Unmanned aerial vehicle airport cabin door anti-pinch intelligent detection system

Abstract

The invention discloses an unmanned aerial vehicle airport cabin door anti-pinch intelligent detection system, and particularly relates to the technical field of unmanned aerial vehicle anti-pinch detection. Cabin door state information and cabin door environment information of an unmanned aerial vehicle airport are collected in real time through cabin door anti-pinch detection equipment; on one hand, cabin door state direct data and cabin door state indirect data are extracted from collected cabin door state information, and the extracted cabin door state indirect data are processed; the cabin door state direct data and the processed cabin door state indirect data are compared with standard parameters corresponding to various data to obtain a cabin door structure risk analysis result, and after cabin door environment information is received, cabin door area object position data and movement data are extracted to analyze cabin door closing risks. The cabin door clamping risk is comprehensively analyzed based on the cabin door structure risk analysis result and the cabin door closing risk analysis result, and the cabin door clamping risk detection accuracy is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) anti-pinch detection technology, and more specifically, to an unmanned aerial vehicle (UAV) airport door anti-pinch intelligent detection system. Background Art

[0002] Nowadays, with the rapid progress of multi-rotor drones in batteries, payloads, communications, and intelligent algorithms, their endurance, stability, protection, performance, and functions have made great progress. The application of drones has become popular, saving manpower and material resources and improving work efficiency. The construction of drone airports has gradually become popular.

[0003] The existing drone airport door anti-pinch intelligent detection system deploys high-definition cameras in the door area, obtains real-time image information of the door area through the high-definition cameras, and issues an alarm to suspend door closure when an obstacle is identified at the door position. The door is closed after the obstacle is removed, effectively reducing the probability of door pinching incidents.

[0004] However, the existing system still has some problems: the existing system uses high-definition cameras to determine whether there is a risk of clamping in the hatch area, which has a certain degree of lag and can only identify whether there are obstacles at the hatch position. It is difficult to identify clamping jams caused by structural deformation of the hatch itself, and the accuracy of clamping detection and identification should be further improved. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an intelligent detection system for preventing pinching of a drone airport door to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: an intelligent detection system for preventing pinching of a UAV airport door, comprising: Door information collection module: The door status information and door environment information of the drone airport are collected in real time through the door anti-pinch detection equipment, and the collected door status information is synchronously transmitted to the door status data extraction module, and the collected door environment information is synchronously transmitted to the door start-stop risk analysis module; Door status data extraction module: extracts door status direct data and door status indirect data from the collected door status information, processes the extracted door status indirect data, and sends the door status direct data and the processed door status indirect data to the door structure risk analysis module; Door structure risk analysis module: compares the door status direct data and processed door status indirect data with the standard parameters of the corresponding data to calculate the door structure risk coefficient; Door closure risk analysis module: after receiving the door environment information, it extracts the location data and movement data of objects in the door area to evaluate the comprehensive object location risk and comprehensive object movement risk respectively, and then analyzes the door closure risk; Door clamping risk analysis module: comprehensively analyzes the door clamping risk based on the door structure risk analysis results and the door closing risk analysis results, and transmits the analysis results to the intelligent warning module; Intelligent warning module: an alarm is issued when the calculated risk index of hatch door clamping is greater than or equal to the preset alarm threshold, and no action is taken when the calculated risk index of hatch door clamping is less than the preset alarm threshold; Database: used to store data information of all modules in the system.

[0007] Preferably, the information acquisition module includes a cabin door status information acquisition unit, a cabin door environment information acquisition unit and a cabin door information output unit. The cabin door status information acquisition unit scans the cabin door lock roller and lock slot, the cabin door and the door frame in real time through a structured light scanner to generate two sets of three-dimensional point cloud models in the same tooling coordinate system, measures the gap distance between the guide arm sliding pin and the S guide plate, and the gap distance between the stop point and the stop pad in real time through a laser ranging sensor, performs real-time vibration monitoring of the cabin door structure through a vibration sensor to obtain a vibration signal, and uses a mechanical sensor to measure the force data of the guide arm parallelogram in real time; the cabin door environment information acquisition unit obtains a real-time image of the cabin door's close-range area through a high-definition camera, and obtains real-time object information in the cabin door's long-range area through a radar sensor; the cabin door information output unit transmits the collected cabin door status information to the cabin door status data extraction module, and transmits the collected cabin door environment information to the cabin door closure risk analysis module.

