CN210704337U - Integrated navigation aid lamp cleaning and detecting vehicle - Google Patents
Integrated navigation aid lamp cleaning and detecting vehicle Download PDFInfo
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- CN210704337U CN210704337U CN201921630033.9U CN201921630033U CN210704337U CN 210704337 U CN210704337 U CN 210704337U CN 201921630033 U CN201921630033 U CN 201921630033U CN 210704337 U CN210704337 U CN 210704337U
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Abstract
The utility model discloses an integrated navigation-aid lamp cleaning and detecting vehicle, which comprises a vehicle body chassis, a walking control system and a light measuring system which are arranged at the bottom of the vehicle body chassis, and a spraying cleaning system and a vehicle main control system which are arranged at the top of the vehicle body chassis, wherein the walking control system, the spraying cleaning system and the light measuring system are all connected with the vehicle main control system; the photometry system comprises an illuminometer and a colorimeter, an inverted T-shaped fixing support is fixed below the rear portion of the chassis of the vehicle body, and the illuminometer and the colorimeter are mounted on the inner side of a horizontal rod of the fixing support. The utility model can quickly clean the light outlet of the navigation lamp by arranging the jet cleaning system, has high cleaning efficiency, good consistency and low damage to the lamp, and can detect the illuminance distribution and chromaticity of the lamp in real time by the photometric system; the utility model discloses still can detect the position and the appearance state of lamps and lanterns through displacement detecting system, laser scanner, all functions realize full intellectuality, need not manual operation.
Description
Technical Field
The utility model relates to an airport aid to navigation light technical field especially relates to an integration aid to navigation lamps and lanterns cleanness detects car.
Background
The airport navigation aid lamp is used for providing visual guide signals for the pilot to take off, approach, land and slide day and night in and near the airport flight area. Generally, the maintenance time of an airport is very short, particularly a busy airport, and equipment on a maintenance runway needs to be closed even the airport, so that the cleaning and the maintenance of navigation lamps are important contents for guaranteeing the airport and directly influence the safe operation of the airport and an aircraft.
At present, the lamps are cleaned and overhauled manually in airports, the light outlet of the lamps is cleaned by the mixture of a cleaning agent and water, the lamps which are visually found by workers to be not bright or obviously darker are replaced firstly, the replaced lamps are taken back to a light station for maintenance and testing, and the qualified lamps are used as spare articles.
The defects of the existing mode mainly comprise: (1) the cleaning efficiency of the navigation aid lamp is very low, the cleaning degree is not controllable, and the labor cost is very high; (2) the brightness of the navigation aid lamp cannot be accurately judged whether the brightness of the navigation aid lamp can meet the requirement of continuous use or not by manual visual identification or by means of a simple handheld photometric tool; (3) rapid assessment and profiling of the positional movement and installation integrity of all the navigational aids is not possible. Therefore, the utility model of the integrated navigation aid lamp cleaning and detecting vehicle is significant.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that current aid to navigation lamps and lanterns need artifical cleanness and need artifical naked eye discernment or judge with the help of simple hand-held type photometric tool whether the luminance of aid to navigation lamps and lanterns meets the requirements, the utility model aims at providing an integration aid to navigation lamps and lanterns cleanness detects the car, and it can realize realizing automatic cleanness to the aid to navigation lamps and lanterns after the cleanness detect, judge whether clean qualified.
The utility model provides an integrated navigation-aid lamp cleaning and detecting vehicle, which comprises a vehicle body chassis, a walking control system and a light measuring system which are arranged at the bottom of the vehicle body chassis, and a spraying cleaning system and a vehicle main control system which are arranged at the top of the vehicle body chassis, wherein the walking control system, the spraying cleaning system and the light measuring system are all connected with the vehicle main control system; the photometry system comprises an illuminometer and a colorimeter, an inverted T-shaped fixing support is fixed below the rear portion of the chassis of the vehicle body, and the illuminometer and the colorimeter are mounted on the inner side of a horizontal rod of the fixing support.
Furthermore, the spraying cleaning system comprises a material barrel, a sand blasting machine, an air compressor, a mechanical arm and a spray gun fixed on the mechanical arm, the material barrel, the sand blasting machine and the spray gun are sequentially connected through pipelines, and the air compressor is connected with the sand blasting machine.
Furthermore, in order to facilitate the cleaning of the navigation aid lamps in different directions, the mechanical arm comprises a fixed seat, a rear arm and a front arm which are sequentially connected in a rotating manner, the fixed seat is rotatably installed above the chassis of the vehicle body through a rotating shaft, and the tail end of the front arm is provided with a spray gun.
