CN113888821A - A unmanned cruiser of enclosure security protection for airport - Google Patents
A unmanned cruiser of enclosure security protection for airport Download PDFInfo
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- CN113888821A CN113888821A CN202111243613.4A CN202111243613A CN113888821A CN 113888821 A CN113888821 A CN 113888821A CN 202111243613 A CN202111243613 A CN 202111243613A CN 113888821 A CN113888821 A CN 113888821A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000001846 repelling effect Effects 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 9
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- 230000005856 abnormality Effects 0.000 claims description 3
- 238000001931 thermography Methods 0.000 claims description 3
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/02—Mechanical actuation
- G08B13/12—Mechanical actuation by the breaking or disturbance of stretched cords or wires
- G08B13/122—Mechanical actuation by the breaking or disturbance of stretched cords or wires for a perimeter fence
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The invention discloses an unmanned patrol car for enclosure security protection of an airport, which is characterized by comprising a chassis, wherein the chassis is provided with inertial navigation and a laser radar connected with a first industrial personal computer through a first switch, the inertial navigation is connected with the first industrial personal computer, and the chassis is positioned in real time through the inertial navigation and RTK; the loading system comprises a video acquisition splicing module, a thermal-sensitive optical camera, a vehicle-mounted bird repelling module, a second switch and a first network high-definition image radio station, wherein the vehicle-mounted bird repelling module is connected with the second switch; the control end comprises a PC (personal computer), a first display used for displaying information of the video acquisition and splicing module, a second display used for displaying information of the thermal camera and a second network high-definition image transmission station connected with the first network high-definition image transmission station. Compared with the prior art, the invention has the following advantages: the control end of the boundary security protection unmanned patrol car for the airport realizes the functions of accurate positioning, outdoor autonomous patrol, automatic patrol and the like.
Description
Technical Field
The invention relates to the technical field of unmanned patrol cars, in particular to a boundary security unmanned patrol car for an airport.
Background
The boundary security protection unmanned patrol car can autonomously perform security protection patrol along a known specified route, is effective supplement of the existing security protection system, has the capabilities of autonomous maneuvering, intelligent monitoring, emergency disposal and the like, is suitable for boundary patrol tasks in large areas such as airports, warehouses and the like, can realize advantage complementation and linkage with the existing security protection system, and can effectively delay or treat sudden accidents.
The existing security unmanned patrol car mainly comprises a chassis system, an upper system, a wireless communication system and a main control center, wherein cameras are respectively arranged on the periphery of a car body, are transmitted to the main control center through a wireless image transmission module for display, and the surrounding environment is monitored through the display center; the vehicle body is generally provided with a GPS + inertial navigation fusion positioning mode, so that the functions of outdoor autonomous patrol, automatic patrol and the like are realized. However, the traditional security system has single structure and function, lacks dynamic monitoring capability, has independent subsystems, does not form an effective security system, and cannot meet the increasing actual requirements. Therefore, there is a need for an unmanned patrol vehicle for airport security to solve the above problems.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a boundary security unmanned patrol car for an airport.
In order to achieve the purpose, the invention adopts the following scheme:
a boundary security protection unmanned cruiser for an airport, comprising:
the system comprises a chassis, an inertial navigation system (INS inertial navigation system) and a laser radar connected with a first industrial personal computer through a first switch, wherein the inertial navigation system is connected with the first industrial personal computer, and the chassis is positioned in Real time through the inertial navigation system and an RTK (Real-time kinematic Real-time differential positioning); the unmanned patrol car adopts a positioning scheme of GPS + RTK + inertial navigation and adopts a laser radar as a sensor. The positioning accuracy of the GPS is usually poor, and the civil GPS positioning error can be up to ten and several meters, and the error sources include: the clock difference of the satellite and the refraction multipath effect (multiple reflections of GPS signals between buildings) of electromagnetic waves by atmosphere are RTK difference to calculate the errors of the various GPS. The deviation of the positioning signal can be known by installing a fixed base station on a reference point with a known absolute position and comparing the fixed base station with the positioning result of the GPS to the fixed base station. This deviation is then transmitted to the mobile station (patrol car) that needs to be located, so that the mobile station can obtain a relatively accurate position signal. The positioning accuracy of RTK can reach centimeter level.
