A Cooperative Control System and Method for a Multi-Foreign Object Cleaning Device on the Airport Flight Area Pavement

Abstract

The present invention discloses a collaborative control system for a multi-foreign object cleaning device on the runway of an airport flight area, including: a remote control center and multiple foreign object cleaning devices. The remote control center includes a cleaning plan formulation module, an information transceiver module, and a collaborative control module. The cleaning plan formulation module divides the cleaning area, obtains the flight schedule and real-time operation time, determines the idle time of the cleaning area according to the flight schedule, and formulates a preliminary cleaning plan for the cleaning area according to the cleaning requirements of different areas. The information transceiver module sends the preliminary cleaning plan to the user terminal for adjustment and confirmation. The collaborative control module sends collaborative control instructions to the foreign object cleaning devices according to the cleaning area and cleaning mode. The foreign object cleaning devices receive the collaborative control instructions and execute the collaborative control instructions, and send the execution status to the information transceiver module. The system can control multiple foreign object cleaning devices to perform collaborative operations, autonomously detect and clean foreign objects on the runway of the airport flight area, and has high foreign object cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of airport cleaning devices, and in particular to a cooperative control system and method for a multi-foreign object cleaning device for airport apron pavement. Background Art

[0002] Foreign objects on the airport apron may damage aircraft in forms such as puncturing tires and sucking into engines, and in some cases may cause major safety accidents. Manual detection and cleaning of foreign objects on the apron are inefficient and unreliable. Existing apron foreign object disposal systems mainly rely on fixed detection, with high system costs, and can only cover the runway area, unable to detect the taxiway or apron area, and unable to clean autonomously. The apron area is large, and a large number of foreign objects are not on the runway, and a single device cannot complete the cleaning task of the entire airport. Summary of the Invention

[0003] Aiming at the defects in the prior art, the present invention provides a cooperative control system and method for a multi-foreign object cleaning device for airport apron pavement, which can control multiple foreign object cleaning devices to perform cooperative operations, autonomously detect and clean foreign objects on the airport apron pavement, and has high foreign object cleaning efficiency.

[0004] In a first aspect, a cooperative control system for a multi-foreign object cleaning device for airport apron pavement provided by the present invention includes: a remote control center and multiple foreign object cleaning devices. The remote control center includes a cleaning plan formulation module, an information transceiver module, and a cooperative control module. The cleaning plan formulation module is used to divide the entire apron into multiple cleaning areas, obtain flight schedules and real-time operating times, determine the idle times of each cleaning area according to the flight schedules, and formulate preliminary cleaning plans for each cleaning area according to the cleaning requirements of different areas;

[0005] The information transceiver module is used to send the preliminary cleaning plan to the user terminal for adjustment and confirmation, and receive the confirmed cleaning plan sent by the user terminal;

[0006] The cooperative control module is used to analyze the confirmed cleaning plan and send cooperative control instructions to the foreign object cleaning devices according to the cleaning areas and cleaning modes;

[0007] The foreign object cleaning devices are used to receive and execute the cooperative control instructions, and send the execution status to the information transceiver module;

[0008] The information transceiver module receives the execution status sent by the foreign object cleaning devices;

[0009] The cooperative control module adjusts the control instructions according to the execution status;

[0010] The information transceiver module sends the adjusted control instructions to the foreign object cleaning devices;

[0011] The foreign object cleaning device executes the adjusted control instruction.

[0012] In a second aspect, a collaborative control method for a multi-foreign object cleaning device on the runway of an airport flight area provided by the present invention is applicable to a remote control center. The method includes the following steps:

[0013] Divide the entire flight area into multiple cleaning areas, obtain the flight schedule and real-time operation time, determine the idle time of each cleaning area according to the flight schedule, and formulate a preliminary cleaning plan for each cleaning area according to the cleaning requirements of different areas;

[0014] Send the preliminary cleaning plan to the user terminal for adjustment and confirmation, and receive the confirmed cleaning plan sent by the user terminal;

[0015] Analyze the confirmed cleaning plan, and send collaborative control instructions to the foreign object cleaning device according to the cleaning area and cleaning mode;

[0016] Receive the execution status sent by the foreign object cleaning device;

[0017] Adjust the control instruction according to the execution status;

[0018] Send the adjusted control instruction to the foreign object cleaning device.

[0019] Advantages of the present invention:

[0020] A collaborative control system and method for a multi-foreign object cleaning device on the runway of an airport flight area provided by the present invention can control multiple foreign object cleaning devices to perform collaborative operations, autonomously detect and clean foreign objects on the runway of the airport flight area, and has high foreign object cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0022] Figure 1 Shows a schematic structural diagram of a foreign object cleaning device in the first embodiment of the present invention;

[0023] Figure 2 Shows a schematic structural diagram of a collaborative control system for a multi-foreign object cleaning device on the runway of an airport flight area provided by the first embodiment of the present invention;

[0024] Figure 3 Shows a flowchart of a collaborative control method for a multi-foreign object cleaning device on the runway of an airport flight area provided by the second embodiment of the present invention. Detailed implementation manners

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0027] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0028] It should be further understood that the term "and / or" used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0029] As used in this specification and the appended claims, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if detecting [the described condition or event]" can be interpreted as meaning "once determined", "in response to determining", "once detecting [the described condition or event]", or "in response to detecting [the described condition or event]" according to the context.