Furthermore, in order to clean the two light outlets of the navigation aid lamp at the same time, two spray guns are mounted on the mechanical arm, or two groups of mechanical arms and two groups of spray guns are mounted on the mechanical arm.
Furthermore, a fixed support is also arranged below the front part of the chassis of the vehicle body, and the illuminometers and the colorimeters are in two groups and are respectively arranged on the inner sides of the horizontal rods of the front fixed support and the rear fixed support, so that the illumination conditions of light outlets on two sides of the navigation aid lamp can be conveniently detected simultaneously.
Further, the fixed bolster is fixed in the intermediate position at automobile body chassis rear portion, and the colorimeter is installed in the intermediate position of horizon bar, and the illuminometer is two at least, installs in the colorimeter both sides, for the colorimeter symmetric distribution to be convenient for measure the illuminance spatial distribution value of aid to navigation lamps and lanterns.
Furthermore, the cleaning and detecting vehicle is also provided with a navigation system and a displacement detection system which are connected with a vehicle main control system, the displacement detection system comprises an image acquisition module and an image processing module which are connected with each other, and the image acquisition module is installed at the bottom of a vehicle body chassis. The navigation system can be used for positioning the position of the cleaning and detecting vehicle in real time and guiding the movement of the cleaning and detecting vehicle; the displacement detection system is used for detecting whether the navigation aid lamp displaces or not, so that the accuracy of cleaning according to the position information of the preset lamp is guaranteed.
Furthermore, the displacement detection system further comprises an LED light supplement lamp, the LED light supplement lamp is installed at the center of the bottom of the vehicle chassis, the image acquisition module is installed at the center of the LED light supplement lamp, and the LED light supplement lamp and the image acquisition module are both vertically arranged downwards. The LED light supplement lamp is used for completing the appearance of the illumination lamp and supplementing light for the lamp, and the image shot by the image acquisition module is clear.
Further, automobile body chassis front portion still is equipped with the laser scanner who is connected with vehicle master control system, and laser scanner scans the profile information of object, can be used to judge whether the scanning object is the aid of navigation lamps and lanterns to promote work efficiency.
Furthermore, in order to realize the automation of the cleaning and detection vehicle, the vehicle main control system comprises a control module A, a data storage module and a communication module, wherein the data storage module and the communication module are connected with the control module A, and are in wireless connection with the airport lamplight station through the communication module, and are used for completing the data transmission with the airport lamplight station and storing the received data information in the data storage module.
Furthermore, the walking control system comprises a control module B, and a wheel driving motor, a steering control motor and a braking module which are connected with the control module B, wherein the wheel driving motor, the steering control motor and the braking module are used for controlling the movement, steering and braking of wheels at the bottom of a chassis of the vehicle body; the walking control system is powered by a storage battery, and the storage battery is connected with the charging control module.
The utility model provides an integration aid to navigation lamps and lanterns cleanness detects car has following beneficial effect:
(1) the jet cleaning system can be used for quickly cleaning the light outlet of the navigation lamp, the cleaning efficiency is high, the consistency is good, the damage to the lamp is low, the full intellectualization is realized, and the manual operation is not needed.
(2) Through setting up photometry system, can accurately measure navigation aid lamps and lanterns illuminance value in real time after accomplishing the cleanness, can accurately judge whether the luminance of lamps and lanterns can satisfy the requirement of using.
(3) Through setting up navigation and displacement detection system, can real-time accurate measurement lamps and lanterns the position whether take place to remove and the integrality of aassessment lamps and lanterns to can upload relevant measured data to relevant departments (for example airport light station) and file, make the aassessment to the overall operating mode of all lamps and lanterns, be convenient for carry out prevention formula maintenance, improve airport operating efficiency, and ensure airport safe operation.
Drawings
Fig. 1 is a schematic structural view of an integrated navigation-aid lamp cleaning and detecting vehicle provided by the present invention;
FIG. 2 is a schematic structural view of a laser image recognition scanner arranged on the front part of a chassis of a vehicle body;
FIG. 3 is a schematic diagram of a vehicle host system interfacing with other systems;
FIG. 4 is a schematic diagram of the connections of various components within the vehicle host control system;
FIG. 5 is a schematic diagram of the connections of the various components within the walk control system;
FIG. 6 is a schematic view of the connection of components within the displacement sensing system;
FIG. 7 is a schematic view of an image acquisition module and an LED light supplement lamp installed at the bottom of a chassis of a vehicle body;
FIG. 8 is a schematic diagram of the connections of components within the photometric system;
FIG. 9 is a schematic view of the illuminometer and colorimeter mounted on the rear portion of the chassis of the vehicle body;
FIG. 10 is a side view and a front view of a light beam at an exit of a navigational light fixture;
fig. 11 is a schematic view of a light illuminance measurement method.