The system comprises an uploading system, a video acquisition splicing module, a thermal sensitive optical camera, a vehicle-mounted bird repelling module, a second switch and a first network high-definition image transmission station, wherein the vehicle-mounted bird repelling module is connected with the second switch;
the control end comprises a PC (personal computer), a first display used for displaying information of the video acquisition and splicing module, a second display used for displaying information of the thermal-sensitive camera and a second network high-definition image radio station connected with the first network high-definition image radio station, the second network high-definition image radio station is connected with the first display, and the second network high-definition image radio station is connected with the second display through the PC.
Furthermore, the control terminal further comprises a QGC control terminal, a router wirelessly connected with the QGC control terminal, and a third display used for displaying the QGC cross section, and the QGC control terminal is connected with the second switch through the router. The QGC control terminal software comprises a common vehicle control and an image transmission display window, and a user issues a loading device instruction through the control and operates the unmanned vehicle.
Furthermore, the control end further comprises a microphone, a sound device, a simulation steering wheel, a remote rod and an accelerator pedal, the microphone and the sound device are connected with the second network high-definition picture electricity transmission platform, and the simulation steering wheel, the remote rod and the accelerator pedal are connected with the second network high-definition picture electricity transmission platform through a PC.
Furthermore, the video collecting and splicing module comprises a camera, a video collecting card for collecting video information of the camera and a second industrial personal computer.
Furthermore, four cameras are respectively arranged on the periphery of the vehicle body, and the second industrial personal computer can splice and synthesize a 270-degree visual angle image after receiving the left, middle and right paths of video information transmitted by the video acquisition card. 4 cameras installed around the trolley submit image data to a video processing industrial personal computer through a video acquisition card, the industrial personal computer is responsible for image splicing, the spliced image is transmitted to a wireless radio station through an HDMI interface, hardware embedded in the radio station is compressed, the compressed image is wirelessly transmitted, and the compressed image is transmitted to a display to be directly displayed through the HDMI of a receiving radio station. The video processing industrial personal computer can acquire chassis motion information and a QGC control instruction through the switch. For example, after forward or backward information is acquired, the picture of the front or rear camera is highlighted to remind the driver of the forward or backward state of the current vehicle. The radio station possesses the audio transmission function, inserts the adapter, and the power amplifier loudspeaker can realize long-range function of shouting. The data of the thermal camera is not processed by a video industrial personal computer, but is transmitted to a radio station through a switch, and the original data is restored and displayed by the radio station. And the control end of the cockpit communicates with the autonomous industrial personal computer through a radio station, such as issuing of a motion instruction and a control instruction of the upper equipment. And the handheld control end of the middle range is accessed into the switch through WIFI, and directly communicates with the autonomous industrial personal computer without being transmitted through a radio station.
Further, on-vehicle bird module of driving is including driving bird ware, power amplifier, loudspeaker and 360 degrees biax cloud platforms, drives the sound that bird ware can send simulation birds natural enemy, drives bird ware accessible power amplifier and carries out the acoustic pressure transduction with sound amplification output to directional loudspeaker, and 360 degrees biax cloud platforms of loudspeaker accessible carry out the all around rotation of surrounding type and drive the bird.
Further, the upper system also comprises a sound pickup connected with the first network high-definition picture radio station.
Furthermore, the thermal-sensitive camera is arranged on the 360-degree double-shaft motion platform, displays the integrated thermal imaging view, the regional temperature detection, the high-temperature alarm and the fire source detection of the thermal-sensitive double-pan-tilt camera, and displays that the thermal-sensitive camera can automatically inspect the real-time temperature detection of the surrounding environment and alarm in time after abnormality is found during work.
Further, the control interface of the control end comprises vehicle working mode control, chassis enabling control, vehicle switching, map switching, video switching, loading control, inertial navigation control, vehicle state display, battery information display and azimuth information display.