[0030] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should be of the ordinary meaning understood by those skilled in the art to which the present invention belongs.

[0031] Such as Figure 1As shown in the figure, a structural schematic diagram of a foreign object cleaning device to be used in an embodiment of the present invention is shown. The foreign object cleaning device includes: a control module, a detection module, an environmental perception module, a mobile platform, and a cleaning module. Among them, the control module obtains a cleaning task, the cleaning task includes a task area, generates an optimal cleaning route according to the task area, and sends the optimal cleaning route to the mobile platform; the mobile platform travels according to the optimal cleaning route; the detection module is used to detect the foreign object situation in the task area during the travel process and send the foreign object detection result to the control module; the control module is also used to receive the foreign object detection result, analyze and judge the foreign object detection result to obtain a judgment result, and send a cleaning control instruction to the cleaning module according to the judgment result; the cleaning module receives the cleaning control instruction and cleans the foreign object according to the cleaning control instruction; the environmental perception module is used to detect the surrounding obstacles in real time during the process of cleaning the foreign object and send the obstacle detection information to the control module; the control module receives the obstacle detection information, analyzes the obstacles, and sends different movement control instructions to the mobile platform according to the different obstacles. The device also includes a communication module, which is used for communicating with the remote control center, transmitting information such as the cleaning status and detection results to the remote control center, and receiving the control instructions sent by the remote control center. The mobile platform performs actions such as advancing, retreating, turning, and stopping under the control of the control module, and can report movement information and positioning information. All other modules are mounted on the mobile platform and are powered by it. The cleaning module consists of a rotary cleaning component, a dust suction component, a strong magnet adsorption component, and a foreign object container. When not cleaning, it rises to ensure the smooth travel of the mobile platform, and when cleaning, it descends to the working height to ensure the cleaning effect. The environmental perception module senses fixed structures and moving objects such as people and vehicles in a small surrounding area to avoid collisions. The control module can independently control the work of the mobile platform, the detection module, and the cleaning module, and can receive remote control instructions from the remote control center through the communication module, and control the mobile platform, the detection module, and the cleaning module according to the remote control instructions.

[0032] As Figure 2 shown in the figure, a structural schematic diagram of a collaborative control system for a multi-foreign object cleaning device for airport apron pavement provided by an embodiment of the present invention is shown. The system includes: a remote control center and multiple foreign object cleaning devices. The remote control center includes a cleaning plan formulation module, an information transceiver module, and a collaborative control module. The cleaning plan formulation module is used to divide the entire apron into multiple cleaning areas, obtain the flight plan and real-time operation time, determine the idle time of each cleaning area according to the flight plan, and formulate a preliminary cleaning plan for each cleaning area according to the cleaning requirements of different areas. The cleaning areas include runways, taxiways, berthing areas, and vehicle roads;

[0033] The information transceiver module is used to send the preliminary cleaning plan to the user terminal for adjustment and confirmation, and receive the confirmed cleaning plan sent by the user terminal;

[0034] The collaborative control module is used to analyze the confirmed cleaning plan and send collaborative control instructions to the foreign matter cleaning device according to the cleaning area and cleaning mode;

[0035] The foreign matter cleaning device is used to receive and execute the collaborative control instruction, and send the execution status to the information transceiver module;

[0036] The information transceiver module receives the execution status sent by the foreign matter cleaning device;

[0037] The collaborative control module adjusts the control instructions according to the execution situation;

[0038] The information transceiver module sends the adjusted control instruction to the foreign matter cleaning device;

[0039] The foreign matter cleaning device executes the adjusted control instructions.

[0040] The working mode of a coordinated control system for multiple foreign object cleaning devices on the pavement of an airport flight zone according to an embodiment of the present invention is as follows: the remote control center divides the entire flight zone into multiple cleaning areas in advance, including runways, taxiways, berth areas and vehicle roads, sets all charging piles, waiting positions of the cleaning areas, and a drivable route network connecting these areas, and communicates with the foreign object cleaning device wirelessly in real time to obtain the real-time status of the foreign object cleaning device. The remote control center reads the flight plan, finds the idle time of each cleaning area, sets a cleaning area plan for cleaning each area in turn during the idle time according to the cleaning requirements of different areas, and submits manual adjustments and confirmations; when the planned cleaning time of the cleaning area is approaching, the remote control center dispatches the required number of available foreign object cleaning devices to the waiting positions of the cleaning area according to the principle of proximity; after the planned cleaning time of the cleaning area begins, the remote control center obtains the operating status of the cleaning area, and after confirming that the cleaning conditions are met, issues a cleaning command to the foreign object cleaning device containing the cleaning area, cleaning time and cleaning mode information. After the flight plan is adjusted, the remote control center adjusts the cleaning area plan for each area and submits manual adjustments and confirmations; if an emergency occurs during the cleaning task, the task can be stopped remotely through the remote control center, or the emergency stop button of the foreign object cleaning device can be used to stop the task on site. When there is no cleaning task, the foreign object cleaning device is arranged to charge at the nearest available charging pile and the status is adjusted to waiting for the task; when the foreign object cleaning device is low on power, it is arranged to charge at the nearest available charging pile and the status is adjusted to unavailable. After fully charging, the status is adjusted to waiting for the task. The foreign object cleaning devices in all areas are shared. Most of the time, foreign objects in the berth area are repeatedly cleaned, and foreign objects on the runway and taxiway are cleaned during short stop periods and long stop periods at night.

