CN111230890A - Airport runway detection robot - Google Patents

Abstract

The invention discloses an airport runway detection robot. The robot system adopts a modular design, including a video acquisition subsystem, a position and attitude acquisition subsystem, a WiFi communication subsystem, a power supply system, a motion platform control subsystem, a robotic arm control subsystem, and a main control unit. When the robot is working, it collects and records each state of the robot, and transmits the status of the body back to the remote PC through WiFi, waiting for the control command of the PC; the PC sets the airport runway inspection path and trajectory, and sends the command to the TCP protocol through WiFi. The robot performs trajectory tracking on the received inspection route, that is, pose closed-loop control; while the robot tracks the trajectory, it performs airport runway video collection and analyzes to determine whether there are foreign objects or cracks on the airport runway. This product is easy to operate, low consumption, in line with the concept of energy saving and emission reduction.

Description

An airport runway detection robot

technical field

The invention relates to an airport runway detection robot, in particular to a robot capable of ensuring the safety of aircraft taking off and landing. Including autonomous detection to determine whether there are foreign objects or cracks on the airport runway. A camera is installed on the video acquisition subsystem of the airport runway inspection robot, which is used to collect and shoot the airport runway video in real time. Through the analysis of the video and based on the collected images, the FOD and airport runway cracks are identified, and finally the identification results and The image information is sent back to the main control unit to complete the removal of foreign objects on the runway and the detection of cracks. Convenience for staff.

Background technique

At present, with the rapid development of science and technology, the safety issues in the air transportation industry have become increasingly prominent and have attracted widespread attention from the public. The safety of aircraft needs to be guaranteed during flight, but more importantly, the safety issues during take-off and landing are also Can not be ignored, the need for security departments to focus on protection. Airport runway defects such as cracks and small pits, as well as runway foreign objects, have great hidden dangers and risks to the safety of aircraft take-off and landing. For example, the aircraft may be disturbed by small pits on the airport runway, causing it to deviate, and the tires may also be punctured by foreign objects on the airport runway and cause tire blowouts. So far, the existing detection methods of airport runways at home and abroad are not efficient and have certain blindness.

In the current social development, robots integrating automation, machinery, artificial intelligence computers and other high-tech cutting-edge technologies will become an important force in promoting the "Industry 4.0" process. The airport runway inspection robot is in line with the background of the "Industry 4.0" era. It can inspect and scan the cracks and FOD of the airport runway smoothly and flexibly. The application of the airport runway inspection robot can effectively and timely inspect the airport runway defects and identify the FOD, locate the airport runway defects and effectively deal with the FOD, so that the safety problems of the aircraft take-off and landing process can be optimally guaranteed, and the detection rate is increased. Precision, reducing the workload of the staff. And its high work efficiency reduces labor intensity and maintenance costs, saving human resources.

SUMMARY OF THE INVENTION

In order to improve the shortcomings of the existing airport runway detection technology, the present invention provides an airport runway detection robot, which is used for monitoring foreign objects and cracks in the airport runway, and carries camera equipment for real-time collection and shooting of the video of the airport runway. The results and image information are sent back to the main control unit after the identification of foreign objects and cracks. The main control unit calculates the target position of the robotic arm, and completes the removal and positioning of foreign objects or cracks by the robotic arm.

The technical solution adopted by the present invention to solve the technical problem is: an airport runway detection robot, the system adopts a modular design, and mainly includes a video acquisition subsystem, a position and attitude acquisition subsystem, a WiFi communication subsystem, a power supply system, and a motion platform control system. Subsystem, robotic arm control subsystem and main control unit. It is characterized in that a camera is installed on the robot video acquisition subsystem, which can collect and photograph the airport runway in real time, and is used to perform FOD and crack identification on the collected images, and finally transmit the identification results and image information back to the main control unit; The position and attitude acquisition subsystem is used to detect the attitude angle information and its position information of the airport runway detection robot, and the specific realization process is expressed as pitch angle, roll angle, heading angle, longitude, latitude and other information, so as to facilitate the closed loop Control completes the control of position and attitude; the WiFi communication subsystem is used to connect the airport runway detection robot and the remote PC, and can send the airport runway detection robot's position, attitude, speed, video collected by the camera and other information to the remote PC, and reads the control instructions from the remote PC; the motion platform control subsystem completes the closed-loop speed control of the underlying motion platform according to the speed setting value calculated by the main control unit and the current speed value of the robot body to ensure the robot Precise inspection on the entire airport runway; the robotic arm control subsystem is used to complete the processing of foreign objects on the airport runway, and complete the control function of the robotic arm according to the target position of the robotic arm calculated by the main control unit; The control unit is the core of the airport runway detection robot, which is used to coordinate all subsystems and complete core algorithms such as instruction parsing, position and attitude control.

