CN117646402A - Airport runway foreign matter cleaning method and device and cleaning equipment - Google Patents

Abstract

The application discloses an airport runway foreign matter clearance method, device and cleaning equipment, this method includes: acquiring monitoring information sent by a runway foreign object detection system, wherein the monitoring information comprises a first foreign object image and first position information, and the first position information is coordinate information in a first electronic map of the runway foreign object detection system; acquiring size information and second position information of runway foreign matters based on the first foreign matter image and the first position information, wherein the second position information is coordinate information in a second electronic map; determining a cleaning device based on the size information and the second position information of the runway foreign matter; and under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, the cleaning equipment is controlled to clean the runway foreign matters. The application aims to solve the technical problems that the airport runway foreign matter cleaning efficiency is low, and the airport runway utilization rate is low.

Description

Airport runway foreign matter cleaning method and device and cleaning equipment

Technical Field

The application relates to the technical field of airport foreign matter treatment, in particular to an airport runway foreign matter cleaning method, an airport runway foreign matter cleaning device and an airport runway foreign matter cleaning device.

Background

Runway alien materials may appear on the airport runway due to aircraft landing, wake and other reasons. The runway foreign matters can cause safety accidents such as air accident, casualties and the like and economic losses of airlines, so that the runway foreign matters on the airfield runway need to be cleaned in time.

However, in the prior art, in order to clean runway foreign matters on an airport runway in time, when the runway foreign matters are monitored, the airport runway needs to be closed in time, and the runway foreign matters are manually treated, so that the utilization rate of the runway is reduced.

The foregoing is merely provided to facilitate an understanding of the principles of the present application and is not admitted to be prior art.

Disclosure of Invention

The main aim of the application is to provide a method, a device and cleaning equipment for cleaning foreign matters on an airport runway, which aim to solve the technical problem of low efficiency of cleaning the foreign matters on the airport runway and low utilization rate of the airport runway.

In order to achieve the above object, the present application provides a method for cleaning foreign matters on an airport runway, the method comprising: acquiring monitoring information sent by a runway foreign object detection system, wherein the monitoring information comprises a first foreign object image and first position information, and the first position information is coordinate information in a first electronic map of the runway foreign object detection system; acquiring size information and second position information of runway foreign matters based on the first foreign matter image and the first position information, wherein the second position information is coordinate information in a second electronic map; determining a cleaning apparatus based on the size information and the second position information of the runway foreign matter; and under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, controlling the cleaning equipment to clean the runway foreign matters.

Optionally, the obtaining the size information and the second position information of the runway foreign matter based on the first foreign matter image and the first position information includes: identifying the first foreign matter image according to a preset method to obtain the size information of runway foreign matters; and converting the first position information according to a preset rule, and displaying the second position information in the second electronic map.

Optionally, the size information includes a length value, a width value, and/or an area value of the runway foreign matter; the determining a cleaning apparatus based on the size information and the second position information of the runway foreign matter includes: determining whether the length value, the width value and/or the area value of the runway foreign matter are smaller than a corresponding preset threshold value, and if the length value, the width value and/or the area value of the runway foreign matter are smaller than the corresponding preset threshold value, matching the cleaning equipment based on the second position information.

Optionally, in the case that the airfield runway is in an idle state and meets the working cycle of the cleaning device, the cleaning device is controlled to clean the runway foreign matter, including: acquiring flight information provided by a third party platform; determining that an airport runway is in an idle state based on the flight information; and determining a time interval during which the airport runway is in an idle state based on the flight information; determining the working period of the cleaning equipment according to the second position information and the current position information of the cleaning equipment; and if the airfield runway is in an idle state and the working period of the cleaning equipment is larger than the time interval of the airfield runway in the idle state, controlling the cleaning equipment to clean the runway foreign matters.

Optionally, the controlling the cleaning device to clean the runway foreign matter includes: controlling the cleaning equipment to move to a track position with the shortest distance from the second position information, so that the cleaning equipment collects a second foreign matter image, and matching the second foreign matter image with the first foreign matter image, and sucking runway foreign matters if matching is successful; and controlling the cleaning equipment to return to the parking bin, and placing the runway foreign matters in the runway foreign matter recycling bin.

Optionally, after the cleaning device is controlled to clean the runway foreign matter under the condition that the airfield runway is in an idle state and the working period of the cleaning device is met, the method further comprises: acquiring job completion information sent by the cleaning equipment to determine that the job is completed; acquiring a third foreign matter image in the runway foreign matter recovery barrel; and matching the third foreign object image with the first foreign object image, and generating a cleaning record if the matching is successful.

Optionally, the method further comprises: monitoring the runway foreign matter recycling bin; and if the runway foreign matters contained in the runway foreign matter recycling bin reach a preset overflow boundary, generating overflow alarm information so as to remind a worker to clean the runway foreign matter recycling bin.

Optionally, the method further comprises: monitoring the cleaning equipment; if the cleaning equipment is located outside the parking bin, acquiring current state information uploaded by the cleaning equipment at intervals of preset time to update state display of the cleaning equipment in the second electronic map; if the cleaning equipment is located in the parking bin, abnormal working information uploaded by the cleaning equipment is obtained, and notification information is generated according to the abnormal working information so as to notify staff to overhaul the cleaning equipment.

In addition, in order to realize above-mentioned purpose, this application still provides an airport runway foreign matter cleaning device, airport runway foreign matter cleaning device includes: the information acquisition module is used for acquiring monitoring information sent by the runway foreign object detection system, wherein the monitoring information comprises a first foreign object image and first position information, and the first position information is coordinate information in a first electronic map of the runway foreign object detection system; the first determining module is used for obtaining the size information and the second position information of the runway foreign matters based on the first foreign matter image and the first position information, and the second position information is coordinate information in a second electronic map; a second determining module for determining a cleaning device based on the size information and the second position information of the runway foreign matter; and the cleaning control module is used for controlling the cleaning equipment to clean runway foreign matters under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is satisfied.