[0041] The runway and taxiway are large in area. The main difficulty is how to complete foreign object detection and cleaning in a short time. The apron consists of several berthing areas. Each berthing area is not large, but it is necessary to detect and clean foreign objects as frequently as possible.

[0042] The collaborative control module includes a runway cleaning collaborative control unit. The runway cleaning collaborative control unit is used to control multiple foreign object cleaning devices to collaboratively perform cleaning tasks on the runway area according to the cleaning plan. The runway cleaning collaborative control unit includes a runway rapid cleaning control subunit. The runway rapid cleaning control subunit is used to control multiple foreign object cleaning devices to collaboratively perform cleaning tasks on the runway area in the rapid cleaning mode according to the cleaning plan. The rapid cleaning mode is used to clean foreign objects during a short-term flight suspension period.

[0043] The process of collaborative control for runway area cleaning: The specific process of the runway rapid cleaning control subunit controlling multiple foreign object cleaning devices to collaboratively perform cleaning tasks on the runway area in the rapid cleaning mode includes: Before the start of the cleaning task, the foreign object cleaning devices are evenly divided into two groups, and control instructions are sent to the foreign object cleaning devices to control the two groups of foreign object cleaning devices to drive to the waiting positions at both ends of the runway respectively. One foreign object cleaning device in each group is set to clean foreign objects, and the remaining foreign object cleaning devices are used to detect foreign objects.

[0044] When the cleaning task starts, control instructions for equidistant parallel queuing are sent to the foreign object cleaning devices for detection. The spacing is the effective detection width of the foreign object cleaning devices, so as to achieve full-width coverage of the runway. Control the foreign object cleaning device for cleaning to follow behind, keeping a distance of about 50 meters from the foreign object cleaning device for detection, and control the two groups of foreign object cleaning devices to detect and clean foreign objects on the runway surface from both ends to the middle.

[0045] During the detection process, control the foreign object cleaning device for detection to always maintain a constant speed, receive the foreign object coordinates sent by the foreign object cleaning device for detection, and send the foreign object coordinates and the cleaning task to the foreign object cleaning device for cleaning. The foreign object cleaning device for cleaning performs the cleaning task and sends the information of cleaning completion to the rapid cleaning control subunit. The runway rapid cleaning control subunit receives the information of cleaning completion sent by the foreign object cleaning device for cleaning, and sends a continue-following instruction to the foreign object cleaning device for cleaning. The foreign object cleaning device for cleaning continues to follow the foreign object cleaning device for detection.

[0046] After the detection is completed, the runway rapid cleaning control subunit receives the detection completion information sent by the foreign object cleaning device for detection, determines whether the cleaning task is completed. If not, it sends a function conversion instruction to the foreign object cleaning device for detection, converts the foreign object cleaning device for detection into a foreign object cleaning device for cleaning, and sends the cleaning task to the nearby idle foreign object cleaning device according to the principle of proximity. After all foreign objects are cleaned, the rapid cleaning control subunit sends a control instruction to all foreign object cleaning devices to drive along the direction perpendicular to the runway to the vehicle road, so that all foreign object cleaning devices quickly evacuate the runway area, and the foreign object detection and cleaning task ends.

[0047] The detailed cleaning mode is to clean foreign objects in all pavement areas and is used for cleaning foreign objects during long-term flight suspension. According to the number of foreign object cleaning devices performing the cleaning task, the runway is evenly divided into parallel slender rectangular areas, and each area is arranged with a foreign object cleaning device for cleaning. The runway detailed cleaning control subunit controls the cleaning module to face forward, controls the detection module to face backward, controls the cleaning module to lift, controls the mobile platform to drive to the starting point of the cleaning route, adjusts the posture of the foreign object cleaning device, and starts to execute the cleaning task; controls the cleaning module to clean foreign objects on all pavements, and through the pushing force of the sweeping component, the air pressure force of the dust suction component, and the strong magnetic force of the strong magnet, makes the small foreign objects and dust that are difficult to detect enter the foreign object container; after the pavement cleaning is completed, controls the detection module to detect whether there are any missed foreign objects; if there are foreign objects, re-determines the cleaning task and plans the route to be cleaned, and inserts the current position at the first place of the route points to be cleaned; controls the cleaning module to lift and controls the mobile platform to retreat; controls the cleaning module to lower and re-execute the adjusted cleaning task.

[0048] The taxiway cleaning mode includes the taxiway rapid cleaning mode and the taxiway detailed cleaning mode. The taxiway rapid cleaning mode is used for cleaning foreign objects during short-term flight suspension, and the taxiway detailed cleaning mode is used for cleaning foreign objects during long-term flight suspension.

[0049] The process of coordinated control of taxiway cleaning is as follows:

[0050] The taxiway rapid cleaning mode only cleans foreign objects within the range covered by the maximum width of the aircraft tires on both sides of the taxiway line. The detection width of the foreign object cleaning and detection device is sufficient to cover. Since each taxiway beside the runway is a structure of a straight line with multiple branches. The taxiway beside the berth is a network structure, but it can be split into a structure of a straight line with multiple branches. All taxiways are split into several groups, and each group is a structure of a straight line with multiple branches. The taxiway cleaning coordinated control unit includes a route planning subunit, and the route planning subunit is used to plan the cleaning route of the taxiway according to the cleaning plan, split the taxiway network structure into several groups of routes, and each group of routes includes a straight line and multiple branches.

