WO2021017560A1

WO2021017560A1 - Robot for safety detection of airfield runway road surface

Info

Publication number: WO2021017560A1
Application number: PCT/CN2020/087882
Authority: WO
Inventors: 朱石; 鲍娟
Original assignee: 南京涵曦月自动化科技有限公司
Priority date: 2019-07-30
Filing date: 2020-04-29
Publication date: 2021-02-04
Also published as: CN111305020A; CN110409266B; CN110409266A

Abstract

A robot for safety detection of airfield runway road surface, comprising an advancing mechanism (1), a cleaning mechanism (2), a collecting mechanism (3) and an observing mechanism (4). The cleaning mechanism (2), the collecting mechanism (3) and the observing mechanism (4) are disposed on the advancing mechanism (1); and the cleaning mechanism (2) is used for eradicating foreign matter that is difficult to clean up on an airfield runway, the collecting mechanism (3) collects matter that is easy to clean up, and the observing mechanism (4) observes the road surface. The robot collects most of the small foreign matter on the airport road surface by means of the collecting mechanism (3), and uses a mechanical device means to detect and clean the road surface, improving the reliability and efficiency of detection.

Description

Safety inspection robot for airport runway pavement

Technical field

The invention relates to the technical field of robots, in particular to an airport runway pavement safety detection robot.

Background technique

Airport runway refers to the ultra-long strip area in the airport used to supply aviation aircraft for take-off or landing. Because the aircraft needs to taxi for a long distance during take-off, the safety of the airport runway is an important link to ensure the smooth take-off of the aircraft. It is necessary to frequently conduct safety inspections on airport runway pavements. Among them, there are several types of safety inspections. One is the basic conditions of the pavement, such as the shallow strength of the pavement, the degree of cracks on the pavement, and the anti-skidding of the pavement. Factors, as well as the detection of foreign objects on the road surface, such as stones, metal parts and plastic products, etc. These foreign objects can cause damage to the aircraft tires and will be sucked into the engine, resulting in engine aging, which is extremely safe Hidden dangers.

At present, there are special testing equipment for the detection of the basic situation of the road surface, but there are still the following shortcomings for the detection of foreign objects on the airport runway surface:

The current foreign object detection still relies on airport ground staff to carry cleaning devices on the airport runway pavement for manual inspection and cleaning. This method is not only low in reliability and efficiency, but also takes up the use time of the airport runway pavement, and the detection time is mostly only It can be affected by the line of sight of the light during the day and night, and cannot be detected, resulting in poor overall detection results.

Summary of the invention

technical problem

In view of the shortcomings of the prior art, the present invention provides an airport runway pavement safety inspection robot, which solves the problems raised in the background art.

The solution to the problem

Technical solutions

In order to achieve the above objective, the present invention provides the following technical solutions: an airport runway pavement safety inspection robot, including a traveling mechanism, a cleaning mechanism, a collection mechanism and an observation mechanism, and the cleaning mechanism, the collection mechanism and the observation mechanism are all set in the travel mechanism On; the traveling mechanism is used to drive the cleaning mechanism, the collection mechanism and the observation mechanism to travel on the airport runway; the cleaning mechanism is used to eradicate foreign objects that are difficult to clean on the airport runway; the collection mechanism is used to clean the foreign objects that are easy to clean Collection; The observation agency is used to observe the road surface of the airport runway.

In a further embodiment, the traveling mechanism includes a car plate, two universal self-locking wheels are fixedly mounted on one side of the bottom of the car plate, and two axle supports are fixedly mounted on the other side of the bottom of the car plate. A wheel axle is rotatably connected between the two axle support plates through bearings, moving wheels are fixedly installed at both ends of the wheel axle, and a connecting head is fixedly installed on one side of the top of the vehicle plate; The runway moves smoothly.

In a further embodiment, a first camera is fixedly installed on one side of the bottom of the vehicle plate; the road surface can be inspected.