In addition, to achieve the above object, the present application also provides a cleaning apparatus applied to the method for cleaning foreign matter on an airport runway according to any one of the above claims 1 to 8, comprising: the movable car body is connected with a track laid on an airport runway and comprises a driving motor and a microcontroller; the turntable is arranged on the mobile vehicle body; the mechanical arm is arranged on the turntable; the suction head is arranged at one end of the mechanical arm, which is far away from the movable vehicle body, and is used for sucking runway foreign matters; the automatic obstacle avoidance module is arranged on the mobile vehicle body and used for acquiring a second foreign object image; the microcontroller is used for controlling the driving motor to start, controlling the driving motor to move the cleaning equipment to the track position with the shortest distance from the second position information, matching the second foreign matter image with the first foreign matter image acquired by the runway foreign matter detection system, and controlling the suction head to suck runway foreign matters if the matching is successful.

In addition, the present application also provides a computing device, including: at least one processor, memory, and input output unit; wherein the memory is for storing a computer program and the processor is for invoking the computer program stored in the memory to perform the method of any of the first aspects.

Furthermore, the application provides a computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects.

According to the method, the device and the cleaning equipment for cleaning the foreign matters on the runway, the acquired first foreign matter image and the first position information acquired by the foreign matter detection system of the runway are analyzed to obtain the size information and the second position information of the foreign matters on the runway; determining cleaning equipment through the size information and the second position information of the runway foreign matters; under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, the cleaning equipment is controlled to clean foreign matters on the runway; on the one hand, through analyzing the first foreign matter image and the first position information, cleaning equipment closest to the runway foreign matters can be determined, the dependence on manual cleaning of the runway foreign matters is reduced, the distance between the cleaning equipment and the runway foreign matters can be reduced to a certain extent, the cleaning time of the runway foreign matters is further shortened, and the cleaning efficiency of the runway foreign matters is improved; on the other hand, the runway foreign matter is cleaned under the idle state of the runway and under the condition of meeting the working cycle of cleaning equipment, the closing of the runway and the adjustment of the flight schedule can be effectively avoided, the taking-off and landing of the aircraft are not affected, and the utilization rate of the runway and the overall operation efficiency of the airport are improved.

Drawings

Fig. 1 is a schematic view of an application scenario of an airport runway foreign matter cleaning method according to an embodiment of the present application;

fig. 2 is a schematic view of an installation structure of a cleaning apparatus according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;

FIG. 4 is a schematic flow chart of a method for cleaning foreign matters on an airport runway according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of a method for cleaning foreign matters on an airport runway according to another embodiment of the present application;

FIG. 6 is a schematic diagram of a functional module of an airport runway foreign matter cleaning apparatus according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a medium according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a computing device according to an embodiment of the present application.

Wherein: 1. a track; 2. a cleaning device; 21. moving the vehicle body; 22. a turntable; 23. a mechanical arm; 24. a suction head; 25. an automatic obstacle avoidance module; 26. a conductive wheel set; 3. a parking bin; 4. a track first position; 5. a track second position; 600. an airport runway foreign matter cleaning device; 610. an information acquisition module; 620. a first determination module; 630. a second determination module; 640. a cleaning control module; 70. an optical disc; 80. a computing device; 801. a processing unit; 802. a system memory; 8021. a RAM; 8022. a cache memory; 8023. a ROM; 8024. a program module; 8025. a utility tool; 803. a bus; 804. an external device; 805. an I/O interface; 806. a network adapter.

The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Those skilled in the art will appreciate that embodiments of the present application may be implemented as a system, apparatus, device, method, or computer program product. Thus, the present application may be embodied in the form of: complete hardware, complete software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.

The main solutions of the embodiments of the present application are: acquiring monitoring information sent by a runway foreign object detection system, wherein the monitoring information comprises a first foreign object image and first position information, and the first position information is coordinate information in a first electronic map of the runway foreign object detection system; acquiring size information and second position information of runway foreign matters based on the first foreign matter image and the first position information, wherein the second position information is coordinate information in a second electronic map; determining a cleaning device based on the size information and the second position information of the runway foreign matter; and under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, the cleaning equipment is controlled to clean the runway foreign matters.

Runway alien materials may appear on the airport runway due to aircraft landing, wake and other reasons. These runway foreign matters may cause safety accidents such as air accident, casualties, etc. and economic losses of airlines, so that the runway foreign matters (Foreign Object Debris, FOD) on the airport runway need to be cleaned in time.

In the prior art, a runway foreign matter detection system is adopted to monitor an airport runway, and when runway foreign matters appear on the airport runway, alarm information is sent out to prompt staff to clear the airport runway. The runway foreign matter detection system (Foreign Object Debris Detection System, FOD detection system for short) is a system combining software and hardware, and adopts a distributed photoelectric sensor integrating millimeter wave radar and optical detection to detect runway foreign matters on an airport runway, such as metal parts, crushed stones, pavement materials, flying objects, ice residues, paper chips and the like.

However, the method can only monitor the runway, when the runway foreign matters appear on the runway, the runway foreign matters with higher dangerous grades need to be cleaned manually, even the flight schedule needs to be adjusted to clean the runway foreign matters, the integral operation efficiency of the runway is affected to a certain extent, and the utilization rate of the runway is reduced.

According to the method, on one hand, through analysis of the first foreign matter image and the first position information, cleaning equipment closest to runway foreign matters can be determined, dependence on manual cleaning of the runway foreign matters is reduced, the distance between the cleaning equipment and the runway foreign matters can be reduced to a certain extent, cleaning time of the runway foreign matters is shortened, and cleaning efficiency of the runway foreign matters is improved; on the other hand, the runway foreign matter is cleaned under the idle state of the runway and under the condition of meeting the working cycle of cleaning equipment, the closing of the runway and the adjustment of the flight schedule can be effectively avoided, the taking-off and landing of the aircraft are not affected, and the utilization rate of the runway and the overall operation efficiency of the airport are improved.

It should be noted that any number of elements in the figures are for illustration and not limitation, and that any naming is used for distinction only and not for limitation.

The principles and spirit of the present application are explained in detail below with reference to several representative embodiments thereof.