Furthermore, the chassis is a wire control chassis which comprises a front axle with a steering function, a power battery and a range extender for providing energy for the whole vehicle, a rear axle with an electric driving function and a braking system, and the chassis is preset with a mounting interface, an electric interface and a communication interface which are matched with the vehicle body. The length, width and height, wheel base and wheel base, dynamic property and economy of the chassis can be flexibly combined and matched according to different product requirements, an electric wire control function is realized by carrying a wire control execution mechanism and the like on the chassis, and a range extender can be optionally installed according to customer requirements. The chassis is reserved with an installation interface, an electrical interface and a communication interface of the vehicle body. The upper loading load and the electrical equipment can be modified and optimized to be connected with the electric equipment according to different application scenes and modeling styles. The lower parts of the front part and the rear part of the vehicle body are provided with an anti-collision beam and a crumpling energy absorption structure, so that the collision safety of the chassis is ensured. The drive-by-wire chassis has forward and reverse driving capabilities and can operate in a narrow space.
Compared with the prior art, the invention has the following advantages: the control end of the boundary security protection unmanned patrol car for the airport realizes a distributed ground unmanned platform software framework based on communication middleware. The interface and the data structure are standard, the bottom layer function is complete, the incremental development and the agile development can be supported, and the product capability requirement change can be coped with easily. The environment modeling technical framework with the upper system fusing various sensor information can realize a specific modeling algorithm only by inheriting and realizing classifier classes for different sensors, is easy to fuse sensor information with different characteristics, and can improve the precision and accuracy of environment modeling. A control model with high motion control precision is provided. The chassis integrates factors such as feedforward torque, feedback torque, dynamic torque constraint and the like, a closed-loop control model of expected speed and curvature is constructed, dynamic torque distribution of a plurality of independent driving motors is realized, and the high-precision motion control of the boundary security unmanned patrol car capable of driving in a forward and reverse autonomous navigation mode is realized.
Drawings
The present application will be described in further detail with reference to the following drawings and detailed description.
Fig. 1 is a schematic diagram of the overall connection relationship of a boundary security unmanned patrol car for an airport according to the present invention.
Fig. 2 is a schematic circuit connection diagram of a boundary security unmanned patrol car for an airport according to the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 and 2, an unmanned patrol car for security of an airport, comprising:
a chassis 1, as shown in fig. 1 and 2, the chassis 1 is provided with an inertial navigation system (INS inertial navigation system) 4 and a laser radar connected with a first industrial personal computer 6 through a first switch 5, the inertial navigation system 4 is connected with the first industrial personal computer 6 through a COM port, and the chassis 1 is positioned in Real time through the inertial navigation system 4 and an RTK (Real-time kinematic Real-time differential positioning); the unmanned patrol car adopts a positioning scheme of GPS + RTK + inertial navigation 4 and adopts a laser radar as a sensor. The positioning accuracy of the GPS is usually poor, and the civil GPS positioning error can be up to ten and several meters, and the error sources include: the clock difference of the satellite and the refraction multipath effect (multiple reflections of GPS signals between buildings) of electromagnetic waves by atmosphere are RTK difference to calculate the errors of the various GPS. The deviation of the positioning signal can be known by installing a fixed base station on a reference point with a known absolute position and comparing the fixed base station with the positioning result of the GPS to the fixed base station. This deviation is then transmitted to the mobile station (patrol car) that needs to be located, so that the mobile station can obtain a relatively accurate position signal. The positioning accuracy of RTK can reach centimeter level.
The upper system 2 is shown in fig. 1 and 2, the upper system 2 comprises a video collecting and splicing module, a thermal sensitive optical camera 16, a vehicle-mounted bird repelling module, a second exchanger 8 and a first network high-definition image radio transmission station 9, the vehicle-mounted bird repelling module is connected with the second exchanger 8, and the video collecting and splicing module, the thermal sensitive optical camera 16 and a second industrial personal computer 7 are connected with the first network high-definition image radio transmission station 9 through the second exchanger 8. The upper system 2 integrates the environment modeling technical framework of various sensor information, and for different sensors, only the classifier class needs to be inherited and realized, so that a specific modeling algorithm can be realized, the sensor information with different characteristics is easy to integrate, and the precision and accuracy of environment modeling can be improved.