[0008] Preferably, the door status data extraction module includes a door status information receiving unit, a door status direct data extraction unit, a door status indirect data extraction unit, a door status indirect data processing unit and a door status data transmission unit, wherein the door status information receiving unit is used to receive the door status information; the door status direct data extraction unit is used to extract the gap distance d between the guide arm sliding pin and the S guide rail plate at the i-th moment. axi , the gap distance between the stop point and the stop pad d bxi And the vibration signal Φ xi The hatch state indirect data extraction unit fuses the hatch lock roller 3D point cloud model and the lock slot 3D point cloud model at the i-th moment according to the lock roller movement direction, and extracts the hatch lock roller volume V that is successfully fused. sci 、The volume of the hatch lock roller that failed to merge V sbi , extract four sets of angles between the edge lines of the hatch door and the edge lines of the door frame from the 3D point cloud model of the hatch door and the door frame at the i-th moment, and use θ ai ,θ bi,θ ci ,θ di It means that the horizontal force F of the parallelogram structure of the guide arm at the i-th moment is extracted. pai 、F pbi and the vertical force F zai 、F zbi ; The hatch status indirect data processing unit is based on the hatch lock roller volume V that has been successfully integrated sci 、The volume of the hatch lock roller that failed to merge V sbi Calculate the lock roller alignment rate coefficient α at the i-th moment zi , the specific formula is: , Based on the angle θ between the four groups of hatch edge lines and the door frame edge lines ai ,θ bi ,θ ci ,θ di Calculate the door parallel matching coefficient α at the i-th moment pi , the specific formula is: , Based on the horizontal force F of the parallelogram structure of the guide arm at the i-th moment pai 、F pbi and the vertical force F zai 、F zbi Calculate the force balance coefficient h xi , the specific formula is: ; The door status data transmission unit sends the extracted door status direct data and the processed door status indirect data to the door structure risk analysis module.

[0009] Preferably, the door structure risk analysis module includes a door status data receiving unit, a door structure standard parameter retrieving unit, a door structure risk analysis unit and a data output unit. The door status data receiving unit is used to receive the door status direct data and the processed door status indirect data; the door structure standard parameter retrieving unit is used to retrieve the standard lock roller alignment rate coefficient α of the door structure. d 、Standard door parallel matching coefficient α x , Standard clearance distance d between guide arm sliding pin and S guide plate ay , Standard clearance distance d between stop point and stop pad by 、Standard vibration signal Φ y And the standard force balance coefficient h y ; The door structure risk analysis unit is used to calculate the door structure risk coefficient X at the i-th moment Gi , the specific formula is: , X Fi is the force excess coefficient; the data output unit is used to calculate the hatch door structure risk coefficient X at the i-th moment Gi Sent to the Door Pinch Risk Analysis Module.

[0010] Preferably, the door closure risk analysis module includes a door environment information receiving unit, a door environment information extraction unit, a door closure risk analysis unit and a data output unit. The door environment information receiving unit is used to receive the door environment information; the door environment information extraction unit is used to extract the number of objects n at the i-th moment in the close range of the door. ai , the number of objects n that can be moved relative to the hatch at the i-th moment ci , the distance l between the jth object and the hatch at the ith moment aij and the relative speed v of the uth object approaching the hatch at the i-th moment ciu , extract the number of objects n at the i-th moment in the long-distance area of ​​the hatch bi , the number of objects n that can be moved relative to the hatch at the i-th moment di , the distance l between the kth object and the hatch at the ith moment bik and the relative speed v of the rth object approaching the hatch at the i-th moment dir The door closure risk analysis unit is used to calculate the door closure risk coefficient X at the i-th moment. Bi , the specific formula is: , X wi is the comprehensive object position risk coefficient at the i-th moment, and the specific calculation formula is as follows: , n ai =0, , n bi =0, , X di is the comprehensive object movement risk coefficient at the i-th moment, and the specific calculation formula is as follows: , T ciu is the time taken for the uth object in the close-range area to move to the hatch at the i-th moment. The specific calculation formula is: , l aiu is the distance between the uth movable object relative to the hatch and the hatch at the i-th moment in the close-range area, T dir is the time taken for the rth object in the long-distance area to move to the hatch at the i-th moment. The specific calculation formula is: , l bir is the distance between the rth movable object relative to the hatch and the hatch at the i-th moment in the long-distance area, n ci =0, , n di =0, ; The data output unit calculates the door closing risk factor X at the i-th moment Bi Sent to the Door Pinch Risk Analysis Module.