Referring to fig. 1, an application scenario diagram of an airport runway foreign matter cleaning method according to an embodiment of the present application is provided.

The application scene comprises a track 1 paved on an airport runway, a cleaning device 2 slidingly installed on the track and a parking bin 3 for accommodating the cleaning device. The track 1 has a plurality of evenly spaced along the length direction of the airport runway, each track 1 is provided with cleaning equipment 2 in a sliding mode, each track 1 is correspondingly provided with a parking bin 3, the parking bins 3 are located on the soil surface area outside the airport runway surface, the length of each track 1 is greater than the width of the airport runway surface, and the track 1 extends into the parking bins 3 from the concrete area of the airport runway surface. That is, one end of each track 1 extends to an airport runway surface external soil surface area portion, the parking garage 3 is mounted to the airport runway surface external soil surface area portion, and the height of the parking garage 3 does not exceed the lowest value of the airport runway surface. In order to facilitate the recovery of runway foreign matter and in order not to affect the movement of the cleaning device 2, a runway foreign matter recovery tank is placed in the parking bin 3.

In the case of operation, the cleaning apparatus 2 is moved on the rail 1, for example, the cleaning apparatus 2 is moved from the parking garage 3 to the rail first position 4, the runway foreign matter is sucked up at the rail first position 4 and returned to the parking garage 3, and the runway foreign matter is placed in the runway foreign matter recovery tub, completing one operation. In the case of non-operation, the cleaning device 2 waits for an operation instruction in the parking garage 3, for example, the cleaning device 2 stays at the track second position 5 for an operation instruction. In other words, the cleaning device 2 in the first position 4 of the track and the cleaning device 2 in the second position 5 of the track in fig. 1 are different operating states of the same cleaning device 2.

In general, the runway surface of an airport runway is made of cement concrete materials, and in order to drain water during construction, the runway is transversely designed by adopting a double slope, namely, the runway is bounded by a runway center line, the slopes of the two sides of the runway are generally not more than 0.02, namely, the whole runway presents low sides and high middle. And (3) slitting the airfield runway surface along the length direction of the airfield runway surface at intervals of 5 meters to form a runway surface slitting. The length of the pavement joint is the width of the airfield runway surface, the thickness of the airfield runway surface is not less than 40cm, and the depth of the pavement joint is 1/3 of the thickness of the airfield runway surface, for example 13.3cm.

Then, referring to fig. 2, the track surface portion of the track 1 was buried in the track surface slit at a buried depth of 10cm and a width of 15cm. The installed track 1 can bear the normal taking-off and landing quality of an airplane, does not cause the reduction of the strength of the runway surface, and is positioned on the same level with the runway surface of the airport. And the track 1 is made of high-strength stainless steel, a copper bar insulated from the track 1 is arranged on the inner side of the track 1 and used for power output, and the copper bar is in direct contact with the conductive wheel set of the cleaning equipment 2 during operation.

Further, referring to fig. 3, a schematic structural diagram of a cleaning apparatus is provided in an embodiment of the present application.

In combination with the above, the cleaning device 2 comprises a mobile vehicle body 21, a turntable 22, a mechanical arm 23, a suction head 24 and an automatic obstacle avoidance module 25; the mobile vehicle body includes explosion-proof wheels, a vehicle body structure, a drive motor, a conductive wheel set 26, and a microcontroller.

Specifically, a mobile car body 21 is mounted on the track 1 through a conductive wheel set, and a turntable 22 is mounted on the mobile car body; the mechanical arm 23 is arranged on the turntable 22; the suction head 24 is arranged at one end of the mechanical arm 23 far away from the mobile car body 21 and can suck runway foreign matters; the automatic obstacle avoidance module 25 is arranged on the mobile vehicle body 21 and can acquire a second foreign object image; the microcontroller can control the driving motor to start and control the cleaning device 2 to move to the track with the shortest distance from the second position information; the second foreign object image may be matched with the first foreign object image acquired by the runway foreign object detection system, and if the matching is successful, the suction head 24 is controlled to suck the runway foreign object. And in other embodiments, the microcontroller may also generate the job completion information when the cleaning apparatus moves into the parking garage to place runway foreign matter in the runway foreign matter recycling bin.

Specifically, the body structure of the mobile body 21 is press-formed of a high-strength steel material so as not to be deformed by environmental influences. The explosion-proof wheels of the mobile vehicle body 21 are arranged on the vehicle body structure and are contacted with the runway surface of the airport runway, and the explosion-proof wheels of the mobile vehicle body 21 adopt high-strength explosion-proof wheels, so that the cleaning equipment 2 can be ensured to work normally under the high-temperature and high-cold environment of the airport runway. The driving motor of the movable car body 21 is a permanent magnet synchronous motor, and is simultaneously powered by 48V direct current. Wherein, the cleaning device 2 can be operated at the highest speed of 5m/s under the action of the driving motor. The conductive wheel set 26 of the movable vehicle body 21 can adopt a bidirectional 10 wheel set, 1/3/5 of the left 5 wheel set is a copper metal wheel and is used for supplying power to the positive electrode of the cleaning device 2, 2/4 of the right 5 wheel set is a copper metal wheel and is used for supplying power to the negative electrode of the cleaning device 2, and the rest wheel sets are made of rubber materials. The microcontroller controls the start of the drive motor.

The turntable 22 is mounted on the vehicle body structure to allow 360 degrees of free rotation. The mechanical arm 23 is arranged on the turntable 22 and can rotate along with the turntable 22 to realize 360-degree free rotation; and the mechanical arm 23 adopts a hydraulic structure, the length during folding can be 1 meter, and the longest telescopic length can be 3 meters. That is, the robot arm 23 covers 6 meters on both sides of the track 1 by the turntable 22. The suction head 24 is arranged at one end of the mechanical arm 23 far away from the turntable, and the suction head 24 adopts a large suction device, so that runway foreign matters with the size not more than 250 mm and the mass not more than 5kg can be sucked.