[0051] The taxiway collaborative control unit includes a taxiway rapid cleaning control subunit, which is used to control multiple foreign object cleaning devices to collaboratively perform cleaning tasks in the rapid cleaning mode on the taxiway area according to the cleaning plan. The specific control process of the taxiway rapid cleaning control subunit includes: before the start of the cleaning task, a foreign object cleaning device is set for each group of routes into which the taxiway is split to clean foreign objects, and two foreign object cleaning devices are used to detect foreign objects. The two foreign object cleaning devices for detection are alternately responsible for detecting foreign objects in the straight section and the branch section, keeping the total driving distance similar.

[0052] When the cleaning task starts, the taxiway rapid cleaning control subunit controls the two foreign object cleaning devices for detection to drive along the taxiway line successively, and controls the foreign object cleaning device for cleaning to follow behind the foreign object cleaning device for detection, maintaining a distance of about 50 meters. The two groups of foreign object cleaning devices are controlled to drive from both ends of the straight section towards the middle for pavement foreign object detection and cleaning. The taxiway rapid cleaning control subunit receives the detected branch information sent by the foreign object cleaning device for detection, and controls one of the foreign object cleaning devices for detection to detect foreign objects in the straight section and the other to detect foreign objects in the branch section; receives the detected branch information sent by the foreign object cleaning device for detection, and controls one of the foreign object cleaning devices for detection to detect foreign objects in the straight section and the other to detect foreign objects in the branch section. After detecting the branch, it returns to the taxiway from the next branch. If it encounters a branch connecting to the runway, it continues to drive along the runway shoulder to the next branch; the two foreign object cleaning devices for detection are alternately responsible for the straight section and the branch, keeping the total driving distance similar.

[0053] During the detection process, the foreign object cleaning device for detection maintains a constant speed. After detecting a foreign object, it sends the foreign object coordinates to the remote control center. The taxiway rapid cleaning control subunit receives the foreign object coordinates sent by the foreign object cleaning device for detection; sends the foreign object coordinates and the cleaning task to the foreign object cleaning device for cleaning; receives the cleaning completion information sent by the foreign object cleaning device for cleaning, and sends a continue following instruction to the foreign object cleaning device for cleaning.

[0054] After the detection is completed, the taxiway rapid cleaning control subunit receives the detection completion information sent by the foreign object cleaning device for detection, and judges whether the cleaning task is completed. If not, it sends a function conversion instruction to the foreign object cleaning device for detection, and the foreign object cleaning device for detection is converted into a foreign object cleaning device for cleaning; sends the cleaning task to the idle foreign object cleaning device according to the principle of proximity; if all foreign objects are cleaned, the taxiway rapid cleaning control subunit sends a control instruction to all foreign object cleaning devices to drive towards the nearest vehicle road, and the foreign object detection and cleaning task ends.

[0055] The detailed cleaning mode is used to clean foreign objects during long stoppages and detect and clean all taxiway areas. The taxiway detailed cleaning control subunit is used to control multiple foreign object cleaning devices according to the cleaning plan to control the taxiway area to perform cleaning tasks in the detailed cleaning mode. The taxiway detailed cleaning control process is similar to the runway detailed cleaning process and will not be repeated here.

[0056] The berth is cleaned during its idle time. The berth cleaning time is after the previous flight leaves and before the next flight arrives. Depending on the length of time, the remote control center automatically selects the fast or detailed cleaning mode.

[0057] During the coordinated control of berth cleaning, it is necessary to consider the scheduling method of foreign matter cleaning equipment, the problem of balancing the shortest average scheduling distance, the high utilization problem and the problem of crowded charging.

[0058] The berth cleaning collaborative control unit determines the foreign object cleaning device that executes the cleaning plan according to the cleaning plan, the berth idle time, the distance between the foreign object cleaning device and the berth, and the power of the foreign object cleaning device, and controls the foreign object cleaning device that determines to execute the cleaning plan to collaboratively perform the cleaning task on the berth area. Specifically, the berth cleaning collaborative control unit groups the berths according to the principle of close distance, and each group of berths is equipped with a group of foreign object cleaning devices to perform the cleaning task. Each group of berths generally contains 10 to 30 berths, and the ratio of the number of berths to the foreign object cleaning device is in the range of 60V / S to 120V / S, where S is the average area of the berth, and V is the area detected per minute by a single foreign object cleaning device in the fast cleaning mode. The berth cleaning collaborative control unit controls all foreign object cleaning devices waiting for tasks to remain in a charging state. When arranging the cleaning task, the power of the foreign object cleaning device is first queried, and the foreign object cleaning device with the most power waiting for tasks is arranged to perform the cleaning task first. In 3 to 6 adjacent groups, 1 to 2 spare foreign object cleaning devices are equipped. When the number of foreign object cleaning devices in a group is insufficient, the spare foreign object cleaning device is used to join the group. When a backup foreign object cleaning device is called, the foreign object cleaning device with the most power is drawn from the group with the largest number of foreign object cleaning devices waiting for tasks, which is no less than 2, and is used as the backup foreign object cleaning device.

[0059] An embodiment of the present invention provides a collaborative control system for multiple foreign object cleaning devices on an airport flight zone pavement, which can control multiple foreign object cleaning devices to perform collaborative operations, autonomously detect and clean foreign objects on the airport flight zone pavement, and has high foreign object cleaning efficiency.