In the figure, 1, a vehicle body chassis; 2. a spray cleaning system; 21. an air compressor; 22. a sand blasting machine; 23. a mechanical arm; 231. a fixed seat; 232. a rear arm; 233. a forearm; 24. a spray gun; 25. a powder barrel; 3. a vehicle master control system; 31. a control module A; 32. a data storage module; 33. a communication module; 4. a laser scanner; 5. a walking control system; 51. a control module B; 52. a wheel drive motor; 53. a steering control motor; 54. a brake module; 55. a storage battery; 56. a charging control module; 57. a wheel; 6. a navigation system; 7. a displacement detection system; 71. an image acquisition module; 72. a data processing module; 73. an LED light supplement lamp; 8. a light measuring system; 81. an illuminometer; 82. a colorimeter; 83. a data processing module; 84. fixing a bracket; 841. a horizontal bar.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1-3, the utility model provides an integrated navigation aid lamp cleaning and detecting vehicle comprises a vehicle body chassis 1, a walking control system 5 and a light measuring system 8 which are installed at the bottom of the vehicle body chassis, and a spraying cleaning system 2 and a vehicle main control system 3 which are installed at the top of the vehicle body chassis, wherein the walking control system 5 is used for controlling the functions of walking, braking, rotating and the like of the vehicle body chassis, the spraying cleaning system 2 is used for spraying a cleaning agent to a light outlet of the navigation aid lamp to clean sundries of the light outlet, and the light measuring system 8 is used for judging whether the navigation aid lamp needs to be cleaned or whether the requirement is met after the cleaning is completed; the traveling control system 5, the injection cleaning system 2 and the photometric system 8 are controlled by the vehicle main control system 3 to operate.
The light measuring system 8 comprises an illuminometer 81 and a colorimeter 82, wherein the illuminometer 81 and the colorimeter 82 are respectively used for detecting the illuminance and chromaticity data information of the navigation aid lamp, the light measuring system 8 further comprises a data processing module 83, or a data processing module 83 is arranged in the vehicle main control system 3, the data processing module 83 is used for comparing the data information detected by the illuminometer 81 and the colorimeter 82 with the standard data of the civil aviation lamp preset in the vehicle main control system, judging whether the illuminance and chromaticity information of the navigation lamp is qualified or not, further judging whether the corresponding lamp needs cleaning or whether the cleaning is qualified, if the detection data is consistent with the standard data, judging that the illuminance and chromaticity information of the navigation aid lamp is qualified, and then judging that the cleaning is qualified, otherwise, judging that the illuminance and chromaticity information of the navigation aid lamp is unqualified, further judging that the cleaning is unqualified, and continuing cleaning until the cleaning is qualified.
Because the whole navigation aid lamp is laid on the ground in a flat shape, and the light outlet of the navigation aid lamp faces to the side, as shown in fig. 10, in order to detect the illuminance data and the chromaticity data of the navigation aid lamp, an inverted T-shaped fixing support 84 is fixed below the rear part of the chassis of the vehicle body, illuminometers and colorimeters are installed inside a horizontal rod 841 of the fixing support 84, preferably, the fixing support 84 is installed at the middle position of the rear part of the chassis of the vehicle body, the colorimeters are installed at the middle position of the horizontal rod and can be 1, and the illuminometers 81 are several, for example, 2-18, specifically, 4, 6, 8, 10, 12, 14 and 16 are adopted, are fixed on the horizontal rod of the fixing support 84 in an array form, and are symmetrically distributed about the colorimeters; specifically, as shown in fig. 10, the colorimeter 82 includes 1 colorimeter 82, the colorimeter 81 includes PM0, the colorimeter 81 includes 12 colorimeters, and the colorimeter 82 includes 6 colorimeters on each of the right and left sides thereof, and as shown in fig. 11, the colorimeter 81 includes PL1, PL2, PL3, PL4, PL5, and PL6 in the order from the colorimeter 82 to the left, and the colorimeter 81 includes PR1, PR2, PR3, PR4, PR5, and PR6 in the order from the colorimeter 82 to the right.
