CN212276267U - Airport pavement foreign matter detection and removal system - Google Patents
Airport pavement foreign matter detection and removal system Download PDFInfo
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- CN212276267U CN212276267U CN202020144074.3U CN202020144074U CN212276267U CN 212276267 U CN212276267 U CN 212276267U CN 202020144074 U CN202020144074 U CN 202020144074U CN 212276267 U CN212276267 U CN 212276267U
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Abstract
The utility model discloses an airport pavement foreign matter detects and removes system, include: the airport pavement foreign matter detection device comprises a tower, radar detection equipment and photoelectric monitoring equipment, wherein the radar detection equipment and the photoelectric monitoring equipment detect the runway foreign matter and acquire pavement foreign matter information; the main control platform is respectively in communication connection with the radar detection equipment and the photoelectric monitoring equipment; the foreign matter removing device for the pavement is in communication connection with the main control platform and used for removing foreign matters. The utility model discloses realize that during the whole day, all-weather runway pavement foreign matter detects and removes, has avoided the drawback under the traditional runway way of looking into, and the foreign matter removes efficient and foreign matter detection degree of accuracy height.
Description
Technical Field
The utility model belongs to the technical field of airport pavement detects, concretely relates to airport pavement foreign matter detects and removes system.
Background
Airport pavement Foreign Objects (FOD) broadly refer to a foreign object of some kind that may damage an aircraft. FOD can endanger the life safety of airplanes and passengers, cause flight delay and interrupt take-off, and cause huge economic loss. Conservative estimates are that FOD causes direct losses of at least $ 30-40 billion worldwide each year, while indirect losses are 4 times this figure.
In an airport pavement foreign matter detection system, scanning apparatuses for finding foreign matter generally include millimeter-wave radars, visible-light image pickup apparatuses, infrared image pickup apparatuses, laser scanning apparatuses, and the like.
Chinese utility model patent application with publication number CN102590882A, publication date of 2012, 7, month and 18 discloses an airport runway foreign matter detection system, which uses three cameras and infrared auxiliary lighting devices as scanning devices. However, in the system, due to the insufficient number of cameras and the need of refocusing for different radiuses, the scanning rate is reduced, and the requirement for rapidity of detecting foreign matters on the airfield runway cannot be met.
Chinese utility model patent with an authorization notice number of CN202583489U and an authorization notice date of 2012, 12 and 5 discloses an airport runway foreign matter detection system, which uses radar visible light camera equipment and infrared camera equipment as scanning equipment. However, this system does not directly describe an infrared image pickup apparatus, and the combination of the night light compensation apparatus and the visible light image pickup apparatus described therein corresponds to an infrared image pickup apparatus.
The patent application of the Chinese utility model with publication number CN105572755A and publication number 2016, 5 and 11 discloses a method for imaging visible light camera equipment by utilizing the traveling direction of a sweeper, and realizing full coverage detection.
The application of the chinese utility model patent with publication number CN104552237B and publication number 2016, 6 and 22 discloses an airport runway foreign matter treatment robot system, which consists of an airport runway foreign matter detection device and a control device for controlling the robot to move and cleaning foreign matters, and can detect and automatically plan a foreign matter treatment path.
Currently, the airport pavement Foreign Object Detection (FOD) and removal system technology is further developed on a global scale, and the main methods include the following methods: firstly, the system can realize the functions of airport pavement foreign matter detection, information transmission alarm and video verification, but cannot realize automatic removal of foreign matters, and the foreign matters need to be cleared away by means of manual ascending, so that airport workers and an air traffic control tower are in communication and coordination, the time for manually driving the airport pavement to pick up the foreign matters is long, the precious running time of an airport runway is occupied, and the runway running efficiency is restricted. Secondly, the runway foreign matter detection and removal system is integrated on a single robot platform, so that the whole runway cannot be effectively covered, secondary pollution of the runway can be caused, and the risk of safe operation of the runway is increased.
Therefore, according to the practical running situation of the runway of the airport, especially a large busy airport, a device which can realize the detection and coverage of foreign matters on the whole runway, replace the traditional pure manual removal of foreign matters on the runway, run all day long and has high foreign matter removal efficiency is urgently needed to assist the airport in runway safety management.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a system airport pavement foreign matter detects and removes system that realizes that full runway foreign matter surveys the cover, all-weather when all-weather survey and the foreign matter removes, the foreign matter removes efficiently.