[0060] In the above-mentioned first embodiment, a coordinated control system of a device for cleaning multiple foreign objects on a pavement of an airport flight zone is provided. Correspondingly, the present application also provides a coordinated control method of a device for cleaning multiple foreign objects on a pavement of an airport flight zone. Figure 3, which is a flowchart of a collaborative control method for a multi-foreign object cleaning device on the runway of an airport provided by the second embodiment of the present invention. Since the method embodiment is basically similar to the device embodiment, it is described relatively simply, and the relevant parts can be referred to the partial description of the device embodiment. The method embodiment described below is only illustrative.

[0061] As Figure 3 shown, a flowchart of a collaborative control method for a multi-foreign object cleaning device on the runway of an airport provided by another embodiment of the present invention is shown. The control method is applicable to a remote control center, and the method includes the following steps:

[0062] Divide the entire flight area into multiple cleaning areas, obtain the flight schedule and real-time operation time, determine the idle time of each cleaning area according to the flight schedule, and formulate a preliminary cleaning plan for each cleaning area according to the cleaning requirements of different areas;

[0063] Send the preliminary cleaning plan to the user terminal for adjustment and confirmation, and receive the confirmed cleaning plan sent by the user terminal;

[0064] Analyze the confirmed cleaning plan, and send collaborative control instructions to the foreign object cleaning device according to the cleaning area and cleaning mode;

[0065] Receive the execution status sent by the foreign object cleaning device;

[0066] Adjust the control instructions according to the execution status;

[0067] Send the adjusted control instructions to the foreign object cleaning device.

[0068] In this embodiment, the specific method of analyzing the confirmed cleaning plan and sending collaborative control instructions to the foreign object cleaning device according to the cleaning area and cleaning mode includes:

[0069] Send control instructions to multiple foreign object cleaning devices to jointly execute cleaning tasks in the runway area in the fast cleaning mode and / or the detailed cleaning mode according to the cleaning plan;

[0070] Send control instructions to multiple foreign object cleaning devices to jointly execute cleaning tasks in the taxiway area in the fast cleaning mode and / or the detailed cleaning mode according to the cleaning plan;

[0071] And / or determine the foreign object cleaning device that executes the cleaning plan according to the cleaning plan, the berth idle time, the distance between the foreign object cleaning device and the berth, and the power of the foreign object cleaning device, and send control instructions to the determined foreign object cleaning device to jointly execute cleaning tasks in the berth area in the fast cleaning mode and / or the detailed cleaning mode.

[0072] In this embodiment, sending control instructions to multiple foreign object cleaning devices to collaboratively execute cleaning tasks in the runway area according to the cleaning plan specifically includes:

[0073] Dividing the foreign object cleaning devices into two equal groups, setting one foreign object cleaning device in each group for cleaning foreign objects, and the rest for detecting foreign objects;

[0074] When the cleaning task starts, send control instructions for equal-spacing side-by-side queuing to the foreign object cleaning devices for detection, where the spacing is the effective detection width, and control the foreign object cleaning devices for cleaning to follow behind the foreign object cleaning devices for detection and maintain a set distance;

[0075] Control the two groups of foreign object cleaning devices to drive from both ends of the runway area towards the middle, control the foreign object cleaning devices for detection to maintain a constant speed, and receive the foreign object coordinates sent by the foreign object cleaning devices for detection;

[0076] Send the foreign object coordinates and the cleaning task to the foreign object cleaning devices for cleaning;

[0077] Receive the cleaning completion information sent by the foreign object cleaning devices for cleaning, and send a continue-following instruction to the foreign object cleaning devices for cleaning;

[0078] Receive the detection completion information sent by the foreign object cleaning devices for detection, determine whether the cleaning task is completed. If not, send a function conversion instruction to the foreign object cleaning devices for detection to convert them into foreign object cleaning devices for cleaning;

[0079] Send the cleaning task to the idle foreign object cleaning devices according to the principle of proximity;

[0080] If completed, send control instructions to all foreign object cleaning devices to drive along the direction perpendicular to the runway to the vehicle road.

[0081] In this embodiment, sending control instructions to multiple foreign object cleaning devices to collaboratively execute cleaning tasks in the taxiway area according to the cleaning plan specifically includes:

[0082] Plan the cleaning route of the taxiway according to the cleaning plan, split the taxiway network structure into several groups of routes, and each group of routes includes a straight line and multiple branches.

[0083] Specifically, sending control instructions to multiple foreign object cleaning devices to collaboratively execute cleaning tasks in the taxiway area in the fast cleaning mode specifically includes:

[0084] Set one foreign object cleaning device for cleaning foreign objects in each group of routes split from the taxiway, two foreign object cleaning devices for detecting foreign objects, and the two foreign object cleaning devices for detection alternately responsible for detecting foreign objects in the straight part and the branch part, and keep the total driving distance similar;

[0085] The cleaning task starts. Control the two foreign object cleaning devices for detection to travel along the taxiing line in sequence, and control the foreign object cleaning device for cleaning to follow behind the foreign object cleaning device for detection and maintain a set distance.