Preferably, another group of fixing supports, a luminometer and a colorimeter are arranged at the front part of the vehicle body chassis, and illuminance distribution and chromaticity detection can be simultaneously carried out on the two light emergent surfaces of the lamp.
Further preferably, the vehicle can be provided with an illuminometer and a colorimeter unit array at higher positions on the front part and the rear part of the chassis of the vehicle body, and the light emitting surface of the vertical lamp can be detected in light intensity distribution and chromaticity.
Furthermore, the photometric system can also be used for obtaining the illuminance spatial distribution value E and the light intensity distribution diagram of the navigation aid lamp, namely E (theta)PL6，θPM0) For example, the specific calculation method is as follows:
the horizontally mounted illuminometers and colorimeter arrays on the fixed support 84 advance at a constant speed towards the light, and each illuminometer can continuously obtain the illuminance value at different distances from the lamp. In FIG. 11, the relative spatial position of illuminance meter PL6 and luminaire A is represented by R1、θPL6、θPM0Three real-time variables are completely determined, wherein R1Is the distance between PL6 and luminaire A, θPL6Is a lamp A and an illuminometer PThe angle between the line of L6 and the line of lamps A and colorimeter PM0, thetaPM0Is the angle between the line where the lamp a and the colorimeter PM0 are located and the horizontal plane. H1Is the vertical installation height of the illuminometer and the colorimeter, is a fixed value RPL6The distance between the illuminance meter PL6 and the lamp A is a preset fixed value R3Is the horizontal distance between the plane of the illuminometer and the colorimeter and the lamp A, when the colorimeter 82 is arranged in the middle of the fixed bracket 84 and the fixed bracket 84 is arranged at the center of the tail end of the vehicle body chassis 1, R3The horizontal distance between the colorimeter 82 and the lamp a can be obtained by measuring real-time coordinate data of the colorimeter 82 by the navigation system 6 and comparing the coordinate data with coordinate information of the lamp a which is recorded in the vehicle main control system 3 in advance. As long as R is obtained3In combination with H1And RPL6Can calculate theta according to a simple trigonometric function relationPM0、θPL6、R1、R2The value of (c) is specifically calculated as follows:
and then combining with the formula E ═ I R1 2The spatial distribution value E (theta) of the illuminance meter PL6 and the lamp A can be obtainedPL6，θPM0) Wherein, E is a luminance value with the unit of cd, I is a luminance value with the unit of Lx, and the luminance value is directly read by a luminance meter; r1Is the distance between PL6 and luminaire a in m. And drawing a light intensity distribution graph or a light intensity distribution graph according to the acquired light intensity spatial distribution value E.
Specifically, the illuminance and chromaticity data information has two measurement methods of rapid detection and accurate detection, wherein the accurate detection mode is that the vehicle main control system 3 performs cleaning according to a received preset vehicle traveling route and real-time position information provided by a navigation system, and the rapid detection mode is used for daily maintenance and detection of the lamp; the rapid detection mode means that the cleaning detection vehicle does not clean the lamp, only photometry is carried out on the lamp, and the rapid detection mode is used for regular and accurate detection.
Specifically, the jet cleaning system 2 comprises a material barrel 25, an air compressor 21, a sand blasting machine 22, a mechanical arm 23 and a spray gun 24 fixed on the mechanical arm 23, the material barrel 25, the sand blasting machine 22 and the spray gun 24 are sequentially connected through pipelines, the pipelines are air pipes, and the air compressor 21 is connected with the sand blasting machine 22.
When the device works specifically, the sand blasting machine 22 is connected with a powder barrel 25 for storing a cleaning agent, the cleaning agent is preferably in a powder shape, such as sodium bicarbonate powder, the air compressor 21 is started and compressed air is provided for the sand blasting machine 22, the air compressor 21 stops running until a rated pressure is reached, at the moment, the cleaning agent is in a suspension state in the pipeline, the spray gun 24 is aligned to a light outlet of the navigation aid lamp through controlling the movement of the mechanical arm 23, the spray gun 24 is started, the cleaning agent in the suspension state in the pipeline is sprayed out of the light outlet, dust, sundries and the like at the light outlet are blown out completely, and the navigation aid lamp is cleaned; after the cleaning reaches the standard, closing corresponding equipment; and aiming at different navigation-aid lamps, proper particle size and spraying pressure of the cleaning agent powder can be selected according to actual requirements.