The automatic obstacle avoidance modules 25 may be arranged in four groups, and the four groups of automatic obstacle avoidance modules 25 are distributed around the moving vehicle body. Each automatic obstacle avoidance module 25 consists of a high-definition optical camera and a laser ranging probe; the high-definition optical camera can acquire images and/or videos of the surrounding environment of the cleaning equipment 2 in real time in the travelling process of the cleaning equipment 2; and a second foreign object image is acquired while the cleaning apparatus 2 sucks the runway foreign object through the suction head 24. The laser ranging probe can collect the distance between the runway foreign matters and the probe, so that the microcontroller controls the telescopic length of the mechanical arm 23 according to the distance, and the suction head 24 is convenient to suck the runway foreign matters.

Referring to fig. 4, an embodiment of the present application provides an airport runway foreign matter cleaning method, which is applied to an intelligent cleaning management platform, and the execution subject of the airport runway foreign matter cleaning method may be a computing device with a computing processing function in the intelligent cleaning management platform. The computing device of the intelligent cleaning management platform is in communication with the runway foreign object detection system in the above embodiments. The method for cleaning foreign matter on an airport runway in the exemplary embodiment will be described in detail with reference to the accompanying drawings.

The method for cleaning the foreign matters on the airfield runway comprises the following steps:

step S410, obtaining monitoring information sent by the runway foreign object detection system.

In an example embodiment, the monitoring information includes a first foreign object image acquired by the runway foreign object detection system and first location information. The first position information is coordinate information of the runway foreign matters in a first electronic map of the runway foreign matter detection system.

The runway foreign matter detection system monitors an airport runway, when a front end detector of the runway foreign matter detection system detects that runway foreign matters appear on the runway, a rear end information management platform of the runway foreign matter detection system pops up an alarm in real time, images and position information of the runway foreign matters are rapidly positioned and displayed, and workers determine dangerous grades of the runway foreign matters and classify the runway foreign matters through the images of the runway foreign matters. Among them, runway foreign body types include, but are not limited to vegetation (e.g., branches), animals (e.g., bird carcasses), plastics (e.g., tire skin), metals (e.g., screws), etc. Risk classification: according to runway foreign matter treatment suggestion in the method of preventing and managing foreign matters in an AP-140-CA-2022-05 transportation airport, classifying the dangerous grade of the runway foreign matters into I/II/III grade, wherein the I grade is the runway foreign matters which need to be immediately suspended and removed from the runway; class II is to treat runway alien materials on the runway by utilizing the flight gap; class III is the runway foreign matter on the navigable reprocessing runway.

By classifying dangerous grades of runway foreign matters by staff, whether the runway is required to be closed or not can be judged so as to clean the runway foreign matters; the runway foreign matter is classified and processed by workers, so that the subsequent cleaning equipment can conveniently match with the first foreign matter image through the second foreign matter image acquired on site when cleaning the runway foreign matter.

After the personnel carry out dangerous grade classification and type classification to runway foreign matters, the runway foreign matter detection system can pack and generate monitoring information by means of images of the runway foreign matter treatment process, namely, a first foreign matter image, first position information, runway foreign matter types and dangerous grades, and uniformly send the monitoring information to the intelligent cleaning management platform. The computing device of the intelligent cleaning management platform receives the monitoring information.

Step S420, obtaining the size information and the second position information of the runway foreign matter based on the first foreign matter image and the first position information.

In an example embodiment, the second location information is coordinate information of the runway impurity in a second electronic map of the target platform. The target platform is an intelligent cleaning management platform. And the computing equipment of the intelligent cleaning management platform analyzes the first foreign body image and the first position information to obtain the size information and the second position information of the runway foreign bodies.

In a specific embodiment, the step S420 includes:

step S4201, the first foreign object image is identified according to a preset method, and the size information of the runway foreign object is obtained.

In an example embodiment, the size information of the runway foreign matter is a real size of the runway foreign matter on the airport runway; the size information of the runway foreign matter includes a length value, a width value, and/or an area value of the runway foreign matter.

The preset method is a monocular vision measurement method. That is, the runway foreign matter size in the first foreign matter image is reduced by analyzing data such as the height, lens orientation, and known size of an object in the image mounted on the front end detection device of the runway foreign matter detection system by the monocular vision measurement method.

Step S4201: and converting the first position information according to a preset rule, and displaying the second position information in the second electronic map.

It can be understood that the preset rule is a conversion relation set according to the parameters of the runway surface of the airport.

For example, by taking the runway end as the origin, the runway length 3800m as the abscissa, the runway width 60m as the ordinate, and simulating and displaying the positions of the cleaning equipment and the track according to the 5m interval, the positions of certain runway foreign matters in the second electronic map of the intelligent cleaning management platform are obtained as (2497 m,23 m).

Step S430, determining the cleaning device based on the size information and the second position information of the runway foreign matter.

Specifically, in combination with the above, the size information of the runway foreign matter includes a length value, a width value, and/or an area value of the runway foreign matter. The computing equipment of the intelligent cleaning management platform judges whether the length value, the width value and/or the area value of the runway foreign matters are smaller than the corresponding preset threshold value, and if the length value, the width value and/or the area value of the runway foreign matters are smaller than the corresponding preset threshold value, the cleaning equipment is matched based on the second position information.

It can be understood that the computing device of the intelligent cleaning management platform analyzes the monitoring information, restores the runway foreign matters according to the first foreign matter image in the monitoring information, and obtains the size information of the runway foreign matters, wherein the size information can be the length value, the width value and/or the area value of the runway foreign matters. And then, the computing equipment of the intelligent cleaning management platform judges whether the length value, the width value and/or the area value of the runway foreign matters are smaller than the corresponding preset threshold value, and if the length value, the width value and/or the area value of the runway foreign matters are smaller than the corresponding preset threshold value, the runway foreign matters can be cleaned through the cleaning equipment. If the length value, the width value and/or the area value of the runway foreign matters are larger than the corresponding preset threshold values, the runway foreign matters cannot be cleaned through cleaning equipment, and at the moment, alarm information needs to be generated to inform workers of manually treating the runway foreign matters on the runway.

