CN110409266B

CN110409266B - Airport runway pavement safety detection robot

Info

Publication number: CN110409266B
Application number: CN201910696925.7A
Authority: CN
Inventors: 朱石; 鲍娟
Original assignee: Nanjing Hanxiyue Automation Technology Co Ltd
Current assignee: Nanjing Hanxiyue Automation Technology Co Ltd
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2020-03-10
Anticipated expiration: 2039-07-30
Also published as: WO2021017560A1; CN111305020A; CN110409266A

Abstract

The invention belongs to the technical field of robots, and particularly relates to an airport runway pavement safety detection robot which comprises a travelling mechanism, a cleaning mechanism, a collecting mechanism and an observation mechanism, wherein the cleaning mechanism, the collecting mechanism and the observation mechanism are all arranged on the travelling mechanism; the advancing mechanism is used for driving the cleaning mechanism, the collecting mechanism and the observing mechanism to advance on the airport runway; the cleaning mechanism is used for eradicating foreign matters which are difficult to clean on the airport runway. The invention drives the cleaning mechanism, the collecting mechanism and the observing mechanism to advance on the pavement through the advancing mechanism, observes the condition of the road surface through the observing mechanism, can clean foreign matters which are difficult to clean, such as soil adhered to the pavement, and the like through the cleaning mechanism, can collect and treat most small foreign matters on the airport pavement through the collecting mechanism, and adopts a mechanical equipment mode to detect and clean the pavement, thereby not only providing guarantee for the detection efficiency, but also ensuring the detection reliability.

Description

Airport runway pavement safety detection robot

Technical Field

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

Background

The airport runway is an ultra-long strip area used for supplying an aircraft to take off or land in an airport, and the safety of the airport runway is an important link for ensuring the smooth take-off of the aircraft because the aircraft needs to slide for a long distance in the take-off process, so the safety detection of the runway surface of the airport runway is frequently carried out, wherein the safety detection is divided into several types, one type is the basic condition of the runway surface, such as the superficial layer strength of the runway surface, the crack degree of the runway surface, the anti-sliding coefficient of the runway surface and the like, and the other type is the detection of foreign matters on the runway surface, such as stones, metal devices, plastic products and the like, which damage the tire of the aircraft and are sucked into an engine to cause the aging of the engine, thereby having extremely high potential safety hazard.

At present, the detection of the basic situation of the road surface has the special detection equipment for carrying out safety detection, but the detection of foreign matters on the runway surface of an airport has the following defects:

the current foreign matter detection still relies on airport ground service personnel to carry cleaning device to carry the artifical work of detection and clearance work on airport runway road surface, and this kind of method not only reliability and inefficiency have still occupied the live time on airport runway road surface, and the most of while check-out time can only be daytime, receives the influence of light sight night, can't detect to it is not good to cause holistic detection effect.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an airport runway pavement safety detection robot, which solves the problems in the background technology.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: the robot for detecting the safety of the runway surface of the airport comprises a travelling mechanism, a cleaning mechanism, a collecting mechanism and an observing mechanism, wherein the cleaning mechanism, the collecting mechanism and the observing mechanism are all arranged on the travelling mechanism; the advancing mechanism is used for driving the cleaning mechanism, the collecting mechanism and the observing mechanism to advance on the airport runway; the cleaning mechanism is used for shoveling foreign matters which are difficult to clean on the airport runway; the collecting mechanism is used for collecting the foreign matters easy to clean; the observation mechanism is used for observing the road surface of the airport runway.

In a further embodiment, the traveling mechanism comprises a vehicle plate, two universal self-locking wheels are fixedly mounted on one side of the bottom of the vehicle plate, two axle support plates are fixedly mounted on the other side of the bottom of the vehicle plate, a vehicle wheel shaft is rotatably connected between the two axle support plates through a bearing, moving wheels are fixedly mounted at two ends of the vehicle wheel shaft, and a connector is fixedly mounted on one side of the top of the vehicle plate; can move smoothly on the runway of the airport.