In order to facilitate the cleaning of different navigation aid lamps, specifically, the mechanical arm 23 includes a fixing seat 231, a rear arm 232 and a front arm 233 which are connected in sequence in a rotating manner, the fixing seat 231 is installed above the vehicle body chassis 1 in a rotating manner, the rotation on the horizontal plane is realized between the fixing seat 231 and the vehicle body chassis 1 through motor control, the rotation on different planes is realized between the fixing seat 231 and the rear arm 232 and between the rear arm 232 and the front arm 233 through motor control, and thus the spraying of the spray gun to different directions is realized.
In order to clean the two light outlets of the navigation aid lamp at the same time, two spray guns 24 may be mounted on the mechanical arm 23, or two groups of the mechanical arm 23 and two groups of the spray guns 24 are provided.
Further, in order to realize the automation of cleaning and detecting the vehicle, as shown in fig. 4, the vehicle main control system 3 includes a control module a31, and a data storage module 32 and a communication module 33 connected with the control module a, and is wirelessly connected with the airport lighting station through the communication module 33, for completing the data transmission with the airport lighting station, and storing the received data information in the data storage module; specifically, the data information received by the communication module 33 includes arrangement information of the navigation aid lamp, geographical location information, vehicle traveling route information, and the like, the data information is preset, the vehicle main control system 3 issues a command to the traveling control system 5 according to the data information, and the traveling control system 5 travels according to the preset vehicle traveling route information; in addition, the control module a is connected to the jet cleaning system 2 and controls the operation of the jet cleaning system, specifically, the control module a controls the operations of the sand blasting machine 21, the air compressor 22, the mechanical arm 23, and the spray gun 24, such as starting, running, and stopping.
Further, as shown in fig. 5, the walking control system 5 includes a control module B51, and a wheel driving motor 52, a steering control motor 53, a braking module 54, a battery 55, a charging control module 56 and wheels 57 connected thereto, wherein the wheel driving motor 52, the steering control motor 53 and the braking module 54 are used for controlling the movement, steering, braking and other functions of the wheels 57 at the bottom of the vehicle body chassis 1; the vehicle main control system 3 sends an instruction to the walking control system 5 according to the received walking route information, and under the control of the control module B51, the vehicle body chassis 1 walks according to a preset route. The control module B51, the wheel driving motor 52, the steering control motor 53 and the brake module 54 in the walking control system 5 are all powered by the storage battery 55, the storage battery 55 is connected with the charging control module 56, the charging control module 56 is connected with the vehicle main control system 3, and the charging work of the storage battery can be completed by controlling the charging control module 56 under the instruction of the vehicle main control system 3. Wherein, the control module B51 can also be arranged on the top of the vehicle body chassis 1 and controlled manually.
Example 2
On the basis of the embodiment 1, in order to prevent the jet cleaning system from cleaning a non-navigation aid lamp due to a recognition error, the front part of the top surface of the vehicle body chassis 1 is further provided with a laser scanner 4 connected with the vehicle main control system 3, and the laser scanner is used for scanning the profile information of an object and comparing the profile information with the profile information of the lamp preset in the vehicle body chassis, judging whether the scanned object is a navigation aid lamp, if the scanned object profile information is consistent with the profile information of the preset lamp, judging that the scanned object is the navigation aid lamp, otherwise, judging that the result is no; if the judgment result is yes, the photometric system continues to judge whether the lamp needs to be cleaned or not, and the cleaning work of the lamp is continued, and if the judgment result is no, the information of the scanned object is sent to an airport lamp station, and the next navigation aid lamp is cleaned; specifically, the laser scanner 4 is a laser 3D scanner, a laser image scanner, or the like.
Example 3
On the basis of the embodiment 1-2, further, in order to position the cleaning detection vehicle in real time and guide the movement of the cleaning detection vehicle, a navigation system 6 connected with the vehicle main control system 3 is further arranged above the vehicle body chassis 1, the navigation system 6 can select a high-performance inertia/satellite combined navigation system, a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetic sensor, an air pressure sensor and a BD/GPS/GLONASS/GALILEO four-mode receiver are arranged in the navigation system 6, the navigation system 6 can measure the speed, the position and the posture of the vehicle body and output compensated information of angular speed, acceleration, magnetic heading, air pressure, temperature and the like, and centimeter-level accurate positioning is provided for the vehicle body chassis 1 by utilizing an RTK carrier phase dynamic real-time differential method or utilizing a self-owned Continuous Operation Reference System (CORS) of an airport and a Beidou/GPS navigation system, the Beidou/GPS navigation system can be automatically switched, and the GPS subsystem is switched in when the Beidou subsystem fails.