[0011] Preferably, the hatch door clamping risk analysis module includes an information receiving unit, a hatch door clamping risk index calculation unit and a data transmission unit, and the information receiving unit is used to receive the hatch door structure risk coefficient X at the i-th moment Gi and the hatch closure risk factor X Bi The hatch door clamping risk index calculation unit is used to calculate the hatch door clamping risk index Y at the i-th moment Ci , the specific formula is: ; The data transmission unit is used to transmit the calculated door clamping risk index Y at the i-th moment Ci Transmitted to the intelligent early warning module.

[0012] Technical effects and advantages of the present invention: The present invention is provided with a cabin door information acquisition module, a cabin door status data extraction module, a cabin door structure risk analysis module, a cabin door closing risk analysis module, a cabin door clamping risk analysis module and an intelligent early warning module. After the cabin door status information and cabin door environment information of the UAV airport are collected in real time by the cabin door anti-pinch detection equipment, the real-time guide arm sliding pin and S guide rail plate gap distance, the stop point and the stop pad gap distance and the vibration signal are extracted from the collected cabin door status information, the cabin door lock roller three-dimensional point cloud model and the lock groove three-dimensional point cloud model are fused according to the lock roller movement direction, the cabin door lock roller volume of the successfully fused and the cabin door lock roller volume of the failed fusion are extracted, four groups of cabin door edge lines and door frame edge lines The angle is extracted from the three-dimensional point cloud model of the cabin door and the door frame, the horizontal force data and the vertical force data of the guide arm parallelogram structure are extracted, and based on the cabin door lock roller volume of the successfully fused and the cabin door lock roller volume of the failed fusion The lock roller alignment rate was calculated based on the volume of the door lock roller, the door parallel matching was calculated based on the angle between the door edge line and the door frame edge line, and the force balance was calculated based on the horizontal force data and vertical force data of the guide arm parallelogram structure. Then, the standard lock roller alignment rate coefficient, standard door parallel matching coefficient, standard gap distance between the guide arm sliding pin and the S guide plate, standard gap distance between the stop point and the stop pad, standard vibration signal, standard force balance coefficient, standard horizontal force range and standard vertical force range were used to calculate the door structure risk coefficient. After receiving the door environment information, the object position data and movement data in the door area were extracted to evaluate the comprehensive object position risk and the comprehensive object movement risk respectively, and then the door closing risk was analyzed. The door clamping risk was comprehensively analyzed based on the door structure risk analysis results and the door closure risk analysis results, which effectively improved the accuracy of door clamping risk detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a system structure block diagram of the present invention.

[0014] Figure 2 It is a diagram of the method steps of the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] like Figure 1The present embodiment shown provides an intelligent detection system for preventing door pinching at an unmanned aerial vehicle airport, comprising an equipment control module, a door information collection module, a door status data extraction module, a door structure risk analysis module, a door closure risk analysis module, a door clamping risk analysis module, an intelligent early warning module and a database. The equipment control module, the door information collection module, the door status data extraction module, the door structure risk analysis module, the door clamping risk analysis module and the intelligent early warning module are connected in sequence; the door information collection module, the door closure risk analysis module and the door clamping risk analysis module are connected in sequence; and all modules in the system are connected to the database.

[0017] The equipment control module checks the performance status of the cabin door anti-pinch intelligent detection device before the UAV is operated, and arranges maintenance personnel to perform equipment maintenance when the equipment performance status is confirmed to be abnormal; What needs to be specifically explained in this embodiment is that the equipment management and control module includes a detection equipment performance data collection unit, an intelligent identification unit, an identification result output unit and a maintenance information feedback unit. The detection equipment performance data collection unit is used to collect performance data of the cabin door anti-pinch intelligent detection equipment; the intelligent identification unit uses the constructed detection equipment performance abnormality intelligent identification model to identify whether the cabin door anti-pinch intelligent detection equipment has an abnormal performance status; the identification result output unit sends a normal performance status prompt of the cabin door anti-pinch detection equipment to the airport security management center when it confirms that the performance status of the cabin door anti-pinch intelligent detection equipment is normal; when it confirms that the performance status of the cabin door anti-pinch intelligent detection equipment is abnormal, it sends a performance status abnormality prompt of the cabin door anti-pinch detection equipment, the drone number of the cabin door anti-pinch detection equipment with abnormal performance status, and the name and number of the cabin door anti-pinch detection equipment with abnormal performance status to the airport security management center; the maintenance information feedback unit is used to feedback maintenance personnel information and maintenance records of equipment with abnormal performance status.

