CN111230890A

CN111230890A - Airport runway detection robot

Info

Publication number: CN111230890A
Application number: CN201811439162.XA
Authority: CN
Inventors: 张亮; 龚程程; 陈飞翰
Original assignee: Tianjin Polytechnic University
Current assignee: Tianjin Polytechnic University
Priority date: 2018-11-28
Filing date: 2018-11-28
Publication date: 2020-06-05

Abstract

The invention discloses an airport runway detection robot. The robot system adopts a modular design and comprises a video acquisition subsystem, a position and posture acquisition subsystem, a WiFi communication subsystem, a power supply system, a motion platform control subsystem, a mechanical arm control subsystem, a main control unit and the like. When the robot works, all states of the robot are collected and recorded, the body state is transmitted back to a remote PC through WiFi, and a control instruction of the PC is waited; the PC sets an airport runway inspection path and track, and sends the instruction to the robot in a TCP protocol mode through WiFi; the robot executes track tracking, namely posture closed-loop control, on the received routing inspection route; and when the robot tracks the track, the robot executes airport runway video acquisition and analyzes and judges whether the airport runway has foreign matters or cracks. The product is convenient to operate, low in consumption and in line with the concept of energy conservation and emission reduction.

Description

Airport runway detection robot

Technical Field

The invention relates to an airport runway detection robot, in particular to a robot capable of ensuring the taking-off and landing safety of an airplane. The method comprises the steps of automatically detecting and judging whether foreign matters or cracks exist on the airport runway. The camera is installed on the video acquisition subsystem of the airport runway detection robot and used for acquiring and shooting airport runway videos in real time, FOD and airport runway cracks are identified through video analysis and based on acquired images, and finally, identification results and image information are transmitted back to the main control unit, so that removal of runway foreign matters and detection of cracks are completed. Providing convenience for workers.

Background

At present, with the rapid development of scientific technology, the safety problem in the air traffic transportation industry is increasingly prominent and is widely concerned by the public, and the safety of the airplane needs to be ensured in the flying process, but more importantly, the safety problem in the taking-off and landing process is not ignored and needs to be mainly ensured by safety departments. The defects of airport runways such as cracks, pits and the like and runway foreign matters have great hidden dangers and risks to the safety problem of taking off and landing of airplanes. For example, an airplane may be disturbed by a pit on an airport runway to cause deviation, and tires may be punctured by foreign matters on the airport runway to cause tire burst. So far, the existing detection means of airport runways at home and abroad has low efficiency and certain blindness.

In the development of the present society, a robot integrating high, new and advanced technologies such as automation, machinery, artificial intelligence computers and the like becomes an important force for pushing the "industrial 4.0" process. The airport runway detection robot meets the background of the 'industry 4.0' era, and can stably and flexibly inspect and scan cracks and FOD of the airport runway. The airport runway detection robot can effectively and timely patrol airport runway defects and identify FOD, position the airport runway defects and effectively process the FOD, so that safety problems in the taking-off and landing process of the airplane are optimally guaranteed, the detection precision is increased, and the workload of workers is reduced. And its high work efficiency has reduced intensity of labour and maintenance cost, has practiced thrift manpower resources.

Disclosure of Invention

In order to overcome the defects of the existing airport runway detection technology, the invention provides an airport runway detection robot which is used for monitoring foreign matters and cracks on an airport runway, is provided with camera equipment, is used for acquiring and shooting videos of the airport runway in real time, and transmits results and image information back to a main control unit after identifying the foreign matters and the cracks. And the main control unit calculates to obtain the target position of the mechanical arm, and the mechanical arm is used for clearing and positioning the foreign matters or cracks.

The technical scheme adopted by the invention for solving the technical problems is as follows: the airport runway detection robot 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.

The robot control system has the advantages that the robot can be controlled by utilizing the images fed back by the camera equipment for identification and analysis, so that the accuracy and convenience of airport runway detection are improved, workers can better perform safe runway maintenance, the maintenance time is saved, the maintenance cost is reduced, the detection efficiency is improved, the labor force is liberated, and the robot control system has wide application value and market prospect.

Drawings

FIG. 1 is a system work flow diagram

FIG. 2 is a system control configuration diagram

Detailed Description

The following description of specific embodiments with reference to the drawings further illustrates how the invention may be implemented.