In order to achieve the above object, the utility model provides an airport pavement foreign matter detects and removes system, include: the airport pavement foreign matter detection device comprises a tower, radar detection equipment and photoelectric monitoring equipment, wherein the tower is arranged on one side or two sides of the center line of a runway, and the radar detection equipment and the photoelectric monitoring equipment are arranged on the tower and used for detecting runway foreign matters and acquiring pavement foreign matter information; the master control platform is in communication connection with the radar detection device and the photoelectric monitoring device respectively; the foreign matter removing device for the pavement is in communication connection with the main control platform and used for removing foreign matters.
Optionally, the foreign matter removing device for the road surface comprises a robot body, a control module, a communication module, a mechanical arm and a mechanical arm driving device, wherein the control unit, the communication module, the mechanical arm and the mechanical arm driving device are all arranged on the robot body; the communication module is respectively connected with the control module and the main control platform; the robot arm driving device is respectively connected with the control module and the robot arm.
Optionally, the robot body comprises a frame, wheels and a wheel driving device; the wheels and the wheel driving device are arranged on the frame; the wheel driving device is respectively connected with the wheel and the control module.
Optionally, the foreign matter removing device for road surface further comprises a vehicle-mounted foreign matter storage barrel, and the vehicle-mounted foreign matter storage barrel is arranged on the frame.
Optionally, the risk classes include high risk, medium risk and low risk.
Optionally, when the danger level is high risk or medium risk, the main control platform transmits the foreign matter removal instruction and the foreign matter removal information to the control module through the communication module.
Optionally, the foreign matter removal information includes coordinate information of a position where the foreign matter is located, a size of the foreign matter, a shape of the foreign matter, and an image of the foreign matter.
Optionally, the distance between the tower and the center line of the runway is 105-150 meters, and the height is 6-10 meters.
The beneficial effects of the utility model reside in that: the utility model discloses an airport pavement foreign matter detection and removal system's airport pavement foreign matter detection device continuously scans the airport pavement, acquire the foreign matter information, and send foreign matter information to master control platform, master control platform judges the danger level of foreign matter according to the foreign matter information, send foreign matter removal instruction and foreign matter removal information to pavement foreign matter removal device according to danger level, pavement foreign matter removal device carries out the foreign matter and removes, thereby realize all-weather, all-weather runway pavement foreign matter detects and removes, the drawback under traditional runway way is looked into, the foreign matter removes efficiently and the foreign matter detection degree of accuracy is high.
The present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings. Wherein like reference numerals generally refer to like parts throughout the exemplary embodiments of the present invention.
Fig. 1 shows a block diagram of an airport pavement foreign matter detection and removal system according to one embodiment of the present invention.
Fig. 2 shows a block diagram of an airport pavement foreign matter detection apparatus of the airport pavement foreign matter detection and removal system according to an embodiment of the present invention.
Fig. 3 shows a configuration diagram of a foreign matter removing apparatus of an airport pavement foreign matter detecting and removing system according to an embodiment of the present invention.
Description of reference numerals:
1. airport pavement foreign matter detection device; 2. a master control platform; 3. a road surface foreign matter removing device; 11. a tower; 12. a radar detection device; 13. a photoelectric monitoring device; 31. a frame; 32 wheels; 33. a mechanical arm; 34 vehicle-mounted foreign matter storage barrel.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, it is to be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
According to the utility model discloses an airport pavement foreign matter detects and removes system, include: the airport pavement foreign matter detection device comprises towers, radar detection equipment and photoelectric monitoring equipment, wherein the towers are arranged on one side or two sides of a central line of a runway, and the radar detection equipment and the photoelectric monitoring equipment are arranged on the towers and used for detecting runway foreign matters and acquiring information of the pavement foreign matters; the main control platform is respectively in communication connection with the radar detection equipment and the photoelectric monitoring equipment; the foreign matter removing device for the pavement is in communication connection with the main control platform and used for removing foreign matters.