In some embodiments, the alarm information is that an alarm position is displayed in the second electronic map and an alarm sound is sent out, an icon of the alarm position alternately flashes in yellow-green color, and meanwhile, a popup window prompts related information, and the related information can be a coordinate position of runway foreign matters in the intelligent cleaning management system, a type of the runway foreign matters, a size of the runway foreign matters and the like.

It should be noted that, the corresponding preset threshold in the foregoing is defined according to the sucking capability of the cleaning device in practical application, which is not specifically defined in the embodiments of the present application.

It is further understood that after determining whether the length value, the width value and/or the area value of the runway foreign matter is smaller than the corresponding preset threshold value, the computing device of the intelligent cleaning management platform matches the cleaning device according to the second position information.

In connection with the above embodiment, for example, the second position information of the runway foreign matter is (2497 m,23 m); in a second electronic map of the intelligent cleaning management platform, the positions of cleaning equipment and a track are simulated and displayed according to the 5m interval; the horizontal coordinates of the runway foreign matters are 2497, 2497/5= 499.4, and the coordinates (499, 23) and (500, 23) of the runway foreign matters displayed in the second electronic map of the intelligent cleaning management platform can be calculated, so that the distance between the runway foreign matters and the cleaning equipment of the 499 th track and the 500 th track is nearest.

Step S440, when the airfield runway is in an idle state and the working period of the cleaning equipment is satisfied, the cleaning equipment is controlled to clean the runway foreign matters.

In an example embodiment, the manner in which the computing device of the intelligent cleaning management platform determines whether the airport runway is in an idle state is: acquiring flight information provided by a third party platform; based on the flight information, it is determined that the airport runway is in an idle state.

Specifically, if the computing equipment of the intelligent cleaning management platform judges that the airport runway is in an occupied state according to the flight information, the cleaning equipment is controlled to wait in situ and does not operate; if the computing equipment of the intelligent cleaning management platform judges that the airfield runway is in the idle state according to the flight information, judging whether the time interval of the airfield runway in the idle state meets the working period of the cleaning equipment or not.

The mode that the computing equipment of the intelligent cleaning management platform judges whether the time interval of the airfield runway in an idle state meets the working period of the cleaning equipment is as follows: determining a time interval during which the airport runway is in an idle state based on the flight information; determining the working period of the cleaning equipment according to the second position information and the current position information of the cleaning equipment; and if the airfield runway is in the idle state and the working period of the cleaning equipment is greater than the time interval of the airfield runway in the idle state, controlling the cleaning equipment to move to the second position information so as to enable the cleaning equipment to clean the runway foreign matters.

Specifically, in the case of non-operation, the cleaning device is located in the parking garage, so the current position information of the cleaning device is the position information of the parking garage. Therefore, the working cycle specifically refers to the complete time required for the process from the start of the cleaning equipment from the parking bin to the suction of runway foreign matters to the return of the cleaning equipment to the parking bin to the return of the cleaning equipment to the recovery of the runway foreign matters from the cleaning equipment to the recovery of the cleaning equipment. For example, in connection with the above-described embodiments, it is known that the cleaning apparatus has an operation speed of 5m/s (motor drive, acceleration is ignored), the mechanical arm is extended once for 10s, contracted once for 10s, the suction head sucks runway foreign matter once for 5s, and a certain runway foreign matter position is (2497 m,23 m); the cleaning device completes one operation (when the running time is not calculated) for a longitudinal distance of 10+10+5=25 s,23m, the cleaning device needs 23×2/5=9.2 s, and the cleaning device takes 10s, and then a complete working period is 35s.

As can be appreciated by combining the above, the computing device of the intelligent cleaning management platform can calculate the time interval between adjacent flights on the airport runway with runway alien materials according to the flight information provided by the third party platform, compare the time interval between the adjacent flights with the operation period of the cleaning device, and if the operation period of the cleaning device is greater than the time interval of the airport runway in an idle state, control the cleaning device to clean the runway alien materials.

It should be noted that, in the embodiment of the present application, the working period is the shortest working period, but in order to ensure the safety of taking off and landing of the aircraft, in practical application, the working period of the cleaning device is generally greater than the shortest working period in the embodiment of the present application, for example, the actual working period of the cleaning device is 1.5 times the shortest working period in the embodiment. In other embodiments, the actual working period of the cleaning apparatus may be an integer multiple of 1.5 times the shortest working period in the present embodiment.

It can be further understood that the computing device of the intelligent cleaning management platform controls the cleaning device to clean the runway foreign matters, namely, controls the cleaning device to move to the track position with the shortest distance from the second position information, so that the cleaning device collects the second foreign matter image, matches the second foreign matter image with the first foreign matter image, and absorbs the runway foreign matters if the matching is successful; and controlling the cleaning equipment to return to the parking bin, and placing the runway foreign matters in the runway foreign matter recycling bin.

In other words, after the computing device of the intelligent cleaning management platform determines that the airfield runway is in an idle state and the time interval of the airfield runway in the idle state meets the working period of the cleaning device, a control instruction is sent to the microcontroller of the cleaning device, and the microcontroller receives the control instruction to start the driving motor so that the cleaning device moves to the track 1 nearest to the second position information; and then, the microcontroller acquires a second foreign matter image through the automatic obstacle avoidance module, judges whether the second foreign matter image is matched with the first foreign matter image, and if so, proves that the runway foreign matter can be correctly absorbed. And then, the distance between the runway foreign matters and the movable vehicle body is acquired through the automatic obstacle avoidance module again, and the telescopic length of the mechanical arm is controlled so as to control the suction head to suck the runway foreign matters.

After the cleaning equipment absorbs the runway foreign matters, the computing equipment of the intelligent cleaning management platform controls the cleaning equipment to return to the parking bin in the original path, and places the runway foreign matters into the runway foreign matter recycling bin. After the cleaning equipment places runway foreign matters into the runway foreign matter recycling bin, the microcontroller of the cleaning equipment determines that the runway foreign matter recycling bin cover is closed through images of the runway foreign matter recycling bin collected by the automatic obstacle avoidance module, and then generates operation completion information.

As an alternative embodiment, the computing device of the intelligent cleaning management platform monitors the cleaning device during its movement to track 1 nearest to the second location information.