[0086] The rapid cleaning control sub-unit of the taxiway receives the detected branch information sent by the foreign object cleaning device for detection, controls one of the foreign object cleaning devices for detection to detect foreign objects in the straight part, and the other to detect foreign objects in the branch part. After detecting the branch, it returns to the taxiway from the next branch. If it encounters a branch connecting to the runway, it continues to travel along the runway shoulder to the next branch.

[0087] Control the foreign object cleaning device for detection to maintain a constant speed and receive the foreign object coordinates sent by the foreign object cleaning device for detection.

[0088] Send the foreign object coordinates and the cleaning task to the foreign object cleaning device for cleaning.

[0089] Receive the cleaning completion information sent by the foreign object cleaning device for cleaning and send a continue following instruction to the foreign object cleaning device for cleaning.

[0090] Receive the detection completion information sent by the foreign object cleaning device for detection and determine whether the cleaning task is completed.

[0091] If not completed, send a function conversion instruction to the foreign object cleaning device for detection to convert it into a foreign object cleaning device for cleaning.

[0092] Send the cleaning task to the idle foreign object cleaning device according to the principle of proximity.

[0093] If completed, send a control instruction to all foreign object cleaning devices to drive towards the nearest vehicle road.

[0094] In this embodiment, the foreign object cleaning devices for executing the cleaning plan are determined according to the cleaning plan, the berth idle time, the distance between the foreign object cleaning device and the berth, and the power of the foreign object cleaning device, specifically including:

[0095] Group the berths according to the principle of proximity. Each group of berths contains 10 - 30 berths. Each group of berths is equipped with a group of foreign object cleaning devices to execute the cleaning task. The ratio range of the number of berths to the foreign object cleaning device is 60V / S - 120V / S, where S is the average area of the berth and V is the area detected by a single foreign object cleaning device per minute in the rapid cleaning mode.

[0096] Control all foreign object cleaning devices waiting for tasks to maintain a charging state.

[0097] When arranging cleaning tasks, first query the power of the foreign object cleaning device, and preferentially arrange the foreign object cleaning device with the most power among the waiting tasks to perform the cleaning task;

[0098] Configure standby foreign object cleaning devices in a set number of adjacent groups. In the case where the number of foreign object cleaning devices in a certain group is insufficient, use the standby foreign object cleaning devices to join the group;

[0099] In the case where the standby foreign object cleaning device is called, transfer the foreign object cleaning device with the most power from the group with the largest number of foreign object cleaning devices waiting for tasks and not less than 2 as the standby foreign object cleaning device.

[0100] A collaborative control method for multiple foreign object cleaning devices on the airport flight area pavement provided by an embodiment of the present invention can control multiple foreign object cleaning devices to perform collaborative operations, independently detect and clean foreign objects on the airport flight area pavement, and has high foreign object cleaning efficiency.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A collaborative control system for a multi-debris cleaning device for airport runway surfaces, characterized in that, Including: A remote control center and multiple foreign object cleaning devices. The remote control center includes a cleaning plan formulation module, an information transceiver module, and a collaborative control module. The cleaning plan formulation module is used to divide the entire flight area into multiple cleaning areas, obtain flight schedules and real-time operating times, determine the idle times of each cleaning area according to the flight schedules, and formulate preliminary cleaning plans for each cleaning area according to the cleaning requirements of different areas; The information transceiver module is used to send the preliminary cleaning plan to the user terminal for adjustment and confirmation, and receive the confirmed cleaning plan sent by the user terminal; The collaborative control module is used to analyze the confirmed cleaning plan and send collaborative control instructions to the foreign object cleaning devices according to the cleaning areas and cleaning modes; The foreign object cleaning device is used to receive the collaborative control instructions and execute the collaborative control instructions, and send the execution status to the information transceiver module; The information transceiver module receives the execution status sent by the foreign object cleaning device; The collaborative control module adjusts the control instructions according to the execution status; The information transceiver module sends the adjusted control instructions to the foreign object cleaning device; The foreign object cleaning device executes the adjusted control instructions; The collaborative control module includes a runway cleaning collaborative control unit, a taxiway cleaning collaborative control unit, and / or a berth cleaning collaborative control unit. The runway cleaning collaborative control unit is used to control multiple foreign object cleaning devices to collaboratively execute cleaning tasks on the runway area according to the cleaning plan; The taxiway cleaning collaborative control unit is used to control multiple foreign object cleaning devices to collaboratively execute cleaning tasks on the taxiway area according to the cleaning plan; The berth cleaning collaborative control unit is used to determine the foreign object cleaning devices that execute the cleaning plan according to the cleaning plan, the berth idle time, the distance between the foreign object cleaning device and the berth, and the power of the foreign object cleaning device, and control the determined foreign object cleaning devices to collaboratively execute cleaning tasks on the berth area; The runway cleaning collaborative control unit includes a runway rapid cleaning control subunit and / or a runway detailed cleaning control subunit. The runway rapid cleaning control subunit is used to control multiple foreign object cleaning devices to collaboratively execute cleaning tasks on the runway area in the rapid cleaning mode according to the cleaning plan. Specifically, it includes: Dividing the foreign object cleaning devices into two equal groups, setting one foreign object cleaning device in each group for cleaning foreign objects, and the remaining foreign object cleaning devices for detecting foreign objects; At the start of the cleaning task, send a control instruction for equidistant parallel queuing to the foreign object cleaning devices for detection. The spacing is the effective detection width, and control the foreign object cleaning devices for cleaning to follow behind the foreign object cleaning devices for detection and maintain a set distance; Control the two groups of foreign object cleaning devices to drive from both ends of the runway area to the middle, control the foreign object cleaning devices for detection to maintain a constant speed, and receive the foreign object coordinates sent by the foreign object cleaning devices for detection; Send the foreign object coordinates and the cleaning task to the foreign object cleaning devices for cleaning; Receive the cleaning completion information sent by the foreign object cleaning devices for cleaning, and send a continue following instruction to the foreign object cleaning devices for cleaning; Receive the detection completion information sent by the foreign object cleaning device for detection, judge whether the cleaning task is completed. If not, send a function conversion instruction to the foreign object cleaning device for detection to convert it into a foreign object cleaning device for cleaning; Send the cleaning task to the idle foreign object cleaning device according to the principle of proximity; If completed, send a control instruction to all foreign object cleaning devices to drive along the vertical runway direction to the vehicle road; The runway detailed cleaning control subunit is used to control multiple foreign object cleaning devices to cooperate in performing the cleaning task in the detailed cleaning mode according to the cleaning plan; The runway detailed cleaning control subunit controls the cleaning module to face forward, controls the detection module to face backward, controls the cleaning module to lift, controls the mobile platform to drive to the starting point of the cleaning route, adjusts the posture of the foreign object cleaning device, and starts to perform the cleaning task; Control the cleaning module to clean the foreign objects on all road surfaces. After the road surface cleaning is completed, control the detection module to detect whether there are any missed foreign objects; If there are foreign objects, re-determine the cleaning task and plan the route to be cleaned, and insert the current position at the first place of the route points to be cleaned; Control the cleaning module to lift and control the mobile platform to retreat; Control the cleaning module to lower and re-perform the adjusted cleaning task.