Specifically, the airport pavement foreign matter detection and removal system comprises an airport pavement foreign matter detection device, a master control platform and a pavement foreign matter removal device. And each two parts are contacted and controlled through remote communication. Airport pavement foreign matter detection system includes the pylon and bears radar detection equipment, photoelectric monitoring equipment, the pylon sets up the unilateral or both sides at the runway central line, radar detection equipment and photoelectric monitoring equipment all set up the top at the pylon, detect and video image catches the runway foreign matter through radar detection equipment and photoelectric monitoring equipment, with foreign matter relevant information transmission to master control platform, master control platform judges the danger level of pavement foreign matter, and export foreign matter removal instruction and foreign matter removal information to pavement foreign matter removing device according to danger level, pavement foreign matter removing device carries out the foreign matter and removes after receiving foreign matter removal instruction and foreign matter removal information. The main control platform is a service platform based on a computer, judges the danger level of the foreign matters on the road surface, judges the danger level based on the size, the dimension, the shape and the like of the foreign matters, belongs to the prior art, and is not repeated herein.
The utility model discloses an airport pavement foreign matter detects and removes system adopts runway foreign matter to survey and foreign matter removes integrative design, limitation and the ageing that artifical tour brought have effectively been replaced, through calculating, this system surveys the time period that discovery removed to the foreign matter from the foreign matter at 10-15 minutes (3600 meters runway length), and traditional foreign matter detection system removes the foreign matter consuming time from discovery foreign matter to artifical upper reaches and generally controls 30 minutes, consequently, this system can effectively shorten runway occupation time, promote the utilization ratio of runway, and then improve the operating efficiency in runway capacity and airport flight area.
The radar detection equipment (Advanced Microwave Sounding Unit) adopts a W-band (92-94.5GHz) radar for detection, a millimeter wave chip design technology is introduced, and a plurality of circuit units of a receiving channel and a transmitting channel of a system are integrated, so that the size of the device is greatly reduced, and the weight and the power consumption of the equipment are reduced. The working frequency (below 30 GHz) of the existing equipment in the airport is far higher, and mutual interference is avoided. The large-aperture antenna is designed by utilizing the reflecting surface technology, and the detection performance of a radar detection target is improved.
TABLE 1 parameters of a radar detection device
| Index name | Index requirement | Index name | Index requirement |
| Frequency band | W wave band | Positioning accuracy | <5m |
| Radar system | FMCW | Resolution ratio | <5m |
| Bandwidth of | 2GHz | Probability of detection | >90％ |
| Scanning mode | Sector scanning | False alarm | FAA Standard |
| Radius of coverage | R＝600m | Detectable target | Minimum 2cm |
The photoelectric monitoring equipment (Electro-optical Unit) comprises a large-caliber long-focus optical system, an infrared laser illuminator, a high-precision two-axis monitoring turntable, an image acquisition and identification processing algorithm, a monitoring servo control algorithm and a software control algorithm. The large-caliber long-focus optical system and the high-sensitivity photoelectric detector are adopted, the detection capability of foreign object targets outside the small-size road surface is high, and the scheme of laser active illumination is adopted under the condition of low illumination at night. The device automatically receives the guide information of external search equipment, quickly points the optical system to a guide position, simultaneously controls the optical system to adopt a matched focal length and other configuration parameters, the photoelectric detector obtains a target image, the image acquisition and identification processing system locks a target and transmits target motion information to the servo control system, the servo control system controls the two-axis monitoring turntable to point, the optical detector is guaranteed to point to the target all the time to realize stable monitoring, and detection, identification and automatic monitoring of the target are completed.
The main Control platform (Operational Control Center) is a central hub for multi-sensor information and multi-network node sharing exchange, realizes interconnection and intercommunication and data sharing of multi-Center data resources and multi-nodes through distributed and multi-Center resource sharing services, can also realize storage, management and analysis of multiple sensing data of the multi-nodes in a large area, provides a one-stop service platform for multi-angle data access, management, analysis, display and sharing release related to road foreign objects for users, and is the core of the system. The main control platform extracts information such as foreign matter material, size and source except information such as foreign matter position and picture through strong big data analysis capability; the danger level of the foreign matters can be discharged through autonomous learning, and monitoring personnel are assisted to judge. The foreign matter removing system is a control module for providing a remote control for a user, and the user judges whether to issue a removing control instruction to the foreign matter removing device according to related foreign matter images and video information provided by the foreign matter detecting system. The main control platform is a service platform based on a computer, judges the danger level of the foreign matters on the road surface, judges the danger level based on the size, the dimension, the shape and the like of the foreign matters, belongs to the prior art, and is not repeated herein.