In fig. 1, the basic operation of the airport runway detection system mainly comprises the following: collecting and recording each state of the robot; the robot transmits the body state back to the remote PC through WiFi, and waits for a control instruction of the PC; the PC sets an airport runway inspection path and track, and sends the instruction to the robot in a TCP protocol mode through WiFi; the robot executes track tracking, namely posture closed-loop control, on the received routing inspection route; the robot executes video acquisition of the airport runway and analyzes and judges whether foreign matters or cracks exist on the airport runway or not while tracking the track, if so, the robot stops and controls the manipulator to remove the foreign matters, if so, the robot uploads the positions of the cracks to a PC (personal computer), otherwise, the robot continues to execute track tracking and video acquisition; and the robot judges whether the track tracking is finished or not, stops the vehicle and waits for the next command if the track tracking is finished, and otherwise, continues to execute the track tracking and the video acquisition.

In fig. 2, an airport runway detection robot, which is modular in design, 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, 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.

In fig. 2, the airfield runway detection robot body is an embedded control system, and uses ARM11 as the core of the embedded control system, and all the functional modules cooperate to complete airfield runway detection and other functions. The ARM11 system board of the robot adopts a processor S3C6410 which takes ARM11 as a core, has rich hardware resources, operates above 667MHz dominant frequency, and has 128 Mbytes of Mobile DDR and 1 Gbyte of NAND Flash. The ARM11 board is integrated with resources such as 4 serial ports, 1 USB HOST socket, 1-path D/A, 8-path A/D, 10-path I/O and the like. And a resistance touch screen and a TFT LCD are attached. The ARM11 software system supports WinCE, Linux, Android and uC/OS-II. The ARM11 System board NAND Flash is mainly used for storing kernel codes, APP codes, File systems and other data, and the model number of the NAND Flash is K9G8G08U 0A. The system board design adopts a double chip selection architecture in order to support capacity expansion. The ARM11 system board is configured with 128M Bytes Mobile DDR memory, 2 Samsung K4X51163PC chips are used, and the DDR data transmission bus frequency can reach 266 MHz. Four serial ports are designed, and the four serial ports comprise 1 five-line RS-232 level serial port and 3 three-line TTL level serial ports. The UART0 is a 9-pin 232 level and is used for printing debugging information, and the UART1, the UART2 and the UART3 are serial ports of TTL levels and are respectively used for communicating with the WiFi communication subsystem, the motion platform control subsystem and the pose acquisition system. And the USB HOST interface of the ARM11 system board can be connected with USB devices such as a USB flash disk, a keyboard, a mouse and the like.

In fig. 2, the hardware of the motion platform control subsystem uses the TMS320F28335 chip in the TI 2000 series DSP. The high-precision PWM output, namely HRPWM, output by the DSP28335 can directly drive a direct current motor after power amplification. And the event capture unit EQEP of the DSP28335 receives an orthogonal pulse sequence generated by a photoelectric coding disc of the direct current motor, and can calculate the real-time rotating speed of the motor. Meanwhile, serial communication between chips and between the chips and an upper computer can be realized through the serial port SCI of the DSP28335, and the serial port SCI is used for transmitting control commands. Because DSP28335 only has 2 passageways EQEP, and the omnidirectional movement platform of robot has 4 Mecanum wheels and needs the drive, in this design, adopts two DSP framework drive robot's motion platform. Because the rotation speed of the Mecanum wheel is equal to the rotation speed output by the motor reducer, the control on the rotation speed of the Mecanum wheel is just the control on the rotation speed of the direct current motor by the DSP 28335. After the deviation is obtained between the expected rotating speed of the motor received from the serial port and the actual rotating speed collected by the photoelectric encoder, a designed PI control algorithm is executed in the DSP28335, the control quantity, namely the PWM duty ratio is calculated, and the driving control of the rotating speed of the motor is realized after the driving amplification is carried out through the L298N.

