CN204487545U - The robot device of cleaning airfield runway - Google Patents
The robot device of cleaning airfield runway Download PDFInfo
- Publication number
- CN204487545U CN204487545U CN201520063730.6U CN201520063730U CN204487545U CN 204487545 U CN204487545 U CN 204487545U CN 201520063730 U CN201520063730 U CN 201520063730U CN 204487545 U CN204487545 U CN 204487545U
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- China
- Prior art keywords
- airfield runway
- foreign matter
- robot
- walking mechanism
- robot body
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Abstract
A kind of robot device clearing up airfield runway that the utility model provides, comprises robot body and the checkout gear for detecting airfield runway foreign matter; Described checkout gear is fixedly installed in robot body by link; Described checkout gear comprises the detection components be combined to form by radar and camera; Described robot body comprise walking mechanism, for clear up foreign matter mechanical arm and for driving the drive unit of walking mechanism and mechanical arm; Front side and the rear side of walking mechanism are all provided with detection components; The robot device of the cleaning airfield runway of utility model, automatically can cook up the most efficiently, process path the most accurately, realize efficient process many places being had to foreign matter, the trajectory planning processed is carried out in the single arrival destination be different from the past, the utility model reasonable integral structure, and translational speed is fast, process is efficient, can carry out processing fast, timely to airfield runway foreign matter, save the activity duration, ensure airfield runway safety.
Description
Technical field
The utility model relates to mechanical field, particularly relates to a kind of robot device clearing up airfield runway.
Background technology
Along with China's expanding economy, aircraft has become a part indispensable in people's trip, flight safety have also been obtained people and pays close attention to more and more widely, when aircraft is on runway during high speed slide, the safety of foreign matter on runway to aircraft and surrounding people's vehicle is all serious threat, and the accident that annual runway debris causes causes the loss of aircraft industry all up to multi-million dollar.The kind of airfield runway foreign matter is quite a lot of, as the ice fragment etc. of aircraft and engine connector (nut, screw, packing ring, fuse etc.), machine tool, flight article (nail, personalized documents, pen, pencil etc.), wild animal, leaf, stone and sand, road plane materiel material, wooden unit, plastics or polythene material, paper products, Operational Zone.Exotic on airfield pavement can be easy to be inhaled into engine, causes power failure, in year May in May, 2007 to 2008, there is the event of more than 4500 airfield runway foreign object damage tire in CAAC altogether.Exotic not only can cause huge direct losses, also can cause airliner delay, aborts, close the indirect losses such as runway, and indirect loss is at least 4 times of direct losses.
At present, the process of the airfield runway foreign matter that the whole world is most remains by manually completing, and this method not only poor reliability, efficiency is low, and occupies the runway service time of preciousness, and this is again an economic loss.Therefore, need to change independent dependence and manually complete foreign matter processing mode, improve the disposal ability to foreign matter, ensure the stability of foreign matter process, improve its treatment effeciency.
Utility model content
In view of this, the utility model provides a kind of robot device clearing up airfield runway, changes traditional artificial treatment mode, improves the real-time detection to airfield runway foreign matter and disposal ability.
The robot device of the cleaning airfield runway that the utility model provides, comprises robot body and the checkout gear for detecting airfield runway foreign matter; Described checkout gear is fixedly installed in robot body by link;
Described checkout gear comprises the detection components be combined to form by radar and camera;
Described robot body comprise walking mechanism, for clear up foreign matter mechanical arm and for driving the drive unit of walking mechanism and mechanical arm; Front side and the rear side of walking mechanism are all provided with detection components.
Further, described link and radar and camera one_to_one corresponding are arranged
Further, described link comprises for the horizontal component that the walking mechanism of robot body is fixedly connected with for installing corresponding radar or the vertical portion of camera.
Further, described horizontal component and vertical portion one-body molded.
Further, described link is by metallic plate bending forming, and metallic plate edge is provided with the flange for strengthening link structural rigidity.
Further, be all bolted connection between described horizontal component and the walking mechanism of robot body and between vertical portion and corresponding radar or camera.
