WO2021017560A1 - Robot pour la détection de sécurité d'une surface de route de piste d'aérodrome - Google Patents

Robot pour la détection de sécurité d'une surface de route de piste d'aérodrome Download PDF

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Publication number
WO2021017560A1
WO2021017560A1 PCT/CN2020/087882 CN2020087882W WO2021017560A1 WO 2021017560 A1 WO2021017560 A1 WO 2021017560A1 CN 2020087882 W CN2020087882 W CN 2020087882W WO 2021017560 A1 WO2021017560 A1 WO 2021017560A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
airport runway
fixedly installed
collection
road surface
Prior art date
Application number
PCT/CN2020/087882
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English (en)
Chinese (zh)
Inventor
朱石
鲍娟
Original Assignee
南京涵曦月自动化科技有限公司
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Filing date
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Application filed by 南京涵曦月自动化科技有限公司 filed Critical 南京涵曦月自动化科技有限公司
Publication of WO2021017560A1 publication Critical patent/WO2021017560A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
    • E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
    • E01H1/0845—Apparatus dislodging all of the dirt by suction ; Suction nozzles with mechanical loosening or feeding instruments for the dirt to be sucked- up, e.g. brushes, scrapers

Definitions

  • the invention relates to the technical field of robots, in particular to an airport runway pavement safety detection robot.
  • 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.
  • 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.
  • the present invention provides an airport runway pavement safety inspection robot, which solves the problems raised in the background art.
  • 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.
  • 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.
  • a first camera is fixedly installed on one side of the bottom of the vehicle plate; the road surface can be inspected.
  • 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
  • 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
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the traveling mechanism 1 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.
  • 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.
  • 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).
  • 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.
  • a first camera 107 is fixedly installed on one side of the bottom of the vehicle board 101.
  • 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.
  • 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.
  • 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.
  • the first camera 107 finds that there is a problem on the ground.
  • the cleaning motor 207 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the fan 302 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.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Cleaning Of Streets, Tracks, Or Beaches (AREA)
  • Cleaning In General (AREA)

Abstract

L'invention concerne un robot pour la détection de sécurité d'une surface de route de piste d'aérodrome, comprenant un mécanisme d'avancée (1), un mécanisme de nettoyage (2), un mécanisme de collecte (3) et un mécanisme d'observation (4). Le mécanisme de nettoyage (2), le mécanisme de collecte (3) et le mécanisme d'observation (4) sont disposés sur le mécanisme d'avancée (1) ; et le mécanisme de nettoyage (2) est utilisé pour éradiquer des matières étrangères qui sont difficiles à nettoyer sur une piste d'aérodrome, le mécanisme de collecte (3) collecte des matières qui sont faciles à nettoyer, et le mécanisme d'observation (4) observe la surface de route. Le robot collecte la majorité des petites matières étrangères sur la surface de route d'aéroport au moyen du mécanisme de collecte (3), et utilise un moyen de dispositif mécanique pour détecter et nettoyer la surface de route, ce qui améliore la fiabilité et l'efficacité de détection.
PCT/CN2020/087882 2019-07-30 2020-04-29 Robot pour la détection de sécurité d'une surface de route de piste d'aérodrome WO2021017560A1 (fr)

Applications Claiming Priority (2)

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CN201910696925.7 2019-07-30
CN201910696925.7A CN110409266B (zh) 2019-07-30 2019-07-30 一种机场跑道道面安全检测机器人

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN115094728A (zh) * 2022-07-05 2022-09-23 辽宁省交通高等专科学校 一种定位精准的市政路面裂缝检测设备

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CN110409266B (zh) * 2019-07-30 2020-03-10 南京涵曦月自动化科技有限公司 一种机场跑道道面安全检测机器人
CN112211075A (zh) * 2020-10-09 2021-01-12 乔振锋 一种交通工程路面平整度检测装置
CN113152345A (zh) * 2021-03-26 2021-07-23 中国矿业大学 一种园区及非机动车道路面落叶智能清理车
CN113202045A (zh) * 2021-04-29 2021-08-03 国网河南省电力公司方城县供电公司 一种变电站巡检机器人行走道路用清扫装置

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Publication number Priority date Publication date Assignee Title
CN115094728A (zh) * 2022-07-05 2022-09-23 辽宁省交通高等专科学校 一种定位精准的市政路面裂缝检测设备

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