The control terminal 3 comprises a PC (personal computer), a first display 11 for displaying information of the video acquisition and splicing module, a second display 12 for displaying information of the thermal camera 16 and a second network high-definition image transmission station 10 connected with the first network high-definition image transmission station 9, wherein the second network high-definition image transmission station 10 is connected with the first display 11, and the second network high-definition image transmission station 10 is connected with the second display 12 through the PC.
Preferably, as shown in fig. 1 and 2, the console terminal 3 further includes a QGC console terminal 14, a router wirelessly connected to the QGC console terminal 14, and a third display 13 for displaying a QGC cross section, and the QGC console terminal 14 is connected to the second switch 8 through the router. The QGC control end 14 software comprises a common vehicle control and an image transmission display window, and a user issues a loading device instruction through the control and operates the unmanned vehicle.
Preferably, the control end 3 further comprises a microphone, a sound, an analog steering wheel, a remote lever and an accelerator pedal, the microphone and the sound are connected with the second network high-definition image transmission station 10 through an AUX interface, and the analog steering wheel, the remote lever and the accelerator pedal are connected with the second network high-definition image transmission station 10 through a PC. The simulation steering wheel, the remote lever and the accelerator pedal are all connected with a PC through USB interfaces.
Preferably, as shown in fig. 1 and 2, the video collecting and splicing module includes a camera, a video collecting card 17 for collecting video information of the camera, and a second industrial personal computer 7.
Preferably, the number of the four cameras is four, the four cameras are respectively arranged on the periphery of the vehicle body, and the second industrial personal computer 7 can splice and synthesize a 270-degree visual angle image after receiving the left, middle and right paths of video information transmitted by the video acquisition card 17. 4 cameras installed around the trolley submit image data to a video processing industrial personal computer through a video acquisition card 17, the industrial personal computer is responsible for image splicing, the spliced image is transmitted to a wireless radio station through an HDMI interface, hardware embedded in the radio station is compressed, the compressed image is wirelessly transmitted, and the compressed image is transmitted to a display to be directly displayed through the HDMI of a receiving radio station. The video processing industrial personal computer can acquire the motion information of the chassis 1 and the instruction of the QGC control terminal 14 through the switch. For example, after forward or backward information is acquired, the picture of the front or rear camera is highlighted to remind the driver of the forward or backward state of the current vehicle. The radio station possesses the audio transmission function, inserts the adapter, and the power amplifier loudspeaker can realize long-range function of shouting. The data of the thermal camera is not processed by a video industrial personal computer, but is transmitted to a radio station through a switch, and the original data is restored and displayed by the radio station. And the control end 3 of the cockpit communicates with the autonomous industrial personal computer through a radio station, such as issuing of a motion instruction and a control instruction of the upper equipment. And the handheld control end 3 of middling journey inserts the switch through WIFI, and direct and autonomic industrial computer communication is not transmitted through the radio station.
Preferably, on-vehicle bird module of driving is including driving bird ware 15, power amplifier, loudspeaker and 360 degrees biax cloud platforms, drives the sound that bird ware 15 can send the simulation birds natural enemy, drives 15 accessible power amplifiers of bird ware and carries out the acoustic pressure transduction with sound amplification output to directional loudspeaker, and 360 degrees biax cloud platforms of loudspeaker accessible carry out the all-round rotation of surrounding type and drive the bird.
Preferably, the upper system 2 further comprises a sound pickup connected to the first network high definition image broadcasting station 9.
Preferably, as shown in fig. 1 and 2, the thermal camera 16 is disposed on a 360-degree biaxial motion platform, displays an integrated thermal imaging view, an area temperature detection, a high temperature alarm and a fire source detection of the thermal sensitive dual-pan-tilt camera, and displays that the thermal camera 16 can automatically patrol the surrounding environment for real-time temperature detection and alarm in time after abnormality is found during operation.