2. The system according to claim 1, wherein The taxiway cleaning cooperation control unit includes a route planning subunit, and the route planning subunit is used to plan the cleaning route of the taxiway according to the cleaning plan, and split the taxiway network structure into several groups of routes, and each group of routes includes a straight line and multiple branches.

3. The system according to claim 2, wherein The taxiway cleaning cooperation control unit includes a runway rapid cleaning control subunit and / or a runway detailed cleaning control subunit. The runway rapid cleaning control subunit is used to control multiple foreign object cleaning devices to cooperate in performing the cleaning task in the rapid cleaning mode for the runway area, specifically including: Divide the foreign object cleaning devices into two equal groups, and set one foreign object cleaning device in each group to clean foreign objects, and the remaining foreign object cleaning devices are used to detect foreign objects; At the start of the cleaning task, send a control instruction for equidistant parallel queuing to the foreign object cleaning device for detection, and the distance is the effective detection width. Control the foreign object cleaning device for cleaning to follow behind the foreign object cleaning device for detection and maintain a set distance; Control the two groups of foreign object cleaning devices to drive from both ends of the runway area to the middle, control the foreign object cleaning device for detection to keep a constant speed, and receive the foreign object coordinates sent by the foreign object cleaning device for detection; Send the foreign object coordinates and the cleaning task to the foreign object cleaning device for cleaning; Receive the cleaning completion information sent by the foreign object cleaning device for cleaning, and send a continue following instruction to the foreign object cleaning device for cleaning; Receive the detection completion information sent by the foreign object cleaning device for detection, judge whether the cleaning task is completed. If not, send a function conversion instruction to the foreign object cleaning device for detection to convert it into a foreign object cleaning device for cleaning; Send the cleaning task to the idle foreign object cleaning device according to the principle of proximity; If completed, send a control instruction to all foreign object cleaning devices to drive along the vertical runway direction to the vehicle road; The runway detailed cleaning control subunit is used to control multiple foreign object cleaning devices to collaboratively perform cleaning tasks on the runway area in the detailed cleaning mode according to the cleaning plan; The runway detailed cleaning control subunit controls the cleaning module to face forward, controls the detection module to face backward, controls the cleaning module to lift, controls the mobile platform to drive to the starting point of the cleaning route, adjusts the posture of the foreign object cleaning device, and starts to perform the cleaning task; Control the cleaning module to clean the foreign objects on all pavements. After the pavement cleaning is completed, control the detection module to detect whether there are any missed foreign objects; If there are foreign objects, re-determine the cleaning task and plan the cleaning route to be cleaned, and insert the current position at the first place of the cleaning route points to be cleaned; Control the cleaning module to lift and control the mobile platform to retreat; Control the cleaning module to lower and re-perform the adjusted cleaning task.

4. The system according to claim 1, wherein The berth cleaning collaborative control unit determines the foreign object cleaning devices for implementing the cleaning plan according to the cleaning plan, the berth idle time, the distance between the foreign object cleaning device and the berth, and the power of the foreign object cleaning device. Specifically, it includes: Group the berths according to the principle of proximity. Each group of berths contains 10 to 30 berths. Each group of berths is equipped with a group of foreign object cleaning devices to perform cleaning tasks. The ratio range of the number of berths to the foreign object cleaning device is 60V / S to 120V / S, where S is the average area of the berth and V is the area detected by a single foreign object cleaning device per minute in the fast cleaning mode; Control all foreign object cleaning devices waiting for tasks to maintain the charging state; When arranging cleaning tasks, first query the power of the foreign object cleaning devices, and preferentially arrange the foreign object cleaning devices with the most power among the waiting tasks to perform cleaning tasks; Configure standby foreign object cleaning devices in a set number of adjacent groups. In the case where the number of foreign object cleaning devices in a certain group is insufficient, use the standby foreign object cleaning devices to join the group; In the case where the standby foreign object cleaning devices are called, transfer the foreign object cleaning device with the most power from the group with the largest number of foreign object cleaning devices waiting for tasks and not less than 2 as the standby foreign object cleaning device.