[0018] It should be specifically noted in this embodiment that the process of constructing the intelligent recognition model for detecting device performance anomalies is a prior art and will not be elaborated on in detail here.

[0019] The door information collection module collects the door status information and door environment information of the drone airport in real time through the door anti-pinch detection device, and synchronously transmits the collected door status information to the door status data extraction module, and synchronously transmits the collected door environment information to the door start-stop risk analysis module; Furthermore, the hatch information acquisition module includes a hatch status information acquisition unit, a hatch environment information acquisition unit and a hatch information output unit. The hatch status information acquisition unit uses a structured light scanner to scan the hatch lock roller and lock slot, the hatch and the door frame in real time to generate two sets of three-dimensional point cloud models in the same tooling coordinate system, uses a laser ranging sensor to measure the gap distance between the guide arm sliding pin and the S guide plate, and the gap distance between the stop point and the stop pad in real time, uses a vibration sensor to perform real-time vibration monitoring of the hatch structure to obtain a vibration signal, and uses a mechanical sensor to measure the force data of the guide arm parallelogram in real time; the hatch environment information acquisition unit obtains a real-time image of the hatch close-range area through a high-definition camera, and obtains real-time object information in the hatch long-range area through a radar sensor; the hatch information output unit transmits the collected hatch status information to the hatch status data extraction module, and transmits the collected hatch environment information to the hatch closure risk analysis module.

[0020] The door status data extraction module extracts door status direct data and door status indirect data from the collected door status information, processes the extracted door status indirect data, and sends the door status direct data and the processed door status indirect data to the door structure risk analysis module; The door status data extraction module includes a door status information receiving unit, a door status direct data extraction unit, a door status indirect data extraction unit, a door status indirect data processing unit and a door status data transmission unit. The door status information receiving unit is used to receive the door status information; the door status direct data extraction unit is used to extract the gap distance d between the guide arm sliding pin and the S guide plate at the i-th moment. axi , the gap distance between the stop point and the stop pad d bxi And the vibration signal Φ xi The hatch state indirect data extraction unit fuses the hatch lock roller 3D point cloud model and the lock slot 3D point cloud model at the i-th moment according to the lock roller movement direction, and extracts the hatch lock roller volume V that is successfully fused. sci 、The volume of the hatch lock roller that failed to merge V sbi , extract four sets of angles between the edge lines of the hatch door and the edge lines of the door frame from the 3D point cloud model of the hatch door and the door frame at the i-th moment, and use θ ai ,θ bi ,θ ci ,θ di It means that the horizontal force F of the parallelogram structure of the guide arm at the i-th moment is extracted. pai 、F pbi and the vertical force F zai 、F zbi ; The hatch status indirect data processing unit is based on the hatch lock roller volume V that has been successfully integrated sci 、The volume of the hatch lock roller that failed to merge Vsbi Calculate the lock roller alignment rate coefficient α at the i-th moment zi , the specific formula is: , Based on the angle θ between the four groups of hatch edge lines and the door frame edge lines ai ,θ bi ,θ ci ,θ di Calculate the door parallel matching coefficient α at the i-th moment pi , the specific formula is: , Based on the horizontal force F of the parallelogram structure of the guide arm at the i-th moment pai 、F pbi and the vertical force F zai 、F zbi Calculate the force balance coefficient h xi , the specific formula is: ; The door status data transmission unit sends the extracted door status direct data and the processed door status indirect data to the door structure risk analysis module.

[0021] The door structure risk analysis module compares the door state direct data and the processed door state indirect data with the standard parameters of the corresponding data to calculate the door structure risk coefficient; The door structure risk analysis module includes a door status data receiving unit, a door structure standard parameter retrieving unit, a door structure risk analysis unit and a data output unit. The door status data receiving unit is used to receive direct door status data and processed indirect door status data; the door structure standard parameter retrieving unit is used to retrieve the standard lock roller alignment rate coefficient α of the door structure. d 、Standard door parallel matching coefficient α x , Standard clearance distance d between guide arm sliding pin and S guide plate ay , Standard clearance distance d between stop point and stop pad by 、Standard vibration signal Φ y And the standard force balance coefficient h y ; The door structure risk analysis unit is used to calculate the door structure risk coefficient X at the i-th moment Gi , the specific formula is: , X Fi is the force excess coefficient; the data output unit is used to calculate the hatch door structure risk coefficient X at the i-th moment Gi Sent to the Door Pinch Risk Analysis Module.