Preferably, the control interface of the control terminal 3 includes vehicle working mode control, chassis 1 enabling control, vehicle switching, map switching, video switching, loading control, inertial navigation control, vehicle state display, battery information display and azimuth information display. Controlling vehicle operating modes includes parking, pause, autonomous, manual, person following, and path following, among others.
Preferably, the chassis 1 is a drive-by-wire chassis 1, the drive-by-wire chassis 1 comprises a front axle with a steering function, a power battery and a range extender for providing energy for the whole vehicle, a rear axle with an electric driving function and a braking system, and the chassis 1 is preset with a mounting interface, an electric interface and a communication interface which are matched with a vehicle body. The length, width and height, the wheel base and the wheel base, the dynamic property and the economy of the chassis 1 can be flexibly combined and matched according to different product requirements, an electric line control function is realized by carrying a line control execution mechanism and the like on the chassis 1, and a range extender can be optionally arranged according to customer requirements. The chassis 1 is reserved with an installation interface, an electrical interface and a communication interface of a vehicle body. The upper loading load and the electrical equipment can be modified and optimized to be connected with the electric equipment according to different application scenes and modeling styles. The chassis 1 integrates factors such as feedforward torque, feedback torque, dynamic torque constraint and the like, a closed-loop control model of expected speed and curvature is constructed, dynamic torque distribution of a plurality of independent driving motors is realized, and the high-precision motion control of the boundary security protection unmanned patrol car capable of driving in a forward and reverse autonomous navigation mode is realized. The lower parts of the front part and the rear part of the vehicle body are provided with an anti-collision beam and a crumpling energy absorption structure, so that the collision safety of the chassis 1 is ensured. The drive-by-wire chassis 1 has forward and reverse traveling capabilities, and can operate in a narrow space.
Compared with the prior art, the invention has the following advantages: the control terminal 3 of the boundary security protection unmanned patrol car for the airport realizes a distributed ground unmanned platform software framework based on communication middleware. The interface and the data structure are standard, the bottom layer function is complete, the incremental development and the agile development can be supported, and the product capability requirement change can be coped with easily. The upper system 2 integrates the environment modeling technical framework of various sensor information, and for different sensors, only the classifier class needs to be inherited and realized, so that a specific modeling algorithm can be realized, the sensor information with different characteristics is easy to integrate, and the precision and accuracy of environment modeling can be improved. A control model with high motion control precision is provided. The chassis 1 integrates factors such as feedforward torque, feedback torque, dynamic torque constraint and the like, a closed-loop control model of expected speed and curvature is constructed, dynamic torque distribution of a plurality of independent driving motors is realized, and the high-precision motion control of the boundary security protection unmanned patrol car capable of driving in a forward and reverse autonomous navigation mode is realized.
The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present application, and these modifications and substitutions should also be regarded as the protection scope of the present application.
Claims (10)
1. A boundary security protection unmanned cruiser for an airport, comprising:
the system comprises a chassis, a first industrial personal computer, a second industrial personal computer, a first switch, a second switch, a first industrial personal computer, a second industrial personal computer, a first switch and a second switch, wherein the chassis is provided with inertial navigation and a laser radar connected with the first industrial personal computer through the first switch;
the system comprises a loading system, a video acquisition splicing module, a thermal-sensitive optical camera, a vehicle-mounted bird repelling module, a second switch and a first network high-definition image transmission station, wherein the vehicle-mounted bird repelling module is connected with the second switch, and the video acquisition splicing module, the thermal-sensitive optical camera and a second industrial personal computer are all connected with the first network high-definition image transmission station through the second switch;
the control end comprises a PC (personal computer), a first display used for displaying information of the video acquisition and splicing module, a second display used for displaying information of the thermal-sensitive camera and a second network high-definition image radio station connected with the first network high-definition image radio station, wherein the second network high-definition image radio station is connected with the first display, and the second network high-definition image radio station is connected with the second display through the PC.