In an embodiment, if the cleaning device is located outside the parking garage, the computing device of the intelligent cleaning management platform obtains current state information uploaded by the cleaning device at intervals of a preset time, so as to update the state display of the cleaning device in the second electronic map.

It is understood that the current state information includes a moving speed of the cleaning apparatus, a moving track, position information, heartbeat information, network parameters, the number of jobs on the day, the last time of the job, and the like. The current status information may be displayed in a second electronic map of the intelligent cleaning management platform.

When the cleaning equipment is in the operation process, an automatic obstacle avoidance module of the cleaning equipment acquires images and/or videos of the surrounding environment of the cleaning equipment in real time, and a microcontroller of the cleaning equipment generates current state information of the cleaning equipment according to the images and/or videos; and then, the microcontroller of the cleaning device uploads the current state information to the computing device of the intelligent cleaning management platform at intervals of preset time, and the computing device of the intelligent cleaning management platform updates the state display of the cleaning device in the second electronic map.

For example, if the platform receives heartbeat information sent by the trolley according to 1 time/min, marking blue, and representing online; if the platform does not receive the heartbeat information of the trolley for 3 minutes continuously, marking red, representing offline, and simultaneously, the popup window prompts the trolley to be offline, so that a worker judges whether the cleaning equipment is parked.

It should be noted that, in some embodiments, the current state information of the cleaning device may be adjusted by clicking a cart icon in the second electronic map with a right button of the mouse. And monitoring the cleaning equipment, thereby being beneficial to timely knowing the conditions of stopping, losing connection and the like of the cleaning equipment in the operation process, timely notifying a worker to perform manual intervention and ensuring the taking-off and landing safety of the airplane.

In another embodiment, if the cleaning device is located in the parking garage, the computing device of the intelligent cleaning management platform acquires abnormal working information uploaded by the cleaning device, and generates notification information according to the abnormal working information to notify a worker to overhaul the cleaning device.

It can be understood that the abnormal working information is abnormal power supply parameters of the cleaning equipment, abnormal pressure parameters of the mechanical arm, abnormal states of the suction head and the like. The notification information is popup information and/or voice prompt information.

When the cleaning equipment stands by in the parking bin, the microcontroller of the cleaning equipment performs self-checking on the cleaning equipment at intervals of preset time, for example, whether the power supply parameter, the mechanical arm pressure parameter, the suction head state and the like of the cleaning equipment are normal or not is checked, if the power supply parameter, the mechanical arm pressure parameter, the suction head state and the like are normal, no action is performed, and if the power supply parameter, the mechanical arm pressure parameter and the suction head state are abnormal, abnormal working information is uploaded to the computing equipment of the intelligent cleaning management platform, and the computing equipment of the intelligent cleaning management platform generates notification information, such as voice prompt, so as to inform workers to overhaul the cleaning equipment.

As an alternative embodiment, after the cleaning device returns to the parking garage and the runway foreign matter is placed in the runway foreign matter recycling bin, the computing device of the intelligent cleaning management platform monitors the runway foreign matter recycling bin.

Specifically, if runway foreign matters contained in the runway foreign matter recycling bin reach a preset overflow boundary, the computing equipment of the intelligent cleaning management platform generates overflow alarm information so as to remind a worker of cleaning the runway foreign matter recycling bin.

It is understood that the overflow alert information includes popup information and/or voice prompt information. Be provided with monitoring facilities in runway foreign matter recycling bin, for example, correlation photoelectric sensor, the runway foreign matter is sheltered from the light that correlation photoelectric sensor was penetrated to the pair for the intelligent computing equipment who cleans management platform can't receive the monitoring signal that monitoring facilities uploaded in a period of time, then the intelligent computing equipment who cleans management platform generates overflow alarm information, for example bullet window information, reminds the staff to clear up runway foreign matter recycling bin.

After the personnel clean the runway foreign matter recycling bin, the personnel can be required to check the runway foreign matters in the runway foreign matter recycling bin machine, and confirm the runway foreign matters again, so that the cleaning accuracy of the cleaning equipment is ensured.

Step S410 to step S430 are implemented, and the size information and the second position information of the runway foreign matter can be obtained by analyzing the acquired first foreign matter image and the first position information acquired by the runway foreign matter detection system; determining cleaning equipment through the size information and the second position information of the runway foreign matters; under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, controlling the cleaning equipment to move to a second position information part to clean foreign matters on the runway; on the one hand, the first foreign matter image and the first position information are analyzed, so that cleaning equipment closest to the runway foreign matters can be matched, the cleaning equipment is controlled to clean the runway foreign matters, the dependence on manual cleaning of the runway foreign matters is reduced, and the time for cleaning the runway foreign matters can be reduced to a certain extent; on the other hand, the runway foreign matter is cleaned under the idle state of the runway and under the condition of meeting the working cycle of cleaning equipment, the closing of the runway and the adjustment of the flight schedule can be effectively avoided, the taking-off and landing of the aircraft are not affected, and the utilization rate of the runway and the overall operation efficiency of the airport are improved.

In addition, the embodiment of the application can acquire the current state information uploaded by the cleaning equipment when the cleaning equipment is located outside the parking bin so as to update the state display of the cleaning equipment in the second electronic map, and can timely inquire the current state of the cleaning equipment in real time through the state display, and when the cleaning equipment sends an accident, workers can be timely reminded to perform manual intervention, so that the safety of taking off and landing of the aircraft is ensured.

Acquiring abnormal working information uploaded by the cleaning equipment when the cleaning equipment is positioned in the parking bin; whether each parameter of the cleaning equipment is normal or not can be timely known through abnormal working information, if any parameter of the cleaning equipment is abnormal, staff is timely informed of overhauling the cleaning equipment, when next operation is convenient, the cleaning equipment can timely respond to the control of the computing equipment of the intelligent cleaning management platform, the working efficiency can be improved to a certain extent, and then the overall operation efficiency of an airport is improved.