[0022] It should be specifically explained in this embodiment that an algorithm for calculating the force excess coefficient is provided, which is specifically: , X Fpi is the horizontal force excess coefficient, X Fzi is the vertical force excess coefficient, and the specific calculation formula is as follows: , , [F pmin ,F pmax ] is the standard horizontal force range, [F zmin ,F zmax ] is the standard vertical force range.

[0023] After receiving the door environment information, the door closure risk analysis module extracts the door area object position data and movement data to respectively evaluate the comprehensive object position risk and the comprehensive object movement risk, and then analyzes the door closure risk; Furthermore, the door closure risk analysis module includes a door environment information receiving unit, a door environment information extraction unit, a door closure risk analysis unit and a data output unit. The door environment information receiving unit is used to receive the door environment information; the door environment information extraction unit is used to extract the number of objects n at the i-th moment in the close range of the door. ai , the number of objects n that can be moved relative to the hatch at the i-th moment ci , the distance l between the jth object and the hatch at the ith moment aij and the relative speed v of the uth object approaching the hatch at the i-th moment ciu , extract the number of objects n at the i-th moment in the long-distance area of ​​the hatch bi , the number of objects n that can be moved relative to the hatch at the i-th moment di , the distance l between the kth object and the hatch at the ith moment bik and the relative speed v of the rth object approaching the hatch at the i-th moment dir The door closure risk analysis unit is used to calculate the door closure risk coefficient X at the i-th moment. Bi , the specific formula is: , X wi is the comprehensive object position risk coefficient at the i-th moment, and the specific calculation formula is as follows: , n ai =0, , n bi =0, , Xdi is the comprehensive object movement risk coefficient at the i-th moment, and the specific calculation formula is as follows: , T ciu is the time taken for the uth object in the close-range area to move to the hatch at the i-th moment. The specific calculation formula is: , l aiu is the distance between the uth movable object relative to the hatch and the hatch at the i-th moment in the close-range area, T dir is the time taken for the rth object in the long-distance area to move to the hatch at the i-th moment. The specific calculation formula is: , l bir is the distance between the rth movable object relative to the hatch and the hatch at the i-th moment in the long-distance area, n ci =0, , n di =0, ; The data output unit calculates the door closing risk factor X at the i-th moment Bi Sent to the Door Pinch Risk Analysis Module.

[0024] What needs to be specifically explained in the present embodiment is that, in the technical formula for the hatch door closure risk coefficient, there may be a situation where either the position risk coefficient or the comprehensive object movement risk coefficient has a value of 0 or a value other than 0. The "+1" in the formula is set to avoid a data compensation processing method in which the position risk coefficient or the comprehensive object movement risk coefficient has a value of 0 or a value other than 0 and the calculated hatch door closure risk coefficient is 0. In this case, the hatch door closure risk is actually not 0. The reason for the "+1" in the other formulas is the same.

[0025] The hatch door clamping risk analysis module comprehensively analyzes the hatch door clamping risk based on the hatch door structure risk analysis results and the hatch door closing risk analysis results, and transmits the analysis results to the intelligent warning module; Furthermore, the hatch door clamping risk analysis module includes an information receiving unit, a hatch door clamping risk index calculation unit and a data transmission unit. The information receiving unit is used to receive the hatch door structure risk coefficient X at the i-th moment. Gi and the hatch closure risk factor X Bi The hatch door clamping risk index calculation unit is used to calculate the hatch door clamping risk index Y at the i-th moment Ci , the specific formula is: ; The data transmission unit is used to transmit the calculated door clamping risk index Y at the i-th momentCi Transmitted to the intelligent early warning module.

[0026] The intelligent early warning module issues an alarm when the calculated risk index of the hatch door clamping is greater than or equal to the preset alarm threshold, and does not perform any processing when the calculated risk index of the hatch door clamping is less than the preset alarm threshold.

[0027] The database is used to store data information of all modules in the system.

[0028] It should be specifically noted in this embodiment that the preset values ​​and standard values ​​used are selected based on actual needs and are not limited to specific values ​​here.