The beneficial effect of the present invention is that the robot can be manipulated by identifying and analyzing the images fed back by the camera equipment, the accuracy and convenience of the airport runway detection are improved, the staff can better perform the runway safety maintenance, and save energy. The maintenance time and maintenance cost are reduced, the detection efficiency is improved, the labor force is liberated, and it has a wide range of application value and market prospects.

Description of drawings

Figure 1 is the system work flow chart

Figure 2 is a system control structure diagram

Detailed ways

Specific embodiments are given below in conjunction with the accompanying drawings to further illustrate how the present invention is implemented.

In Figure 1, the basic work of the airport runway detection system mainly includes the following contents: the collection and recording of each state of the robot; the robot sends the body state back to the remote PC through WiFi, and waits for the control command of the PC; the PC sets the airport The runway inspection path and trajectory are sent to the robot in the form of TCP protocol through WiFi; the robot performs trajectory tracking on the received inspection route, that is, pose closed-loop control; while the robot is tracking the trajectory, it performs airport runway video collection and Analyze and determine whether there are foreign objects or cracks in the airport runway. If there are foreign objects, the robot stops and controls the manipulator to remove the foreign objects. If there are cracks, the robot uploads the location of the cracks to the PC. Otherwise, it continues to perform trajectory tracking and video collection; the robot determines whether the trajectory tracking has been completed. After the execution is completed, if the execution is completed, stop and wait for the next command, otherwise continue to execute trajectory tracking and video capture.

In Figure 2, an airport runway inspection robot adopts a modular design, which mainly includes a video acquisition subsystem, a position and attitude acquisition subsystem, a WiFi communication subsystem, a power supply system, a motion platform control subsystem, and a robotic arm control subsystem. and the main control unit. It is characterized in that a camera is installed on the robot video acquisition subsystem, which can collect and photograph the airport runway in real time, and is used to perform FOD and crack identification on the collected images, and finally transmit the identification results and image information back to the main control unit; The position and attitude acquisition subsystem is used to detect the attitude angle information and its position information of the airport runway detection robot, and the specific realization process is expressed as pitch angle, roll angle, heading angle, longitude, latitude and other information, so as to facilitate the closed loop Control completes the control of position and attitude; the WiFi communication subsystem is used to connect the airport runway detection robot and the remote PC, and can send the airport runway detection robot's position, attitude, speed, video collected by the camera and other information to the remote PC, and reads the control instructions from the remote PC; the motion platform control subsystem completes the closed-loop speed control of the underlying motion platform according to the speed setting value calculated by the main control unit and the current speed value of the robot body to ensure the robot Precise inspection on the entire airport runway; the robotic arm control subsystem is used to complete the processing of foreign objects on the airport runway, and complete the control function of the robotic arm according to the target position of the robotic arm calculated by the main control unit; The control unit is the core of the airport runway detection robot, which is used to coordinate all subsystems and complete core algorithms such as instruction parsing, position and attitude control.