Example 4
On the basis of any of the above embodiments, further, in order to determine whether the actual position of the navigation aid lamp and the preset position information are relatively displaced, so as to ensure the accuracy of cleaning according to the preset position information, the bottom of the vehicle body chassis 1 is further provided with a displacement detection system 7 connected with the vehicle main control system 3, and the displacement detection system 7 includes an image acquisition module 71 and an image processing module 72, as shown in fig. 6-7; the image acquisition module 71 is used for acquiring images of the navigation aid lamp, and can adopt an image acquisition camera, and is preferably arranged at the central position of the bottom of the vehicle body chassis 1; the image processing module 72 is used for determining the center of the lamp according to the lamp image information acquired by the image acquisition module 71, determining the real-time position information of the lamp center according to the navigation system, comparing the real-time position information of the lamp with the lamp position information stored in the data storage module, and judging whether the lamp is displaced, if the real-time position information is inconsistent with the stored real-time position information, judging that the displacement occurs, otherwise, judging that the displacement does not occur; if the displacement occurs, the data are uploaded to an airport light station, and whether the runway is deformed or whether the lamp falls off is manually identified.
When the vehicle body chassis 1 works specifically, the vehicle body chassis 1 is controlled to move right above the navigation aid lamp, so that the image acquisition module 71 is positioned right above the navigation aid lamp, the image acquisition module 71 faces downwards, the acquired image is a top view of the navigation aid lamp, the image processing module 72 can conveniently acquire the center of the lamp in the lamp image, and further whether the navigation aid lamp displaces or not is accurately judged. Further, the image processing module 72 is further configured to determine whether the installation accessory of the lamp is complete according to the lamp image information acquired by the image acquisition module 71, so as to facilitate further maintenance and prevent an accident; if the accessories are complete, corresponding accessories do not need to be added, and if the accessories are lacked, the corresponding lacked accessories need to be installed, so that the normal work of the whole displacement detection system is ensured.
Further, the displacement detection system 7 further includes an LED fill-in light 73, which is used for completing the appearance of the illumination lamp and filling light into the lamp, so as to ensure that the image acquisition module can accurately photograph the appearance of the lamp and the installation accessories thereof, specifically, the LED fill-in light 73 may be an LED annular fill-in light, and the light emitting direction thereof is vertical downward and vertical to the light emitting direction of the lamp itself, so as to fill in light according to the definition of the image; the image processing module 72 detects the brightness of the image acquired by the image acquisition module 71 and compares the brightness with the standard brightness, so as to determine whether light supplement is needed, if the acquired brightness of the image is less than the standard brightness, it is determined that light supplement is not needed, otherwise, it is determined that light supplement is needed. Preferably, the LED light supplement lamp 73 is installed at the bottom center position of the vehicle body chassis 1, and the image acquisition module 71 is installed at the center position of the LED light supplement lamp 71, and both are vertically arranged downward, as shown in fig. 7.
The utility model provides a use method of integration aid to navigation lamps and lanterns cleanness detects car includes following step:
(1) determining information such as the position of a navigation aid lamp and a vehicle traveling route;
(2) when the cleaning detection vehicle runs to the position near a certain navigation aid lamp, a jet cleaning system is started to align with a light outlet of the navigation aid lamp for cleaning;
(3) after cleaning, the illuminance and chromaticity of the light outlet of the navigation aid lamp are tested by the photometric system 8, whether cleaning is qualified or not is judged, if not, cleaning is carried out again, and if so, cleaning of the next navigation aid lamp is carried out.
In the step (2), before the light outlet of the navigation aid lamp is cleaned, whether the position of the navigation aid lamp and the preset position are displaced or not can be judged by the displacement detection system 7, and after the real position of the navigation aid lamp is determined, the navigation aid lamp is driven to the front of the navigation aid lamp according to the navigation system 6 for cleaning, so that the accuracy is improved.
In the step (2), before the light outlet of the navigation aid lamp is cleaned, the light outlet of the navigation aid lamp can be tested through the light metering system 8, whether cleaning is needed or not is judged according to the light outlet condition, and the whole cleaning time is saved.