In fig. 2, the position and posture detecting subsystem of the airport runway detecting robot is used as an input link of the robot body, is a "perception organ" of the robot, and can collect the position and posture information of the robot in a global coordinate system, i.e. under the airport runway. The position information of the robot is represented in the form of longitude and latitude, and the attitude information is pitch angle, roll angle and course angle. The actual position of the airport runway detection robot is detected by an outdoor positioning method, and a positioning chip relates to GPS and Beidou positioning. The location used for airport runway inspection robot location acquisition is a UM220-III based location technology. UM220-III is the civilian grade big dipper/GPS dual mode sensor of research and development with core star expert, and the integrated level is high, the low power consumption, has the superior characteristics such as the high tracking sensitivity of the newest ARM9 kernel, -160d Bm, through serial ports output NMEA. By adopting optimization algorithms such as GNSS multi-system fusion and Kalman filtering, the method has good capturing and tracking capabilities and reliable continuous positioning results. Under the condition of power supply and antenna connection, UM220-III outputs information such as longitude and latitude through a serial port according to a set baud rate and a specific format. Meanwhile, the attitude detection module fuses an electronic compass to obtain a course angle, an accelerometer is used for correcting the gyroscope, and data of 3 sensors are fused to obtain the motion attitude of the airport runway detection robot through the compensation of the electronic compass. MPU9250 and STM32F051K8U6 singlechip chip constitute attitude measurement module. STM32F051K8U6 adopts the 32-bit RISC kernel of high-performance ARMCortex MO, and works at 48MHz frequency, 64K bytes of FLASH and 8K bytes of SRAM. The MPU9250 is connected with and communicates with the STM32 single chip microcomputer through the IIC. And the singlechip reserves UART communication ports of two channels, wherein one of the UART communication ports is used for receiving and processing longitude and latitude serial port data transmitted from UM220-III to form a complete set of pose acquisition module. Another UART port communicates with ARM 11.

In fig. 2, in the process of airport runway detection, functions such as runway routing inspection path setting, airport crack position uploading when airport cracks are detected and the like are involved, interaction between an airport runway detection Robot and a remote PC is required, the Robot adopts WiFi communication, a used wireless WiFi communication module is a Robot-Link V5.0 WiFi module, the module has the function of acquiring a USB camera image and sending the image to a client for display through an Mjpeg format, and forwarding of network-serial port instructions can be realized. The module adopts an MT7620N chip, has 8M Flash and 32M DDR, and reserves a USB video interface, a TTL serial port instruction interface, a double-antenna SMA joint/high-gain antenna and 1 network port LAN. The Robot-Link V5.0 WiFi module is essentially a wireless WiFi router, an Openwrt routing operating system runs in the Robot-Link V5.0 WiFi module, and the Robot-Link V5.0 WiFi module is configured as a server when in use. TCP connection can be opened, the control port number is 2001, and the receiving and sending of serial port data are realized; the video port is 8080, and the transmission of the video data of the USB camera is realized. The remote monitoring system mainly comprises the following large boards: the command control plate, the camera video display plate, the state value curve display plate, the robot vehicle body 3-dimensional attitude vision simulation display plate and the like adopt an NI Lab VIEW development environment to develop remote PC monitoring software. Lab VIEW adopts a graphical programming mode, has a shorter development period than other human-computer interface programming languages, and has rich functions and an attractive interface. The command control board completes the input setting of the position and posture information of the airport runway detection robot, the display function of the position, posture angle, Mecanum wheel rotating speed and other information, and also completes some special setting button controls, such as an emergency stop button, a setting confirming button and the like. The camera video display plate completes the display of the real-time videos of the airport runway, and after the airport runway detection robot collects the videos of the airport runway, the images are transmitted back to the remote PC monitoring system through WiFi for background workers to check. The 3-dimensional posture display plate is used for displaying a real-time 3-dimensional posture visual simulation model of the airport runway detection robot, and the state value curve display plate is used for drawing a data curve of a posture angle. The gesture angle of the robot can be conveniently checked by the staff. The detection of the position and attitude information is not only the requirement of pose control, but also the premise of controlling the manipulator by the robot after detecting the foreign matters on the airport runway.

By adopting the structure, the invention provides the design of the airport runway detection robot, which has the advantages of simple design, accurate detection result, stable product performance and wide application. And the application of the system liberates labor force, saves human resources, can carry out identification analysis according to the image signals transmitted back by the video acquisition subsystem, improves the working efficiency, and has wide market value and application prospect.

Claims

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.