In a further embodiment, the cleaning mechanism includes four mounting support plates, the four mounting support plates are all fixed at the bottom of the vehicle plate, and two of the four mounting support plates form a group, and each group of the Sliding rods are fixedly installed on the mounting support plates, sliding blocks are slidably connected to the two sliding rods, a cleaning shaft is rotatably connected between the two sliding blocks through a bearing, and the surface of the cleaning shaft is fixedly installed In the cleaning shovel, a cleaning motor is fixedly installed on one side of the sliding block, the output shaft of the cleaning motor is fixedly connected to the cleaning shaft through a coupling, and the two opposite sides of the sliding block are fixedly installed The cleaning mechanism further includes a bracket, the bracket is fixed at the bottom of the vehicle plate, a cylinder push rod is fixedly installed on the bracket, and the piston rod of the cylinder push rod is fixedly connected to one side of the connecting plate; Impurities on the road surface are effectively cleaned up.

In a further embodiment, the collection mechanism includes a feed frame, a fan, and a collection box, the feed frame is fixed on the bottom of the car plate, and the fan and the collection box are both fixed on the top of the car plate. The feed port of the fan communicates with a feed pipe, one end of the feed pipe communicates with the inside of the feed frame, the discharge port of the fan communicates with a discharge pipe, one end of the discharge pipe is connected to the collection box The interior is connected; it is convenient to collect and store the road impurities in the cleaning office in time.

In a further embodiment, the collection mechanism further includes four L-shaped stoppers, and the collection box is placed in the space formed by the four L-shaped stoppers to facilitate cleaning of impurities in the collection box.

In a further embodiment, the observation mechanism includes a rotating electric machine and a rotating shaft, the rotating electric machine is fixed on the top of the car plate, the rotating shaft is rotatably connected to the top of the car plate through a bearing seat, and the output of the rotating electric machine A drive gear is fixedly mounted on the shaft, a transmission gear is fixedly mounted on the surface of the rotating shaft, the drive gear is meshed with the transmission gear, and a second camera is fixedly mounted on the top of the rotating shaft; Effective observation.

The beneficial effects of the invention

Beneficial effect

The airport runway pavement safety inspection robot drives the cleaning mechanism, collection mechanism and observation mechanism to travel on the road surface through the traveling mechanism. It relies on the observation mechanism to observe the road surface condition. The cleaning mechanism can clean up foreign objects that are difficult to clean, such as The soil adhering to the road surface can be collected and processed by the collection mechanism for most of the small foreign objects on the airport road surface. The road surface can be detected and cleaned by mechanical equipment, which not only provides a guarantee for the detection efficiency, but also ensures The reliability of the detection is improved.

Brief description of the drawings

Description of the drawings

Figure 1 is a three-dimensional left view of the structure of the present invention;

Figure 2 is a perspective bottom view of the structure of the present invention;

Figure 3 is a right side view of the structure of the present invention;

Figure 4 is a front view of the structure of the present invention.

In the figure: 1. Traveling mechanism; 101, car plate; 102, universal self-locking wheel; 103, axle support plate; 104, wheel shaft; 105, moving wheel; 106, connector; 107, first camera; 2. Cleaning mechanism; 201, mounting support plate; 202, bracket; 203, sliding rod; 204, sliding block; 205, cleaning shaft; 206, cleaning shovel; 207, cleaning motor; 208, connecting plate; 209, cylinder push rod; 3 , Collection mechanism; 301, feed frame; 302, fan; 303, L-shaped block; 304, collection box; 305, feed pipe; 306, discharge pipe; 4. observation mechanism; 401, rotating motor; 402, Rotation shaft; 403, drive gear; 404, transmission gear; 405, second camera.

Invention embodiment

Embodiments of the invention

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example

Refer to Figures 1-4, the present invention provides the following technical solutions: an airport runway pavement safety inspection robot, including a traveling mechanism 1, a cleaning mechanism 2, a collection mechanism 3, and an observation mechanism 4, a cleaning mechanism 2, a collection mechanism 3, and an observation mechanism The mechanism 4 is set on the travel mechanism 1; the travel mechanism 1 is used to drive the cleaning mechanism 2, the collection mechanism 3 and the observation mechanism 4 to travel on the airport runway; the cleaning mechanism 2 is used to eradicate foreign objects that are difficult to clean on the airport runway; the collection mechanism 3 is used to collect foreign objects that are easy to clean; 4 is used to observe the road surface of the airport runway.