The beneficial effects of the utility model: the robot device of cleaning airfield runway of the present utility model, automatically can cook up the most efficiently, process path the most accurately, realize efficient process many places being had to foreign matter, the trajectory planning processed is carried out in the single arrival destination be different from the past, the utility model reasonable integral structure, and translational speed is fast, process is efficient, can carry out processing fast, timely to airfield runway foreign matter, save the activity duration, ensure airfield runway safety.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described:
Fig. 1 is principle schematic of the present utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is further described: Fig. 1 is principle schematic of the present utility model.
The robot device of the cleaning airfield runway in the present embodiment, comprises robot body and the checkout gear for detecting airfield runway foreign matter; Described checkout gear is fixedly installed in robot body by link; Described checkout gear comprises the detection components be combined to form by radar and camera; Described robot body comprise walking mechanism, for clear up foreign matter mechanical arm and for driving the drive unit of walking mechanism and mechanical arm; Front side and the rear side of walking mechanism are all provided with detection components.
Described link and radar and camera one_to_one corresponding are arranged, and described link comprises for the horizontal component that the walking mechanism of robot body is fixedly connected with for installing corresponding radar or the vertical portion of camera.Described horizontal component and vertical portion one-body molded.Described link is by metallic plate bending forming, and metallic plate edge is provided with the flange for strengthening link structural rigidity.All be bolted connection between described horizontal component and the walking mechanism of robot body and between vertical portion and corresponding radar or camera.
In the present embodiment, described robot body at least comprise wheel 1, vehicle frame, for clear up foreign matter mechanical arm 7 and for driving the drive unit of wheel 1 and mechanical arm 7, described wheel 1 is installed on bottom of frame, and described mechanical arm 7 is fixedly installed in vehicle frame.
In the present embodiment, checkout gear comprises radar 3, radar 9, camera 2 and camera 8, and described radar and camera are installed on the vehicle frame of robot, for the foreign matter near measuring robots.Radar 3 and radar 9 are grade radar, and camera 2 and camera 8 are high-definition camera, and control device 4 is central processing unit.
In the present embodiment, also comprise wireless communication module 5, described wireless communication module 5 is connected with control device 4, and carries out data communication by antenna 6 with control centre, can realize carrying out Long-distance Control to robot in real time.
In the present embodiment, under there is foreign matter environment for airfield runway, particularly on the runway road surface having foreign matter, arrive mobile robot path planning and the Trajectory Tracking Control problem that foreign matter place also avoids foreign matter accurately in time, based on moveable robot movement with Dynamic Modeling, under airfield runway has many places foreign matter environment, by contrasting different algorithms to robot path planning, contrast the different Trajectory Tracking Control algorithms based on kinematics model, select optimum control and track algorithm, and Numerical Simulation Analysis is carried out to it, ultimate analysis goes out optimum algorithm, for robot planning goes out optimum, the most efficient, process path the most accurately.Realize the efficient process that there is foreign matter many places, arrive the trajectory planning of process with being different from single goal in the past.
In the present embodiment, control device 4 also comprises a shell, and control device 4 is installed within shell, for the protection of control device, avoids interference the service life with extended control device.
In the present embodiment, the wheel 1 of robot is by four-wheel drive and band turns to, steel skeleton construction and driven by power, realizes walking function, and arrives the target place specified or the inspection function realizing airfield runway; Refer to that robot is when airfield runway foreign matter is comparatively large or exceed its disposal ability, robot can be reached the spot in time by mobile worker, also can be parked near airfield runway foreign matter, wait professional treatment personnel arrive at the airport in time, and runway foreign matter place is also timely to be processed.
In the present embodiment, control device 4 is connected with mechanical finger on the mechanical arm of robot by data connecting line, and each mechanical finger arranges a data connecting line, and is connected with control processor by each electromagnetic adsorption dactylus.