In Figure 2, the airport runway detection robot body is an embedded control system, with ARM11 as the core of the embedded control system, and the functions of the airport runway detection and other functions are completed under the coordinated action of each functional module. The ARM11 system board of this robot uses Samsung's S3C6410 processor with ARM11 as the core, which has rich hardware resources, runs at a frequency of 667MHz or above, and has 128M bytes of Mobile DDR and 1G bytes of NAND Flash. The ARM11 board integrates 4 serial ports, 1 USB HOST socket, 1 D/A, 8 A/D, 10 I/O and other resources. It also comes with a resistive touch screen and a TFT LCD. The ARM11 software system supports WinCE, Linux, Android and uC/OS-II. The NAND Flash of the ARM11 system board is mainly used to store the kernel code, APP code, File System and other data, and its model is K9G8G08U0A. In order to support expansion, the system board is designed with a dual-chip select architecture. The ARM11 system board is equipped with 128M Bytes Mobile DDR memory, using two Samsung K4X51163PC chips, and the DDR data transmission bus frequency can reach 266MHz. There are four serial ports designed, including one five-wire RS-232 level serial port and three three-wire TTL level serial ports. Among them, UART0 is a 9-pin 232 level, which is used to print debugging information, while UART1, UART2 and UART3 are serial ports with TTL level, which are used to communicate with the WiFi communication subsystem, the motion platform control subsystem and the pose acquisition system respectively. The USB HOST interface of the ARM11 system board can be connected to USB devices such as U disk, keyboard and mouse.

In Figure 2, the hardware of the motion platform control subsystem adopts the TMS320F28335 chip in TI's 2000 series DSP. The high-precision PWM output output by DSP28335, namely HRPWM, can directly drive the DC motor after power amplification. The event capture unit EQEP of DSP28335 receives the quadrature pulse sequence generated by the photoelectric encoder disc of the DC motor, and can calculate the real-time speed of the motor. At the same time, the serial port SCI of DSP28335 can realize the serial port communication between chips, chip and host computer, which is used to transmit control commands. Since the DSP28335 has only 2 channels of EQEP, and the robot's omnidirectional motion platform has 4 Mecanum wheels that need to be driven, in this design, the dual DSP architecture is used to drive the robot's motion platform. Since the speed of the Mecanum wheel is equal to the output speed of the motor reducer, the control of the speed of the Mecanum wheel is the control of the speed of the DC motor by the DSP28335. After calculating the deviation between the expected speed of the motor received from the serial port and the actual speed collected by the photoelectric encoder, the designed PI control algorithm is executed in DSP28335 to calculate the control amount, that is, the PWM duty cycle, which is realized by L298N driving and amplifying. Drive control of motor speed.

In Figure 2, the position and attitude detection subsystem of the airport runway detection robot, as the input link of the robot body, is the "perception organ" of the robot, which can collect the position and attitude information of the robot in the global coordinate system, that is, the airport runway. Among them, the position information of the robot is reflected in the form of longitude and latitude, and the attitude information is the pitch angle, roll angle and heading angle. The actual position of the airport runway detection robot is detected by the method of outdoor positioning, and the positioning chip involves GPS and Beidou positioning. The positioning used by the airport runway detection robot position acquisition is based on the positioning technology of UM220-III. UM220-III is a civilian-grade Beidou/GPS dual-mode sensor developed by Hexinxingtong. It has high integration and low power consumption. It has the latest ARM9 core, high tracking sensitivity of -160d Bm, and NMEA output through serial port. It adopts optimization algorithms such as GNSS multi-system fusion and Kalman filter, which has good acquisition and tracking ability and reliable continuous positioning results. In the case of power supply and antenna connection, UM220-III will output information such as latitude and longitude through the serial port with the set baud rate and specific format. At the same time, the attitude detection module integrates the electronic compass to obtain the heading angle, uses the accelerometer to correct the gyroscope, and fuses the data of the three sensors to obtain the motion attitude of the airport runway detection robot through the compensation of the electronic compass. MPU9250 and STM32F051K8U6 MCU chip form an attitude measurement module. STM32F051K8U6 adopts high-performance ARMCortex MO 32-bit RISC core, works at 48MHz frequency, 64K bytes of FLASH, and 8K bytes of SRAM. Among them, MPU9250 connects and communicates with STM32 microcontroller through IIC. The single-chip microcomputer has reserved two channels of UART communication ports, one of which is used to receive and process the latitude and longitude serial port data from UM220-III to form a complete set of pose acquisition modules. Another UART port communicates with ARM11.