In this embodiment, by connecting the traveling mechanism 1 with the airport runway trolley (not shown in the figure), the traveling mechanism 1 can be driven to travel on the road surface; the cleaning mechanism 2, the collecting mechanism 3 and the collecting mechanism 3 can be driven by the traveling mechanism 1 Observation mechanism 4 travels on the road surface, relying on the observation mechanism 4 to observe the road surface conditions. The cleaning mechanism 2 can clean up foreign objects that are difficult to clean, such as the soil adhering to the road surface. The collection mechanism 3 can be used to clean the airport. Most of the small foreign objects on the road surface are collected and processed, and the road surface is detected and cleaned by mechanical equipment, which not only guarantees the detection efficiency, but also ensures the reliability of the detection.

Specifically, the traveling mechanism 1 includes a car plate 101, two universal self-locking wheels 102 are fixedly installed on one side of the bottom of the car plate 101, and two axle support plates 103 are fixedly installed on the other side of the bottom of the car plate 101. A wheel axle 104 is rotatably connected between the axle support plates 103 through bearings. The two ends of the wheel axle 104 are fixedly installed with movable wheels 105, and the top side of the vehicle plate 101 is fixedly installed with a connector 106.

In this embodiment, the connecting head 106 is fixed with the airport runway trolley (not shown in the figure), and the two universal self-locking wheels 102 start to move when the car board 101 is driven by the airport runway trolley (not shown in the figure). When the steering function is reached, the car board 101 can be driven to rotate together with the rotation of the airport runway trolley (not shown in the figure), and the two moving wheels 105 ensure the stability of the car board 101 during the movement.

Specifically, a first camera 107 is fixedly installed on one side of the bottom of the vehicle board 101.

In this embodiment, the first camera 107 is a 4G wireless camera, which can be directly connected to the airport monitoring room through a wireless network, and can transmit the captured road surface conditions to the airport monitoring room in time. On the one hand, it can timely understand the condition of foreign objects on the road surface. On the one hand, it is convenient to use the cleaning mechanism 2 and the collection mechanism 3 to treat the foreign objects after they are found in time.

Specifically, the cleaning mechanism 2 includes four mounting support plates 201, the four mounting support plates 201 are all fixed on the bottom of the car plate 101, two of the four mounting support plates 201 are set as a group, and each group of mounting support plates 201 are fixed. A sliding rod 203 is installed. The two sliding rods 203 are slidably connected with a sliding block 204. A cleaning shaft 205 is connected to the two sliding blocks 204 through a bearing rotation. A cleaning shovel 206 is fixed on the surface of the cleaning shaft 205, one of which is A cleaning motor 207 is fixedly installed on one side of the sliding block 204. The output shaft of the cleaning motor 207 is fixedly connected to the cleaning shaft 205 through a coupling. A connecting plate 208 is fixedly installed between the opposite sides of the two sliding blocks 204. The cleaning mechanism 2 also includes a bracket 202, which is fixed on the bottom of the vehicle plate 101, a cylinder push rod 209 is fixedly installed on the bracket 202, and the piston rod of the cylinder push rod 209 is fixedly connected to one side of the connecting plate 208.

In this embodiment, under normal circumstances, the cleaning motor 207 is used to ensure that the cleaning shovel 206 on the cleaning shaft 205 is at a certain angle, as long as it does not affect the normal travel of the car plate 101. When the first camera 107 finds that there is a problem on the ground. When using the foreign objects directly collected by the collection mechanism 3, such as mud fixed on the road surface, it is necessary to start the cleaning motor 207 to drive the cleaning shaft 205 to rotate, and then drive the cleaning shovel 206 on the cleaning shaft 205 to rotate to contact the ground, and then start The cylinder push rod 209 pushes the connecting plate 208 to move, and the two sliders 204 slide on their corresponding sliding rods 203, and both push the cleaning shovel 206 to move. The cylinder push rod 209 drives the cleaning shovel 206 to move back and forth, which can reduce the difficulty The cleaned foreign matter is cleaned. After the foreign matter is separated from the road surface, it is more convenient to directly collect it manually.