Through monitoring runway foreign matter recycling bin, when the runway foreign matter that runway foreign matter recycling bin held reaches the overflow boundary line of predetermineeing, remind the staff clearance runway foreign matter recycling bin, when making things convenient for next operation, runway foreign matter recycling bin accomodates the foreign matter, can improve the operating efficiency to a certain extent, and then improves the overall operation efficiency at airport.

In another embodiment of the present application, in order to further improve the overall operation efficiency of the airport, as shown in fig. 5, after step S440, the following steps may be further included:

step S510, acquiring job completion information sent by the cleaning device to determine that the job is completed.

Step S520, a third foreign object image in the runway foreign object recycling bin is acquired.

With the above embodiment, the microcontroller of the cleaning device determines that the runway foreign matter recycling bin cover is closed through the image of the runway foreign matter recycling bin collected by the automatic obstacle avoidance module, and generates the operation completion information. And the computing equipment of the intelligent cleaning management platform acquires the operation completion information and ends the operation. Then, the computing device of the intelligent cleaning management platform acquires a third foreign object image through a collecting device, such as a camera, arranged in the runway foreign object recycling bin.

In step S530, the third foreign object image is matched with the first foreign object image, and if the matching is successful, a cleaning record is generated.

In an example embodiment, the cleaning record includes a category of runway foreign matter, a size of the runway foreign matter, a cleaning time of the runway foreign matter, a cleaning equipment number used for the runway foreign matter cleaning, and the like.

And the computing equipment of the intelligent cleaning management platform matches the third foreign object image with the first foreign object image acquired by detecting the foreign objects on the airport runway, if the matching is successful, the foreign objects cleaned by the cleaning equipment are determined to be correct, and a cleaning record is generated.

If the matching is unsuccessful, the cleaning equipment is continuously controlled to clean the foreign matters on the runway, or the foreign matters on the runway are cleaned manually. In addition, in the embodiment of the application, any step is unexpected, and manual intervention can be adopted.

The runway foreign matter in the runway foreign matter recycling bin is determined again, so that the accuracy of the cleaning equipment in sucking the runway foreign matter can be further effectively guaranteed, the foreign matter on the runway of an airport is effectively cleaned, and the taking-off and landing of the airplane and the integral operation of the airport are guaranteed to be normal.

Having described the method of the exemplary embodiments of the present application, a description will be next made with reference to fig. 6 of an airport runway foreign matter cleaning apparatus 600 of the exemplary embodiments of the present application, the airport runway foreign matter cleaning apparatus 600 including an information acquisition module 610, a first determination module 620, a second determination module 630, and a cleaning control module 640;

the information obtaining module 610 is configured to obtain monitoring information sent by the runway foreign object detection system, where the monitoring information includes a first foreign object image and first position information, and the first position information is coordinate information in a first electronic map of the runway foreign object detection system;

The first determining module 620 is configured to obtain size information of the runway foreign object and second position information based on the first foreign object image and the first position information, where the second position information is coordinate information in the second electronic map;

a second determining module 630 for determining a cleaning device based on the size information and the second position information of the runway foreign matter;

the cleaning control module 640 is used for controlling the cleaning device to clean the runway foreign matters under the condition that the airfield runway is in an idle state and the working period of the cleaning device is satisfied.

As an alternative embodiment, the airport runway foreign matter cleaning apparatus 600 is further configured to acquire job completion information sent by the cleaning device to determine that the job is completed; acquiring a third foreign matter image in the runway foreign matter recovery barrel; and matching the third foreign object image with the first foreign object image, and generating a cleaning record if the matching is successful.

Having described the method and apparatus of the exemplary embodiments of the present application, reference will now be made to fig. 7 for describing a computer-readable storage medium of the exemplary embodiments of the present application, and reference will be made to fig. 7 for showing a computer-readable storage medium that is an optical disc 70 having a computer program (i.e., a program product) stored thereon that, when executed by a processor, implements the steps described in the above-described method embodiments, for example, obtaining monitoring information sent by a runway foreign object detection system, the monitoring information including a first foreign object image and first location information, the first location information being coordinate information in a first electronic map of the runway foreign object detection system; acquiring size information and second position information of runway foreign matters based on the first foreign matter image and the first position information, wherein the second position information is coordinate information in a second electronic map; determining a cleaning device based on the size information and the second position information of the runway foreign matter; under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, the cleaning equipment is controlled to clean foreign matters on the runway; the specific implementation of each step is not repeated here.

It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.

Having described the methods, apparatus and media of exemplary embodiments of the present application, next, a computing device for airport runway debris cleaning of exemplary embodiments of the present application is described with reference to fig. 8.

Fig. 8 illustrates a block diagram of an exemplary computing device 80 suitable for use in implementing embodiments of the present application, the computing device 80 may be a computer system or server. The computing device 80 shown in fig. 8 is merely an example and should not be taken as limiting the functionality and scope of use of embodiments of the present application.

As shown in fig. 8, components of computing device 80 may include, but are not limited to: one or more processors or processing units 801, a system memory 802, and a bus 803 that connects the various system components (including the system memory 802 and processing units 801).

Computing device 80 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computing device 80 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 802 may include computer system readable media in the form of volatile memory, such as RAM8021 and/or cache memory 8022, where RAM is random access memory. Computing device 80 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, ROM8023 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive"). Although not shown in fig. 8, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media), may be provided. In such cases, each drive may be coupled to bus 803 via one or more data medium interfaces. The system memory 802 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the present application.

A program/utility 8025 having a set (at least one) of program modules 8024 may be stored, for example, in system memory 802, and such program modules 8024 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 8024 generally perform the functions and/or methods in the embodiments described herein.

The computing device 80 may also communicate with one or more external devices 804 (e.g., keyboard, pointing device, display, etc.). Such communication may occur through I/O interface 805, which is an input/output interface. Moreover, computing device 80 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 806. As shown in fig. 8, network adapter 806 communicates with other modules of computing device 80 (e.g., processing unit 801, etc.) over bus 803. It should be appreciated that although not shown in fig. 8, other hardware and/or software modules may be used in connection with computing device 80.