Before the integrated navigation lamp cleaning and detecting vehicle cleans the navigation lamps, the airport lamplight station sends information such as a navigation lamp layout, a geographical position, a vehicle walking route and the like to the vehicle main control system 3 in advance, and stores the information in the data storage module 32; the vehicle main control system 3 sends an instruction to the walking control system 5 to control the cleaning detection vehicle to automatically drive to a first navigation aid lamp needing cleaning detection according to preset vehicle walking route information and real-time position information provided by the navigation system; the vehicle main control system 3 sends an instruction to the jet cleaning system 2, starts the air compressor 22 and provides compressed air for the sand blasting machine 21, and the air compressor 22 stops running until the rated pressure is reached; the vehicle main control system 3 sends an instruction to the laser scanner 4 to start the laser scanner 4 and enable the laser scanner to enter a working state; the vehicle main control system 3 issues an instruction to the photometry system 8 to start the illuminometer 81 and the colorimeter 82 to enable the standby state; the vehicle main control system 3 sends an instruction to the displacement detection system 7 to start the image acquisition module 71 and the LED light supplement lamp 73 to enter a standby state.
When the cleaning detection vehicle runs to a certain distance (set according to specific conditions, such as 3-5 meters), the vehicle main control system 3 sends a command of decelerating and stopping to the walking control system 5, when the vehicle completely stops at a position (such as 0.5 meter) close to the lamp, the laser scanner 4 scans a front object to obtain accurate position and shape information of a light outlet of the lamp, the obtained related information of the lamp is sent to the vehicle main control system 3, the vehicle main control system 3 sends the related information of the lamp to the jet cleaning system 2, the jet cleaning system 2 controls the mechanical arm 23 to move the spray gun 24 to the light outlet of the lamp, the spray gun 24 is started to spray a cleaning agent to the light outlet, after the preset spray amount is reached, the vehicle main control system 3 sends a command to the jet cleaning system 2, the spray gun 24 is closed, and the mechanical arm 23 is lifted to a normal position; the vehicle main control system 3 sends an instruction to the photometry system 8, reads data of the illuminometer 81 and the colorimeter 82, directly generates a illuminance distribution map and chromaticity information and stores the illuminance distribution map and the chromaticity information, the photometry system 8 compares the standard data with the actually measured data according to the standard data of the civil aviation lamp preset in the photometry system 8, judges whether the cleaned corresponding data is qualified or not, generates a detection report, if the cleaned corresponding data is still unqualified, the lamp needs to be replaced, and meanwhile, the position information of the lamp needs to be replaced according to the navigation system.
The vehicle main control system 3 sends an instruction to the walking control system 5, the vehicle is moved to a position right above the lamp where the image acquisition module 71 is located, and the image processing module 72 compares the lamp image information and the navigation information acquired by the image acquisition module 71 with preset position information to confirm whether the lamp position moves and whether the installation accessories of the lamp are complete; and the LED light supplement lamp supplements light according to the image definition degree.
The vehicle main control system 3 sends an instruction to the walking control system 5 to move the vehicle to the next navigation aid lamp to be cleaned and detected; after all lamps are cleaned and detected, the vehicle drives back to the airport lamplight station, the vehicle main control system 3 uploads a detection report of the photometric system 8 to the airport lamplight station through the communication module 33, and the detection report of the photometric system 8 can include illuminance and chromaticity information of the navigation-aid lamps, data information of whether accessories of the navigation-aid lamps are complete, data information of whether the navigation-aid lamps need to be replaced, and position information of the navigation-aid lamps need to be replaced.
Through the setting of the vehicle main control system, the following functional modes can be realized: (1) cleaning an individual lamp; (2) accurate data photometry of an individual lamp; (3) lamp cleaning, rapid data photometry and displacement/integrity detection; (4) and (4) performing rapid data photometry and cleaning on the lamp.
Further preferably, the utility model provides a clean two spray guns of installing with certain angle in opposite directions on detecting car's arm 23, can clean simultaneously two play plain noodles of lamps and lanterns.
Further preferably, the host vehicle may employ a manual assist driving control mode.
Further preferably, the host vehicle may employ an unpowered trailer-walking mode.
Further preferably, part of the functions of the host vehicle (such as a blasting mechanism, a photometry system, a displacement detection system, etc.) may be mounted on an existing manually-driven vehicle.
In order to adapt to different use environments of airports, all the photometric systems and the displacement detection systems can be telescopically arranged on a fixed support on the side face of the vehicle, so that the mounting height of the vehicle can be adjusted conveniently.
The above embodiments only express the specific embodiments of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.