In a further embodiment, a first camera is fixedly mounted on one side of the bottom of the vehicle plate; the pipe observation can be performed on the condition of the road surface.

In a further embodiment, the cleaning mechanism comprises four mounting support plates, the four mounting support plates are all fixed at the bottom of the vehicle board, the four mounting support plates are in a group of two, each group of mounting support plates is fixedly provided with a slide rod, the two slide rods are respectively connected with a slide block in a sliding manner, a cleaning shaft is rotatably connected between the two slide blocks through a bearing, the surface of the cleaning shaft is fixedly provided with a cleaning shovel, one side of one of the slide blocks is fixedly provided with a cleaning motor, an output shaft of the cleaning motor is fixedly connected with a cleaning shaft through a coupler, a connecting plate is fixedly arranged between the opposite sides of the two slide blocks, the cleaning mechanism further comprises a support, the support is fixed to the bottom of the vehicle plate, an air cylinder push rod is fixedly mounted on the support, and a piston rod of the air cylinder push rod is fixedly connected with one side of the connecting plate; the impurities on the road surface can be effectively cleaned.

In a further embodiment, the collecting mechanism comprises a feeding frame, a fan and a collecting box, the feeding frame is fixed at the bottom of the vehicle plate, the fan and the collecting box are both fixed at the top of the vehicle plate, a feeding hole of the fan is communicated with a feeding pipe, one end of the feeding pipe is communicated with the interior of the feeding frame, a discharging hole of the fan is communicated with a discharging pipe, and one end of the discharging pipe is communicated with the interior of the collecting box; the road surface impurity that conveniently will clear up mechanism clearance department in time collects and stores.

In a further embodiment, the collecting mechanism further comprises four L-shaped stops, and the collecting box is placed in a space formed by the four L-shaped stops; conveniently clear up the impurity in the collecting box.

In a further embodiment, the observation mechanism comprises a rotating motor and a rotating shaft, the rotating motor is fixed on the top of the vehicle plate, the rotating shaft is rotatably connected with the top of the vehicle plate through a bearing seat, a driving gear is fixedly installed on an output shaft of the rotating motor, a transmission gear is fixedly installed on the surface of the rotating shaft, the driving gear is meshed with the transmission gear, and a second camera is fixedly installed on the top of the rotating shaft; can carry out all-round effectual observation to airport runway road surface.

(III) advantageous effects

Compared with the prior art, the invention provides an airport runway pavement safety detection robot, which has the following beneficial effects:

this airport runway pavement safety inspection robot, drive clearance mechanism through advancing mechanism, collect mechanism and observation mechanism and advance on the pavement, rely on observation mechanism to observe the road surface condition, can clear up the foreign matter that is difficult to the clearance through clearance mechanism, if earth etc. with the pavement adhesion, can collect the processing to airport pavement most little foreign matter through collecting the mechanism, the mode that adopts mechanical equipment detects and clears up the pavement, not only provide the assurance to the efficiency that detects, the reliability that has still ensured the detection.

Drawings

FIG. 1 is a perspective left side view of the structure of the present invention;

FIG. 2 is a perspective bottom view of the present invention;

FIG. 3 is a perspective right side view of the structure of the present invention;

