfield runways, the cameras are arranged on the support, the camera control center is respectively in communication connection with the cameras and the image processing center and is used for transmitting airfield runway images acquired by the cameras to the image processing center, the object stage is arranged on the trolley, the robot, the recoverer and the industrial personal computer are arranged on the object stage, the industrial personal computer is in communication connection with the image processing center, the image processing center detects image information of the foreign matters according to the airfield runway images, calculates three-dimensional space coordinate information of the airfield runway foreign matters according to the image information of the foreign matters and transmits the three-dimensional space coordinate information of the airfield run, the industrial personal computer controls the trolley and the robot to move according to the three-dimensional space coordinate information of the airfield runway foreign matter so as to clamp the airfield runway foreign matter to the recoverer.
Optionally, the image processing center includes an image storage module, an image preprocessing module, an image detection module and an image positioning module, the image storage module is configured to receive and store the airport runway image collected by the camera, the image preprocessing module is configured to receive the airport runway image and perform image denoising and image enhancement processing on the airport runway image, the image detection module is configured to receive and detect the processed airport runway image to obtain foreign object image information, and the image positioning module is configured to receive the foreign object image information, calculate three-dimensional space coordinate information of the airport runway foreign object according to the foreign object image information, and transmit the three-dimensional space coordinate information of the airport runway foreign object to the industrial personal computer.
Optionally, the robot includes base, revolving cylinder, horizontal telescopic cylinder, perpendicular telescopic cylinder and mechanical tong, revolving cylinder's bottom and base fixed connection, revolving cylinder's output shaft and horizontal telescopic cylinder's cylinder fixed connection, horizontal telescopic cylinder's piston rod and perpendicular telescopic cylinder's cylinder fixed connection, perpendicular telescopic cylinder's piston rod and mechanical tong fixed connection.
Optionally, the automatic airport runway foreign matter detecting and cleaning system further comprises an industrial camera installed at the front end of the trolley, and the industrial camera is in communication connection with the industrial personal computer and is used for acquiring airport runway environment images and transmitting the airport runway environment images to the industrial personal computer.
Optionally, the industrial personal computer comprises a navigation module, and the navigation module is used for constructing an environment map according to the airport runway environment image, and acquiring an optimal path from the trolley to the position of the airport runway foreign matter according to the environment map and the three-dimensional space coordinate information of the airport runway foreign matter.
Optionally, the cart is an AGV cart.
Optionally, the camera control center is in communication connection with the camera and the image processing center through a communication module.
The beneficial effects obtained by the invention are as follows: the airport runway foreign matter detection and cleaning device has the advantages that the airport runway foreign matter is detected and cleaned through an image processing technology and a robot technology, the efficiency of detecting and cleaning the airport runway foreign matter is effectively improved, and the workload and the cost are greatly reduced.
Drawings
The present invention will be further understood from the following description taken in conjunction with the accompanying drawings, the emphasis instead being placed upon illustrating the principles of the embodiments.
FIG. 1 is a schematic diagram of an overall structure of an automatic detecting and cleaning system for foreign matters on an airport runway according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an image processing center according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot in an embodiment of the present invention.
Description of reference numerals:
1. a support; 2. a camera; 3. a camera control center; 4. an image processing center; 5. a trolley; 6. an object stage; 7. a robot; 8. a recoverer; 9. an industrial personal computer; 10. a communication module; 11. a base; 12. a rotating cylinder; 13. a horizontal telescopic cylinder; 14. a vertical telescopic cylinder; 15. an industrial camera; 16. a mechanical gripper; 17. foreign matters on airfield runways.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof.
The invention relates to an automatic detection and cleaning system for foreign matters on an airport runway, which explains the following embodiments according to the attached drawings:
as shown in fig. 1, an automatic detection and cleaning system for foreign matters on an airport runway comprises a support 1, a camera 2, a camera control center 3, an image processing center 4, a trolley 5, an object stage 6, a robot 7, a recoverer 8 and an industrial personal computer 9, wherein the support 1 is installed on two sides of the airport runway, and the camera 2 is composed of a plurality of cameras and is installed on the support 1. The camera control center 3 is used for controlling and managing the cameras 2, such as opening and closing the cameras 2, setting camera resolution, imaging modes and angles, checking states of the cameras 2 and the like, and is in communication connection with the cameras 2 and the image processing center 4 respectively and used for transmitting airport runway images collected by the cameras 2 to the image processing center 4.