According to an exemplary embodiment, the airport pavement foreign matter detection device of the airport pavement foreign matter detection and removal system continuously scans the airport pavement to obtain foreign matter information and sends the foreign matter information to the master control platform, the master control platform judges the danger level of the foreign matter according to the foreign matter information and sends a foreign matter removal instruction and foreign matter removal information to the pavement foreign matter removal device according to the danger level, and the pavement foreign matter removal device removes the foreign matter, so that the all-weather runway pavement foreign matter detection and removal are realized, the defect of a traditional runway track searching mode is avoided, the foreign matter removal efficiency is high, and the foreign matter detection accuracy is high.
As an alternative, the pavement foreign matter removing device comprises a robot body, a control module, a communication module, a mechanical arm and a mechanical arm driving device, wherein the control unit, the communication module, the mechanical arm and the mechanical arm driving device are all arranged on the robot body; the communication module is respectively connected with the control module and the main control platform; and the mechanical arm driving device is respectively connected with the control module and the mechanical arm.
As an alternative, the robot body comprises a frame, wheels and wheel driving devices; the wheels and the wheel driving device are arranged on the frame; the wheel driving device is respectively connected with the wheel and the control module.
The device comprises a robot body, a control unit for controlling the robot to move and cleaning foreign matters, and a driving device of a mechanical arm suggestion mechanical arm for cleaning the foreign matters; the robot body comprises a frame, wheels, a driving device of the wheels, an automatic robot charging device, a communication module for carrying out data communication with the main control platform, a wireless communication device for carrying out remote control on the robot and a GPS positioning device for carrying out accurate positioning.
The control unit receives a foreign matter removing instruction and foreign matter removing information from the main control platform through the communication module, automatically plans a path according to the position information of the foreign matter removing, sends a driving command to the wheel driving device, and controls the road surface foreign matter removing device to drive to the side of the foreign matter. The control unit sends a control command to the mechanical arm driving device to control the mechanical arm to pick up the foreign bodies and place the foreign bodies in the vehicle-mounted foreign body storage barrel. The control unit sends a driving command to the wheel driving device again, controls the road surface foreign matter removing device to drive to a specified position, and sends a foreign matter removing command to the main control platform through the communication module.
As an alternative, the pavement foreign matter removing device further comprises a vehicle-mounted foreign matter storage barrel, and the vehicle-mounted foreign matter storage barrel is arranged on the frame.
Specifically, the mechanical arm of the pavement foreign matter removing device collects the foreign matters to the vehicle-mounted foreign matter storage barrel, the pavement foreign matter removing device returns to the designated position and informs the main control platform, the runway foreign matter removing is finished, and the runway is opened to run.
Alternatively, the hazard classes include high-risk, medium-risk, and low-risk.
As an alternative, when the danger level is high or medium danger, the main control platform transmits the foreign matter removal instruction and the foreign matter removal information to the control module through the communication module.
Specifically, the danger level is three levels of high danger, medium danger and low danger, and when the danger level is high danger or medium danger, the main control platform transmits the foreign matter removal instruction and the foreign matter removal information to the control module of the pavement foreign matter removal device through the communication module, and the pavement foreign matter removal device automatically plans the optimal foreign matter removal path according to the instruction information to remove the foreign matter. Or background staff determine whether to immediately clean the foreign matters on the runway or to clean the foreign matters after the runway is stopped according to the danger level condition of the foreign matters on the runway surface. If the foreign bodies need to be cleaned immediately, a remote control instruction and runway foreign body information (foreign body longitude and latitude coordinates, size, shape, related pictures and the like) are transmitted to the pavement foreign body removing device through the main control platform, and the pavement foreign body removing device automatically plans an optimal foreign body removing path according to the instruction information to remove the foreign bodies.
Alternatively, the foreign substance removal information includes coordinate information of a position where the foreign substance is present, a size of the foreign substance, a shape of the foreign substance, and an image of the foreign substance.
As an alternative, the height of the tower is 6-10 meters, and the distance from the center line of the runway is 105-150 meters.
Specifically, the tower is used for bearing radar detection equipment, photoelectric monitoring equipment and the like, is installed on one side or two sides of a central line of a runway, is located at a distance of 150 meters away from the central line of the runway, is 6-10 meters in height, is made of metal materials, is mainly made of alloy, does not affect the normal operation of the runway of the airport, is small in arrangement quantity (for example, only four 4F-level runways of 3600 meters are required), and is low in construction cost. And the manufacturing standard of the bottom of the tower meets the specification requirements of 'universal technical requirements and detection specifications for easily-broken and fragile towers' (AC-137-CA-2014-01) published by the China civil aviation administration.