Claims (10)
1. The integrated navigation lamp cleaning and detecting vehicle is characterized by comprising a vehicle body chassis (1), a walking control system (5) and a light measuring system (8) which are arranged at the bottom of the vehicle body chassis, and an injection cleaning system (2) and a vehicle main control system (3) which are arranged at the top of the vehicle body chassis, wherein the walking control system, the injection cleaning system and the light measuring system are all connected with the vehicle main control system; the photometry system comprises an illuminometer (81) and a colorimeter (82), an inverted T-shaped fixing support (84) is fixed below the rear part of the chassis of the vehicle body, and the illuminometer and the colorimeter are arranged on the inner side of a horizontal rod (841) of the fixing support.
2. The integrated navigation lamp cleaning and detecting vehicle as claimed in claim 1, wherein the jet cleaning system (2) comprises a material barrel (25), a sand blasting machine (21), an air compressor (22), a mechanical arm (23) and a spray gun (24) fixed on the mechanical arm, the material barrel, the sand blasting machine and the spray gun are sequentially connected through a pipeline, and the air compressor is connected with the sand blasting machine.
3. The integrated navigation lamp cleaning and detecting vehicle as claimed in claim 2, wherein the mechanical arm comprises a fixed seat (231), a rear arm (232) and a front arm (233) which are rotatably connected in sequence, the fixed seat is rotatably mounted above a chassis of the vehicle body through a rotating shaft, and a spray gun is mounted at the tail end of the front arm; two spray guns are installed on the mechanical arm, or the mechanical arm and the spray guns are two groups.
4. The integrated cleaning and detecting vehicle for the navigational lamp as claimed in claim 1, wherein a fixed bracket is also arranged below the front part of the chassis of the vehicle body, and the illuminometer and the colorimeter are in two groups and are respectively arranged at the inner sides of the horizontal rods of the front fixed bracket and the rear fixed bracket.
5. The integrated cleaning and detecting vehicle for the navigation lamp as claimed in claim 1, wherein the fixing bracket is fixed at the middle position of the rear part of the chassis of the vehicle body, the colorimeter is arranged at the middle position of the horizontal rod, and the illuminometers are arranged at two sides of the colorimeter and are symmetrically distributed relative to the colorimeter.
6. The integrated navigation lamp cleaning and detecting vehicle as claimed in claim 1, wherein the cleaning and detecting vehicle is further provided with a navigation system (6) and a displacement detecting system (7) connected with a vehicle main control system, the displacement detecting system comprises an image acquisition module (71) and an image processing module (72) which are connected with each other, and the image acquisition module is mounted at the bottom of a vehicle body chassis.
7. The integrated navigation lamp cleaning and detecting vehicle as claimed in claim 6, wherein the displacement detecting system further comprises an LED light supplement lamp (73), the LED light supplement lamp is installed at a central position of the bottom of the vehicle chassis, the image collecting module (71) is installed at a central position of the LED light supplement lamp (71), and both are vertically arranged downwards.
8. The integrated cleaning and detecting vehicle for the navigational lights according to claim 1, wherein the front part of the chassis of the vehicle body is further provided with a laser scanner (4) connected with a main control system of the vehicle.
9. The integrated cleaning and detecting vehicle for the navigational lights according to claim 1, wherein the vehicle main control system comprises a control module A (31), and a data storage module (32) and a communication module (33) which are connected with the control module A, and are wirelessly connected with the airport lamplight station through the communication module for completing the data information transmission with the airport lamplight station, and the received data information is stored in the data storage module.
10. The integrated cleaning and detecting vehicle for the navigational lamp according to claim 1, wherein the walking control system comprises a control module B (51), and a wheel driving motor (52), a steering control motor (53) and a braking module (54) connected with the control module B, wherein the wheel driving motor, the steering control motor and the braking module are used for controlling the movement, the steering and the braking of wheels (57) at the bottom of a chassis of the vehicle body; the walking control system is powered by a storage battery (55), and the storage battery is connected with a charging control module (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921630033.9U CN210704337U (en) | 2019-09-27 | 2019-09-27 | Integrated navigation aid lamp cleaning and detecting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921630033.9U CN210704337U (en) | 2019-09-27 | 2019-09-27 | Integrated navigation aid lamp cleaning and detecting vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210704337U true CN210704337U (en) | 2020-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921630033.9U Active CN210704337U (en) | 2019-09-27 | 2019-09-27 | Integrated navigation aid lamp cleaning and detecting vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210704337U (en) |
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2019
- 2019-09-27 CN CN201921630033.9U patent/CN210704337U/en active Active
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