The objective table 6 is arranged on the trolley 5, the robot 7, the recoverer 8 and the industrial personal computer 9 are arranged on the objective table 6, and the industrial personal computer 9 is in communication connection with the image processing center 4. The airfield runway foreign matter 17 refers to various foreign objects which do not belong to the airfield runway, such as nuts, screws, nails, broken stones, packing boxes, fragmentary garbage, leaves and the like. The image processing center 4 detects whether there is a foreign object on the airport runway according to the image of the airport runway. When the image processing center 4 detects the foreign object, the image information of the foreign object is generated, the three-dimensional space coordinate information of the foreign object 17 on the airport runway is calculated according to the image information of the foreign object, and finally the three-dimensional space coordinate information of the foreign object 17 on the airport runway is transmitted to the industrial personal computer 9.
The industrial personal computer 9 controls the trolley 5 to move to the position near the airport runway foreign matter according to the three-dimensional space coordinate information of the airport runway foreign matter 17, and controls the robot 7 to move to clamp and place the airport runway foreign matter 17 into the recoverer 8. The recoverer 8 comprises foreign matter recovery barrels or recovery frames of different types, shapes and materials.
The image processing technology is combined with the target positioning technology, the detection and the cleaning of the foreign matters on the airfield runway are realized, the efficiency of detecting and cleaning the foreign matters on the airfield runway can be improved, the workload required when the foreign matters are manually cleaned is reduced, the time is saved, and compared with the international FOD, the cost is also greatly reduced.
In some embodiments, as shown in FIG. 2, the image processing center 4 includes an image storage module, an image pre-processing module, an image detection module, and an image localization module. The image storage module is used for receiving and storing the airport runway image collected by the camera 2, and the image preprocessing module is preset with image denoising and image enhancement algorithms and the like and is used for receiving the airport runway image and carrying out image denoising and image enhancement processing on the airport runway image so as to improve the accuracy of detecting and positioning the airport runway foreign matter. The image detection module is used for receiving and detecting the processed airport runway image to obtain foreign object image information, and is provided with a target detection algorithm for deep learning, such as SSD, YOLO, Faster RCNN, semantic segmentation algorithm and the like, so as to realize the detection of the airport runway foreign object. The image positioning module is used for receiving the foreign body image information, calculating the three-dimensional space coordinate information of the foreign body on the airport runway according to the foreign body image information and transmitting the three-dimensional space coordinate information of the foreign body on the airport runway to the industrial personal computer 9.
In some embodiments, as shown in fig. 3, the robot 7 includes a base 11, a rotary cylinder 12, a horizontal telescopic cylinder 13, a vertical telescopic cylinder 14, and a mechanical gripper 16, wherein a bottom of the rotary cylinder 12 is fixedly connected to the base 11, an output shaft of the rotary cylinder 12 is fixedly connected to a cylinder of the horizontal telescopic cylinder 13, a piston rod of the horizontal telescopic cylinder 13 is fixedly connected to a cylinder of the vertical telescopic cylinder 14, and a piston rod of the vertical telescopic cylinder 14 is fixedly connected to the mechanical gripper 16. The rotary cylinder 12 can be a 180-degree or 360-degree rotary cylinder 12, and the XYZ three-axis robot 7 can be formed by using the rotary cylinder 12, the horizontal telescopic cylinder 13 and the vertical telescopic cylinder 14, and has a simple overall structure and easy operation.
In some embodiments, the automatic airport runway foreign object detecting and cleaning system further comprises an industrial camera 15 mounted at the front end of the trolley 5, wherein the industrial camera 15 is in communication connection with the industrial personal computer 9 and is used for acquiring an airport runway environment image and transmitting the airport runway environment image to the industrial personal computer 9.
In some embodiments, the industrial personal computer 9 includes a navigation module, and the navigation module is configured to construct an environment map according to the airport runway environment image, and obtain an optimal path from the trolley 5 to a position of the airport runway foreign object according to the environment map and three-dimensional space coordinate information of the airport runway foreign object. The navigation module controls the trolley 5 to move forwards to the position of the foreign matter on the airport runway according to the optimal road strength, so that autonomous navigation can be realized, and the automation degree of the invention and the efficiency of detecting and cleaning the foreign matter on the airport runway are improved.