Examples
Fig. 1 shows a block diagram of an airport pavement foreign matter detection and removal system according to one embodiment of the present invention. Fig. 2 shows a block diagram of an airport pavement foreign matter detection apparatus of the airport pavement foreign matter detection and removal system according to an embodiment of the present invention. Fig. 3 shows a configuration diagram of a foreign matter removing apparatus of an airport pavement foreign matter detecting and removing system according to an embodiment of the present invention.
Referring to fig. 1, 2 and 3, the system for detecting and removing foreign objects on an airport pavement comprises: the airport pavement foreign matter detection device 1 comprises a tower 11, a radar detection device 12 and a photoelectric monitoring device 13, wherein the tower 11 is arranged on one side or two sides of a central line of a runway, and the radar detection device 12 and the photoelectric monitoring device 13 are both arranged on the tower 11 and used for detecting runway foreign matters and acquiring pavement foreign matter information; the main control platform 2 is in communication connection with the radar detection device 12 and the photoelectric monitoring device 13 respectively; the foreign matter removing device 3 is connected with the main control platform 2 in a communication mode and used for removing foreign matters.
The device 3 for removing foreign matters on the road surface comprises a robot body, a control module, a communication module, a mechanical arm 33 and a mechanical arm driving device, wherein the control module, the communication module, the mechanical arm 33 and the mechanical arm driving device are all arranged on the robot body; the communication module is respectively connected with the control module and the main control platform 2; the robot arm drive is connected 33 to the control module and the robot arm, respectively.
Wherein, the robot body comprises a frame 31, wheels 32 and a wheel driving device; the wheels 32 and the wheel driving device are arranged on the frame 31; the wheel drive is connected to the wheels 32 and the control module, respectively.
Wherein, the foreign matter removing device 3 further comprises a vehicle-mounted foreign matter storing barrel 34, and the vehicle-mounted foreign matter storing barrel 34 is arranged on the frame 31.
Wherein, the danger grade comprises high danger, medium danger and low danger.
Wherein, when the danger level is high danger or middle danger, main control platform 2 removes instruction and foreign matter and removes information and transmits to control module through communication module with the foreign matter.
The foreign matter removing information comprises coordinate information of the position of the foreign matter, the size of the foreign matter, the shape of the foreign matter and an image of the foreign matter.
Wherein the height of the tower is 6-10 meters, and the distance between the tower and the center line of the runway is 105-150 meters.
The foregoing description of the embodiments of the invention has been presented for purposes of illustration and not limitation, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the illustrated embodiments.
Claims (5)
1. An airport pavement foreign matter detection and removal system, comprising:
the airport pavement foreign matter detection device comprises a tower, radar detection equipment and photoelectric monitoring equipment, wherein the tower is arranged on one side or two sides of the center line of a runway, and the radar detection equipment and the photoelectric monitoring equipment are arranged on the tower and used for detecting runway foreign matters and acquiring pavement foreign matter information;
the master control platform is in communication connection with the radar detection device and the photoelectric monitoring device respectively;
the foreign matter removing device for the pavement is in communication connection with the main control platform and used for removing foreign matters.
2. The airport pavement foreign matter detection and removal system of claim 1, wherein the pavement foreign matter removal device comprises a robot body, a control module, a communication module, a mechanical arm, and a mechanical arm drive device, all disposed on the robot body; the communication module is respectively connected with the control module and the main control platform; the mechanical arm driving device is respectively connected with the control module and the mechanical arm.
3. The airport pavement foreign object detection and removal system of claim 2, wherein said robot body comprises a frame, wheels and wheel drive means; the wheels and the wheel driving device are arranged on the frame; the wheel driving device is respectively connected with the wheel and the control module.
4. The airport pavement foreign matter detection and removal system of claim 3, wherein said pavement foreign matter removal apparatus further comprises an onboard foreign matter storage bucket disposed on said frame.
5. The airport pavement foreign object detection and removal system of claim 1 wherein said tower is located a distance of 105-150 meters from the centerline of said runway and a height of 6-10 meters.
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| CN202020144074.3U CN212276267U (en) | 2020-01-22 | 2020-01-22 | Airport pavement foreign matter detection and removal system |
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| CN202020144074.3U CN212276267U (en) | 2020-01-22 | 2020-01-22 | Airport pavement foreign matter detection and removal system |
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| CN212276267U true CN212276267U (en) | 2021-01-01 |
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