Specifically, the collection mechanism 3 includes a feed frame 301, a fan 302, and a collection box 304. The feed frame 301 is fixed on the bottom of the car plate 101. The fan 302 and the collection box 304 are both fixed on the top of the car plate 101. The feed port is connected with a feed pipe 305, one end of the feed pipe 305 is connected to the inside of the feed frame 301, the discharge port of the fan 302 is connected with a discharge pipe 306, one end of the discharge pipe 306 is connected to the collection box 304 Connected internally.

In this embodiment, the collection mechanism 3 can directly absorb and collect some small items, so as to avoid the need for ground crews to continuously operate up and down from the airport runway trolley (not shown in the figure), and foreign objects that are difficult to clean pass through the cleaning mechanism 2. After processing, the foreign matter that can be directly absorbed is collected manually, and the foreign matter that can be directly absorbed is directly sucked into the collection box 304 by starting the fan 302, which improves the processing capacity of foreign matter and improves the processing efficiency.

Specifically, the collection mechanism 3 further includes four L-shaped blocks 303, and the collection box 304 is placed in the space formed by the four L-shaped blocks 303.

In this embodiment, the collection box 304 is directly placed on the car plate 101, and its position is limited by four L-shaped stoppers 303, which ensures the stability of the collection box 304 during the movement of the car plate 101, and simultaneously The material tube 306 is inserted into the inside of the collection box 304, so that after the detection and removal of the foreign matter on the road surface is completed, the collection box 304 is removed, the foreign matter inside is cleaned, and the empty collection box 304 is placed again. On the car board 101, it is beneficial to the next foreign body detection and cleaning work.

Specifically, the observation mechanism 4 includes a rotating electric machine 401 and a rotating shaft 402. The rotating electric machine 401 is fixed on the top of the car plate 101. The rotating shaft 402 is rotatably connected to the top of the car plate 101 through a bearing seat. The output shaft of the rotating electric machine 401 is fixedly installed with Drive gear 403, a transmission gear 404 is fixedly mounted on the surface of the rotating shaft 402, the drive gear 403 is meshed with the transmission gear 404, and a second camera 405 is fixedly mounted on the top of the rotating shaft 402.

In this embodiment, the second camera 405 is also a 4G wireless camera, and is connected to the airport monitoring room through a wireless network, and can transmit the captured road surface conditions to the airport monitoring room in time. Due to the design of the first camera 107, only The road surface under the car plate 101 can be observed. By adding the design of the second camera 405, the rotation of the rotating motor 401, the driving gear 403, the transmission gear 404 and the rotating shaft 402 can be used to rotate the road surface. Observation of the scope can observe the foreign matter in advance in time, and then the ground crew receives the instruction from the monitoring room to carry out the removal work.

The working principle and use process of the present invention: fixed with the airport runway trolley (not shown in the figure) through the connector 106, and the car board 101 is driven to move by the airport runway trolley (not shown in the figure). A camera 107 observes the road surface under the car plate 101. The rotating motor 401 drives the drive gear 403 to rotate, the drive gear 403 drives the gear 404 meshing with it to rotate, and drives the second camera 405 on the rotating shaft 402 to rotate. The second camera 405 conducts a wide range of observations. When small foreign objects can be cleaned directly, the fan 302 is activated to generate suction, and the foreign objects are sucked into the feed pipe 305 through the feed frame 301, and then sent to the collection box 304 through the discharge pipe 306 Large foreign objects can be cleaned directly and manually cleaned directly. The foreign objects attached to the road are cleaned by the cleaning mechanism 2 and then manually collected. The cleaning motor 207 is started to drive the cleaning shaft 205 to rotate, and then the cleaning shovel 206 on the cleaning shaft 205 is driven. Rotate to contact the ground, and then start the cylinder push rod 209 to push the connecting plate 208 to move, that is, the two sliders 204 slide on their corresponding sliding rods 203, and the cleaning shovel 206 is pushed to move, and the cleaning shovel 206 is driven by the cylinder push rod 209 The reciprocating movement can clean up the foreign matter that is difficult to clean. After the foreign matter is separated from the road surface, it is directly collected manually.

Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, it is still for those skilled in the art. The technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

An airport runway pavement safety inspection robot, which is characterized in that it includes a traveling mechanism (1), a cleaning mechanism (2), a collection mechanism (3) and an observation mechanism (4). The cleaning mechanism (2), the collection mechanism ( 3) and the observation mechanism (4) are set on the traveling mechanism (1);

The traveling mechanism (1) is used to drive the cleaning mechanism (2), the collection mechanism (3) and the observation mechanism (4) to travel on the airport runway;

The cleaning mechanism (2) is used to remove foreign objects that are difficult to clean on the airport runway;

The collection mechanism (3) is used to collect foreign objects that are easy to clean;

The observation mechanism (4) is used to observe the road surface of the airport runway.
An airport runway pavement safety inspection robot according to claim 1, characterized in that: the traveling mechanism (1) includes a car board (101), and two fixed installations are fixed on one side of the bottom of the car board (101). A universal self-locking wheel (102), two axle support plates (103) are fixedly installed on the other side of the bottom of the vehicle plate (101), and the two axle support plates (103) are rotatably connected by bearings There is a wheel axle (104), the two ends of the wheel axle (104) are fixedly installed with movable wheels (105), and the top side of the vehicle plate (101) is fixedly installed with a connector (106).
The airport runway pavement safety inspection robot according to claim 2, characterized in that: a first camera (107) is fixedly installed on one side of the bottom of the vehicle board (101).
An airport runway pavement safety inspection robot according to claim 1, characterized in that: the cleaning mechanism (2) includes four mounting support plates (201), and the four mounting support plates (201) are all fixed At the bottom of the vehicle board (101), two of the four mounting support plates (201) are in a group, and each group of the mounting support plates (201) is fixedly installed with a sliding rod (203), and two Sliders (204) are slidably connected to the sliding rods (203), a cleaning shaft (205) is rotatably connected between the two slides (204) through a bearing, and the surface of the cleaning shaft (205) is fixedly installed In the cleaning shovel (206), a cleaning motor (207) is fixedly installed on one side of the sliding block (204), and the output shaft of the cleaning motor (207) is fixedly connected with the cleaning shaft (205) through a coupling, A connecting plate (208) is fixedly installed between the opposite sides of the two sliding blocks (204), the cleaning mechanism (2) further includes a bracket (202), and the bracket (202) is fixed on the vehicle plate (101). ), a cylinder push rod (209) is fixedly installed on the bracket (202), and the piston rod of the cylinder push rod (209) is fixedly connected to one side of the connecting plate (208).
An airport runway pavement safety inspection robot according to claim 1, characterized in that: the collection mechanism (3) includes a feed frame (301), a fan (302) and a collection box (304). The material frame (301) is fixed on the bottom of the car plate (101), the fan (302) and the collection box (304) are both fixed on the top of the car plate (101), and the feed inlet of the fan (302) is connected There is a feed pipe (305), one end of the feed pipe (305) is communicated with the inside of the feed frame (301), and the discharge port of the fan (302) is connected with a discharge pipe (306), so One end of the discharge pipe (306) is communicated with the inside of the collection box (304).
An airport runway pavement safety inspection robot according to claim 5, characterized in that: the collection mechanism (3) further comprises four L-shaped blocks (303), and the collection box (304) is placed on the four In the space formed by an L-shaped stop (303).
An airport runway pavement safety inspection robot according to claim 1, characterized in that: the observation mechanism (4) includes a rotating electric machine (401) and a rotating shaft (402), and the rotating electric machine (401) is fixed on The top of the vehicle plate (101), the rotating shaft (402) is rotatably connected to the top of the vehicle plate (101) through a bearing seat, the output shaft of the rotating motor (401) is fixedly mounted with a drive gear (403), the A transmission gear (404) is fixedly mounted on the surface of the rotating shaft (402), the drive gear (403) is meshed with the transmission gear (404), and a second camera (405) is fixedly mounted on the top of the rotating shaft (402) .