In some embodiments, the cart 5 is an AGV cart. The camera control center 3 is in communication connection with the camera 2 and the image processing center 4 through a communication module 10. The communication module 10 may be a bluetooth module, a ZigBee module, a 4G communication module, or the like.
In summary, the automatic detecting and cleaning system for foreign matters on airfield runways disclosed by the invention has the following beneficial technical effects: the airport runway foreign matter detection and cleaning device has the advantages that the airport runway foreign matter is detected and cleaned through an image processing technology and a robot technology, the efficiency of detecting and cleaning the airport runway foreign matter is effectively improved, and the workload and the cost are greatly reduced.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (7)
1. An automatic detection and cleaning system for foreign matters on airfield runways comprises a support, cameras, a camera control center, an image processing center, a trolley, an object stage, a robot, a recoverer and an industrial personal computer, wherein the support is arranged on two sides of the airfield runways, the cameras are arranged on the support, the camera control center is respectively in communication connection with the cameras and the image processing center and is used for transmitting airfield runway images acquired by the cameras to the image processing center, the object stage is arranged on the trolley, the robot, the recoverer and the industrial personal computer are arranged on the object stage, and the industrial personal computer is in communication connection with the image processing center, and is characterized in that the image processing center detects foreign matter image information according to airfield runway images, calculates three-dimensional space coordinate information of the airfield runways foreign matters according to the foreign matter image information and transmits the three-dimensional space coordinate information of the airfield runways foreign, the industrial personal computer controls the trolley and the robot to move according to the three-dimensional space coordinate information of the airfield runway foreign matter so as to clamp the airfield runway foreign matter to the recoverer.
2. The system according to claim 1, wherein the image processing center comprises an image storage module, an image preprocessing module, an image detection module and an image positioning module, the image storage module is used for receiving and storing the airport runway image collected by the camera, the image preprocessing module is used for receiving the airport runway image and performing image denoising and image enhancement processing on the airport runway image, the image detection module is used for receiving and detecting the processed airport runway image to obtain the foreign object image information, and the image positioning module is used for receiving the foreign object image information, calculating the three-dimensional space coordinate information of the airport runway foreign object according to the foreign object image information and transmitting the three-dimensional space coordinate information of the airport runway foreign object to the industrial personal computer.
3. The automatic airfield runway foreign matter detection and cleaning system as claimed in claim 2, wherein the robot comprises a base, a rotary cylinder, a horizontal telescopic cylinder, a vertical telescopic cylinder and a mechanical gripper, the bottom of the rotary cylinder is fixedly connected with the base, an output shaft of the rotary cylinder is fixedly connected with a cylinder barrel of the horizontal telescopic cylinder, a piston rod of the horizontal telescopic cylinder is fixedly connected with the cylinder barrel of the vertical telescopic cylinder, and a piston rod of the vertical telescopic cylinder is fixedly connected with the mechanical gripper.
4. The system according to claim 3, further comprising an industrial camera mounted at the front end of the car, wherein the industrial camera is in communication with the industrial personal computer for capturing images of the airport runway environment and transmitting the images of the airport runway environment to the industrial personal computer.
5. The system according to claim 4, wherein the industrial personal computer comprises a navigation module, and the navigation module is used for constructing an environment map according to the airport runway environment image and acquiring an optimal path from the trolley to the position of the airport runway foreign object according to the environment map and the three-dimensional space coordinate information of the airport runway foreign object.
6. The automatic airport runway foreign object detection and cleaning system of claim 5, wherein the car is an AGV car.
7. The system according to claim 5, wherein the camera control center is in communication connection with the camera and the image processing center through a communication module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010662137.9A CN111910566A (en) | 2020-07-10 | 2020-07-10 | Airport runway foreign matter automatic detection and clearance system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010662137.9A CN111910566A (en) | 2020-07-10 | 2020-07-10 | Airport runway foreign matter automatic detection and clearance system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113688825A (en) * | 2021-05-17 | 2021-11-23 | 海南师范大学 | AI intelligent garbage recognition and classification system and method |
| CN114277725A (en) * | 2021-12-20 | 2022-04-05 | 民航成都电子技术有限责任公司 | Airfield runway target foreign matter disposal equipment |
| CN117646402A (en) * | 2024-01-29 | 2024-03-05 | 民航成都电子技术有限责任公司 | Airport runway foreign matter cleaning method and device and cleaning equipment |
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