[0029] like Figure 2 The embodiment shown provides an intelligent detection method for preventing a UAV airport door from being pinched, comprising the following steps: S1: The cabin door anti-pinch detection equipment is used to collect the cabin door status information and cabin door environment information of the drone airport in real time; S2: extracting door status direct data and door status indirect data from the collected door status information, and processing the extracted door status indirect data; S3: Compare the direct data of the door status and the processed indirect data of the door status with the standard parameters of the corresponding data to calculate the risk coefficient of the door structure; S4: after receiving the door environment information, extract the object position data and movement data in the door area to evaluate the comprehensive object position risk and the comprehensive object movement risk respectively, and then analyze the door closing risk; S5: Comprehensively analyze the door clamping risk based on the door structure risk analysis results and the door closure risk analysis results; S6: When the calculated risk index of the hatch door being clamped is greater than or equal to the preset alarm threshold, an alarm is issued; when the calculated risk index of the hatch door being clamped is less than the preset alarm threshold, no processing is performed.

[0030] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent detection system for preventing pinching of UAV airport doors, characterized by: include: Door information collection module: The door status information and door environment information of the drone airport are collected in real time through the door anti-pinch detection equipment, and the collected door status information is synchronously transmitted to the door status data extraction module, and the collected door environment information is synchronously transmitted to the door start-stop risk analysis module; Door status data extraction module: extracts door status direct data and door status indirect data from the collected door status information, processes the extracted door status indirect data, and sends the door status direct data and the processed door status indirect data to the door structure risk analysis module; Door structure risk analysis module: compares the door status direct data and processed door status indirect data with the standard parameters of the corresponding data to calculate the door structure risk coefficient; Door closure risk analysis module: after receiving the door environment information, it extracts the location data and movement data of objects in the door area to evaluate the comprehensive object location risk and comprehensive object movement risk respectively, and then analyzes the door closure risk; Door clamping risk analysis module: comprehensively analyzes the door clamping risk based on the door structure risk analysis results and the door closing risk analysis results, and transmits the analysis results to the intelligent warning module; Intelligent warning module: an alarm is issued when the calculated risk index of hatch door clamping is greater than or equal to the preset alarm threshold, and no action is taken when the calculated risk index of hatch door clamping is less than the preset alarm threshold.

2. According to claim 1, the intelligent detection system for preventing the door from pinching at an unmanned aerial vehicle airport is characterized by: The hatch information acquisition module includes a hatch status information acquisition unit, a hatch environment information acquisition unit and a hatch information output unit. The hatch status information acquisition unit uses a structured light scanner to scan the hatch lock roller and lock groove, the hatch and the door frame in real time to generate two sets of three-dimensional point cloud models in the same tooling coordinate system, uses a laser ranging sensor to measure the gap distance between the guide arm sliding pin and the S guide plate, and the gap distance between the stop point and the stop pad in real time, uses a vibration sensor to perform real-time vibration monitoring of the hatch structure to obtain a vibration signal, and uses a mechanical sensor to measure the force data of the guide arm parallelogram in real time; the hatch environment information acquisition unit obtains a real-time image of the hatch close-range area through a high-definition camera, and obtains real-time object information in the hatch long-range area through a radar sensor; the hatch information output unit transmits the collected hatch status information to the hatch status data extraction module, and transmits the collected hatch environment information to the hatch closure risk analysis module.

3. The intelligent detection system for preventing pinching of UAV airport doors according to claim 1 is characterized by: The door status data extraction module includes a door status information receiving unit, a door status direct data extraction unit, a door status indirect data extraction unit, a door status indirect data processing unit and a door status data transmission unit. The door status information receiving unit is used to receive the door status information; the door status direct data extraction unit is used to extract the gap distance d between the guide arm sliding pin and the S guide plate at the i-th moment. axi , the gap distance between the stop point and the stop pad d bxi And the vibration signal Φ xi The hatch state indirect data extraction unit fuses the hatch lock roller 3D point cloud model and the lock slot 3D point cloud model at the i-th moment according to the lock roller movement direction, and extracts the hatch lock roller volume V that is successfully fused. sci 、The volume of the hatch lock roller that failed to merge V sbi , extract four sets of angles between the edge lines of the hatch door and the edge lines of the door frame from the 3D point cloud model of the hatch door and the door frame at the i-th moment, and use θ ai ,θ bi ,θ ci ,θ di Indicates that the horizontal force F of the parallelogram structure of the guide arm at the i-th moment is extracted pai 、F pbi and the vertical force F zai 、F zbi ; The hatch status indirect data processing unit is based on the hatch lock roller volume V that has been successfully integrated sci 、The volume of the hatch lock roller that failed to merge V sbi Calculate the lock roller alignment rate coefficient α at the i-th moment zi , the specific formula is: ， Based on the angle θ between the four groups of hatch edge lines and the door frame edge lines ai ,θ bi ,θ ci ,θ di Calculate the door parallel matching coefficient α at the i-th moment pi , the specific formula is: ， Based on the horizontal force F of the parallelogram structure of the guide arm at the i-th moment pai 、F pbi and the vertical force F zai 、F zbi Calculate the force balance coefficient h xi , the specific formula is: ； The door status data transmission unit sends the extracted door status direct data and the processed door status indirect data to the door structure risk analysis module.