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

In the figure: 1. a traveling mechanism; 101. turning a plate; 102. a universal self-locking wheel; 103. an axle support plate; 104. a wheel shaft; 105. a moving wheel; 106. a connector; 107. a first camera; 2. a cleaning mechanism; 201. mounting a support plate; 202. a support; 203. a slide bar; 204. a slider; 205. cleaning the shaft; 206. cleaning a shovel; 207. cleaning the motor; 208. a connecting plate; 209. a cylinder push rod; 3. a collection mechanism; 301. a feeding frame; 302. a fan; 303. an L-shaped stop block; 304. a collection box; 305. a feed pipe; 306. a discharge pipe; 4. an observation mechanism; 401. a rotating electric machine; 402. a rotating shaft; 403. a drive gear; 404. a transmission gear; 405. and a second camera.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1-4, the present invention provides the following technical solutions: a robot for detecting the safety of the runway surface of an airport comprises a traveling mechanism 1, a cleaning mechanism 2, a collecting mechanism 3 and an observing mechanism 4, wherein the cleaning mechanism 2, the collecting mechanism 3 and the observing mechanism 4 are all arranged on the traveling mechanism 1; the advancing mechanism 1 is used for driving the cleaning mechanism 2, the collecting mechanism 3 and the observing mechanism 4 to advance on the airport runway; the cleaning mechanism 2 is used for shoveling foreign matters which are difficult to clean on the airfield runway; the collecting mechanism 3 is used for collecting foreign matters easy to clean; the observation mechanism 4 is used to observe the road surface of the airport runway.

In the embodiment, the advancing mechanism 1 can be driven to advance on the road surface by connecting the advancing mechanism 1 with an airport runway trolley (not shown in the figure); drive clearance mechanism 2 through advancing mechanism 1, collect mechanism 3 and observation mechanism 4 and advance on the pavement, rely on observation mechanism 4 to observe the road pavement condition, can clear up the foreign matter that is difficult to the clearance through clearance mechanism 2, if with the earth of pavement adhesion etc., can collect the processing to the little foreign matter of airport pavement most through collecting mechanism 3, the mode that adopts mechanical equipment detects and clears up the pavement, not only provide the assurance to the efficiency that detects, the reliability that has still ensured the detection.

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

In this embodiment, the connecting head 106 is fixed to an airfield runway trolley (not shown), and when the airfield runway trolley (not shown) drives the vehicle panel 101 to move, the two universal self-locking wheels 102 perform a steering function, and can drive the vehicle panel 101 to rotate along with the rotation of the airfield runway trolley (not shown), and the two moving wheels 105 ensure the stability of the vehicle panel 101 in the moving process.

Specifically, a first camera 107 is fixedly mounted on one side of the bottom of the vehicle body panel 101.

In this embodiment, first camera 107 is 4G wireless camera, can directly pass through wireless network with the airport monitor and be connected, can in time transmit the pavement condition of shooing for the airport monitor, in time know the foreign matter situation on road surface on the one hand, use clearance mechanism 2 and collection mechanism 3 to its processing after the convenient timely discovery foreign matter on the one hand.

Specifically, clearance mechanism 2 includes four installation extension boards 201, four installation extension boards 201 are all fixed in the bottom of sweep 101, four installation extension boards 201 are two and are a set of, equal fixed mounting has slide bar 203 on every installation extension board 201 of group, equal sliding connection has slider 204 on two slide bars 203, be connected with clearance axle 205 through the bearing rotation between two sliders 204, the fixed surface of clearance axle 205 installs clearance shovel 206, one side fixed mounting of one of them slider 204 has clearance motor 207, clearance motor 207's output shaft passes through shaft coupling and clearance axle 205 fixed connection, fixed mounting has connecting plate 208 between the relative one side of two sliders 204, clearance mechanism 2 still includes support 202, support 202 fixes the bottom at sweep 101, fixed mounting has cylinder push rod 209 on support 202, cylinder push rod 209's piston rod and one side fixed connection of connecting plate 208.

In this embodiment, under the normal condition, guarantee through the clearance motor that 207 guarantees that clearance shovel 206 on the clearance axle 205 is in certain angle, as long as do not influence sweep 101 normally march can, when first camera 107 discovers that there is subaerial foreign matter that can't use collection mechanism 3 direct collection, if fix mud at the road surface etc., need drive clearance axle 205 rotation through starting clearance motor 207 this moment, then drive clearance shovel 206 on the clearance axle 205 and rotate and ground contact, then start cylinder push rod 209 and promote connecting plate 208 and remove, both two sliders 204 slide on the slide bar 203 that corresponds separately, both promote clearance shovel 206 and remove, drive clearance shovel 206 through cylinder push rod 209 and carry out reciprocating motion, can clear up the foreign matter that is difficult to clear up, this kind of foreign matter and road surface separation back, it can be more convenient to directly adopt the manual mode to collect it.