In the present embodiment, the quantity of radar and camera is at least two, and described radar and camera are fixed on vehicle frame by cantilever support.Detection system Real-Time Monitoring airfield runway foreign matter state, airfield runway foreign matter can be detected at short notice and send instruction of reporting to the police, carry out taking pictures uploading with video after detecting foreign matter, namely complete the real-time monitoring function of airfield runway foreign matter by millimetre-wave radar, high-definition monitoring camera and data intelligence processing software, data acquisition with refer to the collection that can be done in real time data alternately, and complete with the real time data of robot body and robot body data system mutual.The data collected process by control device, and real-time and detection system real-time, interactive process is also filed in time, and compression, encrypted transmission are to control centre simultaneously, realize real-time Transmission and the exchange of data, facilitate Long-distance Control machine examination measuring car.
In the present embodiment, described robot also comprises storing barrel, and described storing barrel is used for collection foreign matter and is transported to appointed place by robot.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (6)
1. clearing up a robot device for airfield runway, it is characterized in that: comprising robot body and the checkout gear for detecting airfield runway foreign matter; Described checkout gear is fixedly installed in robot body by link;
Described checkout gear comprises the detection components be combined to form by radar and camera;
Described robot body comprise walking mechanism, for clear up foreign matter mechanical arm and for driving the drive unit of walking mechanism and mechanical arm; Front side and the rear side of walking mechanism are all provided with detection components.
2. the robot device of cleaning airfield runway according to claim 1, is characterized in that: described link and radar and camera one_to_one corresponding are arranged.
3. the robot device of cleaning airfield runway according to claim 2, is characterized in that: described link comprises for the horizontal component that the walking mechanism of robot body is fixedly connected with for installing corresponding radar or the vertical portion of camera.
4. the robot device of cleaning airfield runway according to claim 3, is characterized in that: described horizontal component and vertical portion one-body molded.
5. the robot device of cleaning airfield runway according to claim 4, is characterized in that: described link is by metallic plate bending forming, and metallic plate edge is provided with the flange for strengthening link structural rigidity.
6. the robot device of cleaning airfield runway according to claim 5, is characterized in that: be all bolted connection between described horizontal component and the walking mechanism of robot body and between vertical portion and corresponding radar or camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520063730.6U CN204487545U (en) | 2015-01-29 | 2015-01-29 | The robot device of cleaning airfield runway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520063730.6U CN204487545U (en) | 2015-01-29 | 2015-01-29 | The robot device of cleaning airfield runway |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204487545U true CN204487545U (en) | 2015-07-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520063730.6U Expired - Fee Related CN204487545U (en) | 2015-01-29 | 2015-01-29 | The robot device of cleaning airfield runway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204487545U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106498834A (en) * | 2016-12-30 | 2017-03-15 | 成都圭目机器人有限公司 | A kind of Athey wheel road face repair robot system and road surface repair method |
| CN106514607A (en) * | 2016-12-30 | 2017-03-22 | 成都圭目机器人有限公司 | Four-wheel drive road face repairing robot system and road face repairing method |
| CN107378909A (en) * | 2017-09-06 | 2017-11-24 | 重庆交通大学 | Runway block removing robot |
| CN108644587A (en) * | 2018-07-03 | 2018-10-12 | 芜湖博高光电科技股份有限公司 | A kind of the automatic of adjustable distance follows holder |
-
2015
- 2015-01-29 CN CN201520063730.6U patent/CN204487545U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106498834A (en) * | 2016-12-30 | 2017-03-15 | 成都圭目机器人有限公司 | A kind of Athey wheel road face repair robot system and road surface repair method |
| CN106514607A (en) * | 2016-12-30 | 2017-03-22 | 成都圭目机器人有限公司 | Four-wheel drive road face repairing robot system and road face repairing method |
| CN107378909A (en) * | 2017-09-06 | 2017-11-24 | 重庆交通大学 | Runway block removing robot |
| CN108644587A (en) * | 2018-07-03 | 2018-10-12 | 芜湖博高光电科技股份有限公司 | A kind of the automatic of adjustable distance follows holder |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150722 Termination date: 20160129 |
|
| EXPY | Termination of patent right or utility model |