The processing unit 801 executes various functional applications and data processing by running a program stored in the system memory 802, for example, acquires monitoring information transmitted by the runway foreign object detection system, the monitoring information including a first foreign object image and first position information, the first position information being coordinate information in a first electronic map of the runway foreign object detection system; acquiring size information and second position information of runway foreign matters based on the first foreign matter image and the first position information, wherein the second position information is coordinate information in a second electronic map; determining a cleaning device based on the size information and the second position information of the runway foreign matter; and under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, the cleaning equipment is controlled to clean the runway foreign matters. The specific implementation of each step is not repeated here. It should be noted that although in the above detailed description several units/modules or sub-units/sub-modules of the runway foreign matter removal device are mentioned, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module according to embodiments of the present application. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.

In the description of the present application, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required to or suggested that these operations must be performed in this particular order or that all of the illustrated operations must be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

Claims (10)

1. An airport runway foreign matter cleaning method, characterized in that the method comprises:

acquiring monitoring information sent by a runway foreign object detection system, wherein the monitoring information comprises a first foreign object image and first position information, and the first position information is coordinate information of runway foreign objects in a first electronic map of the runway foreign object detection system;

acquiring size information and second position information of runway foreign matters based on the first foreign matter image and the first position information, wherein the second position information is coordinate information of the runway foreign matters in a second electronic map of a target platform;

determining a cleaning apparatus based on the size information and the second position information of the runway foreign matter;

and under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is met, controlling the cleaning equipment to clean the runway foreign matters.

2. The method of claim 1, wherein the obtaining the size information and the second position information of the runway foreign object based on the first foreign object image and the first position information comprises:

identifying the first foreign matter image according to a preset method to obtain the size information of runway foreign matters;

And converting the first position information according to a preset rule, and displaying the second position information in the second electronic map.

3. The method of claim 1, wherein the dimensional information includes a length value, a width value, and/or an area value of runway foreign matter; the determining a cleaning apparatus based on the size information and the second position information of the runway foreign matter includes:

determining whether the length value, the width value and/or the area value of the runway foreign matter is smaller than a corresponding preset threshold value,

and if the length value, the width value and/or the area value of the runway foreign matter are smaller than the corresponding preset threshold value, matching the cleaning equipment based on the second position information.

4. The method of claim 1, wherein controlling the cleaning apparatus to clean runway debris when the airport runway is in an idle state and the duty cycle of the cleaning apparatus is satisfied, comprises:

acquiring flight information provided by a third party platform;

determining that an airport runway is in an idle state based on the flight information; the method comprises the steps of,

determining a time interval when the airport runway is in an idle state based on the flight information;

Determining the working period of the cleaning equipment according to the second position information and the current position information of the cleaning equipment;

and if the airfield runway is in an idle state and the working period of the cleaning equipment is larger than the time interval of the airfield runway in the idle state, controlling the cleaning equipment to clean the runway foreign matters.

5. The method of claim 4, wherein said controlling the cleaning apparatus to clean runway debris comprises:

controlling the cleaning equipment to move to a track position with the shortest distance from the second position information, so that the cleaning equipment collects a second foreign matter image, and matching the second foreign matter image with the first foreign matter image, and sucking runway foreign matters if matching is successful;

and controlling the cleaning equipment to return to the parking bin, and placing the runway foreign matters in the runway foreign matter recycling bin.

6. The method of claim 5, wherein the method further comprises, after controlling the cleaning apparatus to clean runway alien materials in a case where the airport runway is in an idle state and a duty cycle of the cleaning apparatus is satisfied:

acquiring job completion information sent by the cleaning equipment to determine that the job is completed;

Acquiring a third foreign matter image in the runway foreign matter recovery barrel;

and matching the third foreign object image with the first foreign object image, and generating a cleaning record if the matching is successful.

7. The method of claim 5, wherein the method further comprises:

monitoring the runway foreign matter recycling bin;

and if the runway foreign matters contained in the runway foreign matter recycling bin reach a preset overflow boundary, generating overflow alarm information so as to remind a worker to clean the runway foreign matter recycling bin.

8. The method of claim 5, wherein the method further comprises:

monitoring the cleaning equipment;

if the cleaning equipment is located outside the parking bin, acquiring current state information uploaded by the cleaning equipment at intervals of preset time to update state display of the cleaning equipment in the second electronic map;

if the cleaning equipment is located in the parking bin, abnormal working information uploaded by the cleaning equipment is obtained, and notification information is generated according to the abnormal working information so as to notify staff to overhaul the cleaning equipment.

9. An airport runway foreign matter cleaning device, characterized in that, runway foreign matter cleaning device includes:

The information acquisition module is used for acquiring monitoring information sent by the runway foreign object detection system, wherein the monitoring information comprises a first foreign object image and first position information, and the first position information is coordinate information in a first electronic map of the runway foreign object detection system;

the first determining module is used for obtaining the size information and the second position information of the runway foreign matters based on the first foreign matter image and the first position information, and the second position information is coordinate information in a second electronic map;

a second determining module for determining a cleaning device based on the size information and the second position information of the runway foreign matter;

and the cleaning control module is used for controlling the cleaning equipment to clean runway foreign matters under the condition that the airfield runway is in an idle state and the working period of the cleaning equipment is satisfied.

10. A cleaning apparatus, characterized in that the cleaning apparatus is applied to the method for cleaning foreign matter on an airport runway according to any one of the above claims 1 to 8, the cleaning apparatus comprising:

the movable car body is connected with a track laid on an airport runway and comprises a driving motor and a microcontroller;

the turntable is arranged on the mobile vehicle body;

The mechanical arm is arranged on the turntable;

the suction head is arranged at one end of the mechanical arm, which is far away from the movable vehicle body, and is used for sucking runway foreign matters;

the automatic obstacle avoidance module is arranged on the mobile vehicle body and used for acquiring a second foreign object image;

the microcontroller is used for controlling the driving motor to start, controlling the driving motor to move the cleaning equipment to the track position with the shortest distance from the second position information, matching the second foreign matter image with the first foreign matter image acquired by the runway foreign matter detection system, and controlling the suction head to suck runway foreign matters if the matching is successful.