Specifically, collection mechanism 3 includes feeding frame 301, fan 302 and collecting box 304, and feeding frame 301 is fixed in the bottom of sweep 101, and fan 302 and collecting box 304 are all fixed at the top of sweep 101, and the feed inlet intercommunication of fan 302 has a feeding pipe 305, and the one end of feeding pipe 305 is linked together with feeding frame 301's inside, and the discharge gate intercommunication of fan 302 has a discharging pipe 306, and the one end of discharging pipe 306 is linked together with collecting box 304's inside.

In this embodiment, collection mechanism 3 mainly can directly absorb some smallclothes article and collect, avoids ground service personnel to need continuous operation from the airport runway dolly (not shown in the figure) from top to bottom like this, and the foreign matter of difficult clearance is collected through the manual work mode after handling through clearance mechanism 2, can directly absorptive foreign matter directly through start fan 302 inhale into in collecting box 304 can, improved the throughput to the foreign matter like this, can improve the treatment effeciency simultaneously.

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

In this embodiment, collecting box 304 is directly placed on sweep 101, it is spacing to its position through four L type dogs 303, sweep 101 removal in-process has been guaranteed, collecting box 304's stability, discharging pipe 306 is pegged graft in collecting box 304's inside simultaneously, thereby the completion is to the foreign matter detection of road surface and clear away the back, take off collecting box 304, clear up the back to its inside foreign matter, put sweep 101 with empty collecting box 304 in inside once more, be favorable to going on of foreign matter detection clearance work next time.

Specifically, the observation mechanism 4 includes a rotating electrical machine 401 and a rotating shaft 402, the rotating electrical machine 401 is fixed on the top of the vehicle body 101, the rotating shaft 402 is rotatably connected with the top of the vehicle body 101 through a bearing seat, a driving gear 403 is fixedly installed on an output shaft of the rotating electrical machine 401, a transmission gear 404 is fixedly installed on the surface of the rotating shaft 402, the driving gear 403 is meshed with the transmission gear 404, and a second camera 405 is fixedly installed on the top of the rotating shaft 402.

In this embodiment, the second camera 405 is the 4G wireless camera as well, and is connected with the airport monitoring room through wireless network, can in time transmit the pavement condition of shooing to the airport monitoring room, because the design in first camera 107 position, can only observe the road surface of sweep 101 below, through the design of increasing second camera 405, through the cooperation of rotating electrical machines 401, drive gear 403, drive gear 404 and rotation axis 402, take its rotation, thereby can carry out observation on the pavement on a large scale, can in time observe the foreign matter in advance, then ground service personnel receive the instruction of monitoring room and go on the work of clearing away.