2. The patrol car for airport boundary security of claim 1, wherein the control terminal further comprises a QGC control terminal, a router wirelessly connected to the QGC control terminal, and a third display for displaying the QGC cross section, and the QGC control terminal is connected to the second switch through the router.
3. The patrol car for the enclosure security of the airport according to claim 1 or 2, wherein the control end further comprises a microphone, a sound, a simulated steering wheel, a remote rod and an accelerator pedal, the microphone and the sound are connected with the second network high-definition image power transmission station, and the simulated steering wheel, the remote rod and the accelerator pedal are connected with the second network high-definition image power transmission station through the PC.
4. The unmanned patrol car for airport boundary security of claim 1, wherein the video acquisition and splicing module comprises a camera, a video acquisition card for collecting video information of the camera, and a second industrial personal computer.
5. The unmanned patrol car for the enclosure security and protection of the airport according to claim 1, wherein the number of the four cameras is four, the four cameras are respectively arranged around the car body, and the second industrial personal computer can splice and synthesize a 270-degree visual angle image after receiving the left, middle and right video information transmitted by the video acquisition card.
6. The unmanned patrol car of enclosure security and protection for airport according to claim 1, wherein the bird repelling module comprises a bird repelling device, a power amplifier, a horn and a 360-degree biaxial tripod head, the bird repelling device can emit sound simulating natural enemies of birds, the bird repelling device can amplify the sound by the power amplifier and output the sound to a directional horn for sound pressure transduction, and the horn can repel birds by the 360-degree biaxial tripod head in a surrounding type omnibearing rotation manner.
7. The unmanned patrol car for airport boundary security of claim 1, wherein the loading system further comprises a microphone connected with the first network high definition image passing station.
8. The unmanned patrol car for the enclosure security and protection of the airport according to claim 1, wherein the thermal camera is arranged on a 360-degree two-axis motion platform, the display thermal-sensitive two-pan-tilt camera integrates a thermal imaging view, an area temperature detection, a high temperature alarm and a fire source detection, and the display thermal camera can automatically patrol the ambient environment for real-time temperature detection and alarm in time after abnormality is found during operation.
9. The unmanned patrol car for airport boundary security and protection of claim 1, wherein the control interface of the control terminal comprises a vehicle working mode control interface, a chassis enabling control interface, a switching vehicle interface, a switching map interface, a switching video interface, a loading control interface, an inertial navigation control interface, a vehicle state display interface, a battery information display interface and an orientation information display interface.
10. The unmanned patrol vehicle for the enclosure security of the airport according to claim 1, wherein the chassis is a wire-controlled chassis, the wire-controlled chassis comprises a front axle with a steering function, a power battery and a range extender for providing energy for the whole vehicle, a rear axle with an electric driving function and a braking system, and the chassis is preset with a mounting interface, an electrical interface and a communication interface which are matched with a vehicle body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111243613.4A CN113888821A (en) | 2021-10-25 | 2021-10-25 | A unmanned cruiser of enclosure security protection for airport |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111243613.4A CN113888821A (en) | 2021-10-25 | 2021-10-25 | A unmanned cruiser of enclosure security protection for airport |
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| CN113888821A true CN113888821A (en) | 2022-01-04 |
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| CN202111243613.4A Pending CN113888821A (en) | 2021-10-25 | 2021-10-25 | A unmanned cruiser of enclosure security protection for airport |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114735110A (en) * | 2022-04-11 | 2022-07-12 | 中国人民解放军东部战区总医院 | Unmanned vehicle for ad hoc network |
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| CN112273366A (en) * | 2020-10-28 | 2021-01-29 | 玉林市农业科学院(广西农业科学院玉林分院) | Method and system for ecologically repelling birds by agricultural unmanned aerial vehicle in rice direct seeding cultivation |
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| CN107969417A (en) * | 2017-12-16 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of bird-repeller system |
| CN209608198U (en) * | 2019-04-25 | 2019-11-08 | 沈阳仕得蓝科技有限公司 | A kind of wireless automatic control inspection device |
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