4. The intelligent detection system for preventing the door from pinching at an airport of a drone according to claim 1 is characterized by: The door structure risk analysis module includes a door status data receiving unit, a door structure standard parameter retrieving unit, a door structure risk analysis unit and a data output unit. The door status data receiving unit is used to receive direct door status data and processed indirect door status data; the door structure standard parameter retrieving unit is used to retrieve the standard lock roller alignment rate coefficient α of the door structure. d 、Standard door parallel matching coefficient α x , Standard clearance distance d between guide arm sliding pin and S guide plate ay , Standard clearance distance d between stop point and stop pad by 、Standard vibration signal Φ y And the standard force balance coefficient h y ; The door structure risk analysis unit is used to calculate the door structure risk coefficient X at the i-th moment Gi , the specific formula is: ， X Fi is the force excess coefficient; the data output unit is used to calculate the hatch door structure risk coefficient X at the i-th moment Gi Sent to the Door Pinch Risk Analysis Module.

5. The intelligent detection system for preventing pinching of UAV airport doors according to claim 1 is characterized by: The hatch door closure risk analysis module includes a hatch door environment information receiving unit, a hatch door environment information extraction unit, a hatch door closure risk analysis unit and a data output unit. The hatch door environment information receiving unit is used to receive the hatch door environment information; the hatch door environment information extraction unit is used to extract the number of objects n at the i-th moment in the hatch door close area. ai , the number of objects n that can be moved relative to the hatch at the i-th moment ci , the distance l between the jth object and the hatch at the ith moment aij and the relative speed v of the uth object approaching the hatch at the i-th moment ciu , extract the number of objects n at the i-th moment in the long-distance area of ​​the hatch bi , the number of objects n that can be moved relative to the hatch at the i-th moment di , the distance l between the kth object and the hatch at the ith moment bik and the relative speed v of the rth object approaching the hatch at the i-th moment dir The door closure risk analysis unit is used to calculate the door closure risk coefficient X at the i-th moment. Bi , the specific formula is: ， X wi is the comprehensive object position risk coefficient at the i-th moment, and the specific calculation formula is as follows: ， n ai =0, , n bi =0, , X di is the comprehensive object movement risk coefficient at the i-th moment, and the specific calculation formula is as follows: ， T ciu is the time taken for the uth object in the close-range area to move to the hatch at the i-th moment. The specific calculation formula is: ， l aiu is the distance between the uth movable object relative to the hatch and the hatch at the i-th moment in the close-range area, T dir is the time taken for the rth object in the long-distance area to move to the hatch at the i-th moment. The specific calculation formula is: , l bir is the distance between the rth movable object relative to the hatch and the hatch at the i-th moment in the long-distance area, n ci =0, , n di =0, ; The data output unit calculates the door closing risk factor X at the i-th moment Bi Sent to the Door Pinch Risk Analysis Module.

6. The intelligent detection system for preventing pinching of UAV airport doors according to claim 1 is characterized by: The hatch door clamping risk analysis module includes an information receiving unit, a hatch door clamping risk index calculation unit and a data transmission unit. The information receiving unit is used to receive the hatch door structure risk coefficient X at the i-th moment. Gi and the hatch closure risk factor X Bi The hatch door clamping risk index calculation unit is used to calculate the hatch door clamping risk index Y at the i-th moment Ci , the specific formula is: ； The data transmission unit is used to transmit the calculated door clamping risk index Y at the i-th moment Ci Transmitted to the intelligent early warning module.

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