The working principle and the using process of the invention are as follows: the device is fixed with an airport runway trolley (not shown in the figure) through a connector 106, the airport runway trolley (not shown in the figure) drives a trolley board 101 to move, a first camera 107 observes the pavement below the trolley board 101 in the moving process of the trolley board 101, a rotating motor 401 drives a driving gear 403 to rotate, the driving gear 403 drives a transmission gear 404 meshed with the driving gear to rotate, a second camera 405 on a rotating shaft 402 is driven to rotate, the second camera 405 is utilized to carry out large-scale observation, when small foreign matters can be cleaned directly, a fan 302 is started to generate suction, the foreign matters are sucked into a feeding pipe 305 through a feeding frame 301 and then are sent into a collecting box 304 through a discharging pipe 306 to be collected, large foreign matters can be cleaned directly through a manual mode, the foreign matters attached to the pavement are cleaned through a cleaning mechanism 2 and then collected manually, a cleaning motor 207 is started to drive a cleaning shaft 205 to rotate, then drive the cleaning shovel 206 on the cleaning shaft 205 and rotate and contact with the ground, then start cylinder push rod 209 and promote connecting plate 208 and remove, both two sliders 204 slide on the slide bar 203 that corresponds separately, both promote cleaning shovel 206 and remove, drive cleaning shovel 206 through cylinder push rod 209 and carry out reciprocating motion, can clear up the foreign matter that is difficult to clear up, this kind of foreign matter directly adopts manual mode to collect with the pavement after separating.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an airport runway pavement safety inspection robot which characterized in that: the device comprises a travelling mechanism (1), a cleaning mechanism (2), a collecting mechanism (3) and an observing mechanism (4), wherein the cleaning mechanism (2), the collecting mechanism (3) and the observing mechanism (4) are all arranged on the travelling mechanism (1); the advancing mechanism (1) is used for driving the cleaning mechanism (2), the collecting mechanism (3) and the observing mechanism (4) to advance on the airport runway; the travelling mechanism (1) comprises a vehicle plate (101), two universal self-locking wheels (102) are fixedly mounted on one side of the bottom of the vehicle plate (101), two axle support plates (103) are fixedly mounted on the other side of the bottom of the vehicle plate (101), a vehicle axle (104) is rotatably connected between the two axle support plates (103) through a bearing, moving wheels (105) are fixedly mounted at two ends of the vehicle axle (104), a connector (106) is fixedly mounted on one side of the top of the vehicle plate (101), and a first camera (107) is fixedly mounted on one side of the bottom of the vehicle plate (101); the cleaning mechanism (2) is used for shoveling foreign matters which are difficult to clean on the airport runway; the cleaning mechanism (2) comprises four mounting support plates (201), the four mounting support plates (201) are all fixed at the bottom of the vehicle plate (101), two of the four mounting support plates (201) form a group, each group of mounting support plates (201) is fixedly provided with a slide rod (203), two slide rods (203) are respectively connected with a slide block (204) in a sliding manner, a cleaning shaft (205) is rotatably connected between the two slide blocks (204) through a bearing, a cleaning shovel (206) is fixedly arranged on the surface of the cleaning shaft (205), one side of one slide block (204) is fixedly provided with a cleaning motor (207), an output shaft of the cleaning motor (207) is fixedly connected with the cleaning shaft (205) through a coupler, a connecting plate (208) is fixedly arranged between the opposite sides of the two slide blocks (204), the cleaning mechanism (2) further comprises a support (202), the support (202) is fixed to the bottom of the vehicle plate (101), an air cylinder push rod (209) is fixedly mounted on the support (202), and a piston rod of the air cylinder push rod (209) is fixedly connected with one side of the connecting plate (208); the collecting mechanism (3) is used for collecting foreign matters easy to clean; the collecting mechanism (3) comprises a feeding frame (301), a fan (302) and a collecting box (304), the feeding frame (301) is fixed at the bottom of the vehicle plate (101), the fan (302) and the collecting box (304) are fixed at the top of the vehicle plate (101), a feeding hole of the fan (302) is communicated with a feeding pipe (305), one end of the feeding pipe (305) is communicated with the inside of the feeding frame (301), a discharging hole of the fan (302) is communicated with a discharging pipe (306), one end of the discharging pipe (306) is communicated with the inside of the collecting box (304), the collecting mechanism (3) further comprises four L-shaped stop blocks (303), and the collecting box (304) is placed in a space formed by the four L-shaped stop blocks (303); observation mechanism (4) are used for surveing the road surface of airport runway, observation mechanism (4) include rotating electrical machines (401) and rotation axis (402), the top at sweep (101) is fixed in rotating electrical machines (401), rotation axis (402) are rotated through the top of bearing frame with sweep (101) and are connected, the output shaft fixed mounting of rotating electrical machines (401) has drive gear (403), the fixed surface of rotation axis (402) installs drive gear (404), drive gear (403) and drive gear (404) mesh mutually, the top fixed mounting of rotation axis (402) has second camera (405).