5. A collaborative control method for a multi-debris cleaning device for airport runway surfaces, characterized in that, Applicable to the remote control center, the method includes the following steps: Divide the entire flight area into multiple cleaning areas, obtain the flight plan and the real-time operation time, determine the idle time of each cleaning area according to the flight plan, and formulate the preliminary cleaning plan for each cleaning area according to the cleaning requirements of different areas; Send the preliminary cleaning plan to the user terminal for adjustment and confirmation, and receive the confirmed cleaning plan sent by the user terminal; Analyze the confirmed cleaning plan, and send collaborative control instructions to the foreign object cleaning devices according to the cleaning area and the cleaning mode; Receive the execution status sent by the foreign object cleaning device; Adjust the control instructions according to the execution status; Send the adjusted control instructions to the foreign object cleaning device; The specific method of analyzing the confirmed cleaning plan and sending collaborative control instructions to the foreign object cleaning devices according to the cleaning area and the cleaning mode includes: Send control instructions to multiple foreign object cleaning devices to collaboratively perform cleaning tasks on the runway area in the fast cleaning mode and / or the detailed cleaning mode according to the cleaning plan; Send control instructions to multiple foreign object cleaning devices to jointly execute cleaning tasks in the express cleaning mode and / or the detailed cleaning mode according to the cleaning plan; And / or determine the foreign object cleaning devices that execute the cleaning plan according to the cleaning plan, the berth idle time, the distance between the foreign object cleaning device and the berth, and the power of the foreign object cleaning device, and send control instructions to the determined foreign object cleaning devices to jointly execute cleaning tasks in the express cleaning mode and / or the detailed cleaning mode for the berth area; The specific steps of sending control instructions to multiple foreign object cleaning devices to jointly execute cleaning tasks in the express cleaning mode for the runway area according to the cleaning plan include: Divide the foreign object cleaning devices into two equal groups, set one foreign object cleaning device in each group to clean foreign objects, and the rest to detect foreign objects; When the cleaning task starts, send control instructions for equal-spacing parallel queuing to the foreign object cleaning devices for detection, the spacing being the effective detection width, and control the foreign object cleaning devices for cleaning to follow behind the foreign object cleaning devices for detection and maintain a set distance; Control the two groups of foreign object cleaning devices to drive from both ends of the runway area to the middle, control the foreign object cleaning devices for detection to maintain a constant speed, and receive the foreign object coordinates sent by the foreign object cleaning devices for detection; Send the foreign object coordinates and the cleaning task to the foreign object cleaning devices for cleaning; Receive the cleaning completion information sent by the foreign object cleaning devices for cleaning, and send a continue following instruction to the foreign object cleaning devices for cleaning; Receive the detection completion information sent by the foreign object cleaning devices for detection, judge whether the cleaning task is completed, if not, send a function conversion instruction to the foreign object cleaning devices for detection to convert them into foreign object cleaning devices for cleaning; Send the cleaning task to the idle foreign object cleaning devices according to the principle of proximity; If completed, send control instructions to all foreign object cleaning devices to drive along the direction perpendicular to the runway to the vehicle road.

6. The method according to claim 5, characterized in that The specific steps of sending control instructions to multiple foreign object cleaning devices to jointly execute cleaning tasks for the taxiway area according to the cleaning plan include: Set one foreign object cleaning device for each group of routes into which the taxiway is split to clean foreign objects, and two foreign object cleaning devices for detection. The two foreign object cleaning devices for detection alternately detect foreign objects in the straight part and the branch part, and keep the total driving distance similar; When the cleaning task starts, control the two foreign object cleaning devices for detection to drive along the taxiway line in sequence, and control the foreign object cleaning devices for cleaning to follow behind the foreign object cleaning devices for detection and maintain a set distance; The taxiway express cleaning control sub-unit receives the detected branch information sent by the foreign object cleaning devices for detection, controls one of the foreign object cleaning devices for detection to detect foreign objects in the straight part, and the other to detect foreign objects in the branch part. After detecting the branch, return to the taxiway from the next branch. If encountering a branch connecting to the runway, continue to drive along the runway shoulder to the next branch; Control the foreign object cleaning devices for detection to maintain a constant speed, and receive the foreign object coordinates sent by the foreign object cleaning devices for detection; Send the foreign object coordinates and the cleaning task to the foreign object cleaning devices for cleaning; Receive the cleaning completion information sent by the foreign object cleaning device for cleaning, and send a continue following instruction to the foreign object cleaning device for cleaning; Receive the detection completion information sent by the foreign object cleaning device for detection, and determine whether the cleaning task is completed; If not completed, send a function conversion instruction to the foreign object cleaning device for detection to convert the foreign object cleaning device for detection into a foreign object cleaning device for cleaning; Send the cleaning task to the idle foreign object cleaning device according to the principle of proximity; If completed, send a control instruction to all foreign object cleaning devices to drive towards the nearest vehicle road.

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