In Figure 2, the process of airport runway inspection involves functions such as the setting of the runway inspection path and the uploading of the crack position when the airport crack is detected. The airport runway inspection robot needs to interact with the remote PC. This robot uses WiFi communication. The wireless WiFi communication module used is Robot-Link V5.0 WIFI module, which has the function of collecting USB camera images and sending them to the client for display in Mjpeg format, and can realize network-serial port command forwarding. The module adopts MT7620N chip, has 8M Flash, 32M DDR, and reserves USB video interface and TTL serial command interface, dual antenna SMA connector/high gain antenna and 1 network port LAN. The Robot-Link V5.0 WiFi module is essentially a wireless WiFi router, which runs the Openwrt routing operating system inside, and configures the module as a server when it is used. The TCP connection can be opened, the control port number is 2001, and the serial port data is received and sent; the video port is 8080, which realizes the transmission of USB camera video data. The remote monitoring system mainly includes the following major sections: command control section, camera video display section, state value curve display section, and 3D attitude simulation display section of the robot body, etc. The NI Lab VIEW development environment is used for remote PC monitoring. software development. LabVIEW adopts the graphical programming method, the development cycle is shorter than other human-machine interface programming languages, and it has rich functions and beautiful interface. Among them, the command control panel completes the input setting of the position and attitude information of the airport runway detection robot, as well as the display function of the position, attitude angle, Mecanum wheel speed and other information. At the same time, it also completes some special setting button controls, such as emergency A stop button and a button to confirm settings, etc. The camera video display section completes the display of the real-time video of the airport runway. After the airport runway detection robot collects the video of the airport runway, the image is sent back to the remote PC monitoring system through WiFi for the background staff to view. The 3D attitude display plate is used to display the real-time 3D attitude visual simulation model of the airport runway detection robot, and the state value curve display plate is used to draw the data curve of the attitude angle. It is convenient for the staff to check the attitude angle of the robot. The detection of position and attitude information is not only the need for position and attitude control, but also the premise for robot-to-manipulator control after foreign objects on the airport runway are detected.

Due to the above structure, the present invention proposes a design of an airport runway detection robot, which has the advantages of simple design, accurate detection results, stable product performance and wide application. Moreover, the application of the system liberates labor and saves human resources. It can identify and analyze the image signals returned by the video acquisition subsystem, improve work efficiency, and has broad market value and application prospects.

Claims (2)

1. A robot for detecting an airport runway, which adopts a modular design and mainly comprises a video acquisition subsystem, a position and attitude acquisition subsystem, a WiFi communication subsystem, a power supply system, a motion platform control subsystem, a mechanical arm control subsystem and a main control unit; the robot video acquisition subsystem is characterized in that a camera is mounted on the robot video acquisition subsystem, can acquire and shoot airport runways in real time, is used for carrying out FOD and crack identification on acquired images, and finally transmits identification results and image information back to the main control unit; the position and posture acquisition subsystem is used for detecting the posture angle information and the position information of the airport runway detection robot, and the information is expressed as pitch angle, roll angle, course angle, longitude, latitude and the like in the specific implementation process, so that the position and posture can be controlled by closed-loop control; the WiFi communication subsystem is used for connecting the airport runway detection robot and the remote PC, and can send the position, the posture, the speed, the video acquired by the camera and other information of the airport runway detection robot to the remote PC and read a control instruction from the remote PC; the motion platform control subsystem completes the closed-loop control of the speed of the bottom layer motion platform according to the speed set value calculated by the main control unit and the current speed value of the robot body, and ensures that the robot accurately patrols and examines the whole airport runway; the mechanical arm control subsystem is used for finishing the treatment of foreign matters on the airfield runway and finishing the control function of the mechanical arm according to the mechanical arm target position calculated by the main control unit; the main control unit is the core of the airport runway detection robot and is used for coordinating all subsystems and completing core algorithms such as instruction analysis, position and attitude control and the like.

2. The airport runway detection robot of claim 1, wherein when the robot starts to work, the body state is transmitted back to a remote PC through WiFi, and a control command of the PC is waited, the PC sets an airport runway inspection path and track, and the command is transmitted to the robot through WiFi in a TCP protocol mode; the robot executes track tracking, namely posture closed-loop control, on the received routing inspection route; the robot executes airport runway video acquisition and analysis to judge whether there are airport runway foreign matters or cracks while tracking the track, if there are foreign matters, the robot stops and controls the manipulator to remove the foreign matters, and if there are cracks, the robot uploads the positions of the cracks to the PC.

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