An intelligent detection system for preventing pinching of UAV airport doors

Abstract

The present invention discloses an intelligent detection system for preventing pinching of the hatch door of a drone airport, specifically relating to the technical field of drone anti-pinching detection. The present invention uses a hatch door anti-pinching detection device to collect the hatch door status information and hatch door environment information of the drone airport in real time. On the one hand, the direct data of the hatch door status and the indirect data of the hatch door status are extracted from the collected hatch door status information, and the extracted indirect data of the hatch door status is processed. The direct data of the hatch door status and the processed indirect data of the hatch door status are compared with the standard parameters of the corresponding data items to obtain the hatch door structure risk analysis result. On the other hand, after receiving the hatch door environment information, the object position data and movement data in the hatch door area are extracted to analyze the hatch door closing risk. Based on the hatch door structure risk analysis result and the hatch door closing risk analysis result, the hatch door clamping risk is comprehensively analyzed, effectively improving the accuracy of the hatch door clamping risk detection.

Description

Technical Field

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

[0002] Nowadays, with the rapid progress of multi-rotor unmanned aerial vehicles in terms of battery, payload, communication, and intelligent algorithms, their endurance, stability, protection, performance, and functions have made great progress. The application of unmanned aerial vehicles has begun to spread, saving manpower and material resources and improving work efficiency. The construction of unmanned aerial vehicle airports has gradually become popular.

[0003] The existing intelligent anti-pinch detection system for the hatch door of an unmanned aerial vehicle airport has deployed high-definition cameras in the hatch door area. By obtaining real-time image information of the hatch door area through the high-definition cameras, when an obstacle is identified in the hatch door position, an alarm is issued to pause the closing of the hatch door, and the hatch door is closed after the obstacle is removed, effectively reducing the occurrence probability of hatch door clamping incidents.

[0004] However, there are still some problems with the existing system: There is a certain degree of lag in the existing system's judgment of whether there is a clamping risk in the hatch door area through high-definition cameras. It can only identify whether there is an obstacle in the hatch door position and it is difficult to identify the clamping and jamming situations caused by the deformation of the hatch door structure itself. The clamping detection and recognition accuracy 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 anti-pinch detection system for the hatch door of an unmanned aerial vehicle airport to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: An intelligent anti-pinch detection system for the hatch door of an unmanned aerial vehicle airport, comprising:

[0007] Hatch door information acquisition module: Real-time acquisition of the hatch door status information and hatch door environment information of the unmanned aerial vehicle airport through the hatch door anti-pinch detection device, and synchronously transmitting the acquired hatch door status information to the hatch door status data extraction module, and synchronously transmitting the acquired hatch door environment information to the hatch door start / stop risk analysis module;

[0008] Hatch door status data extraction module: Extracting the direct hatch door status data and indirect hatch door status data from the acquired hatch door status information, processing the extracted indirect hatch door status data, and sending the direct hatch door status data and the processed indirect hatch door status data to the hatch door structure risk analysis module;

[0009] Hatch door structure risk analysis module: Comparing the direct hatch door status data and the processed indirect hatch door status data with the standard parameters of the corresponding data items to calculate the hatch door structure risk coefficient;

[0010] Hatch closing risk analysis module: After receiving the hatch environmental information, it extracts the object position data and movement data in the hatch area, evaluates the comprehensive object position risk and the comprehensive object movement risk respectively, and then analyzes the hatch closing risk;

[0011] Hatch clamping risk analysis module: Based on the results of the hatch structure risk analysis and the hatch closing risk analysis, it comprehensively analyzes the hatch clamping risk and transmits the analysis results to the intelligent warning module;

[0012] Intelligent warning module: Issues an alarm when the calculated hatch clamping risk index is greater than or equal to the preset alarm threshold, and does not perform any processing when the calculated hatch clamping risk index is less than the preset alarm threshold;

[0013] Database: Used to store the data information of all modules in the system.

[0014] Preferably, the information acquisition module includes a hatch status information acquisition unit, a hatch environmental 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 rollers and slots, and the hatch and the door frame in real time to generate two groups of three-dimensional point cloud models in the same tooling coordinate system. It uses a laser distance sensor to measure the clearance distance between the guide arm sliding pin and the S guide rail disc, and the clearance distance between the stop point and the stop pad in real time. It uses a vibration sensor to monitor the vibration of the hatch structure in real time to obtain vibration signals, and uses a mechanical sensor to measure the force data of the guide arm parallelogram in real time. The hatch environmental information acquisition unit uses a high-definition camera to obtain real-time images of the close area of the hatch, and uses a radar sensor to obtain real-time object information in the far area of the hatch. The hatch information output unit transmits the collected hatch status information to the hatch status data extraction module and transmits the collected hatch environmental information to the hatch closing risk analysis module.

[0015] Preferably, the hatch status data extraction module includes a hatch status information receiving unit, a hatch status direct data extraction unit, a hatch status indirect data extraction unit, a hatch status indirect data processing unit, and a hatch status data transmission unit. The hatch status information receiving unit is used to receive the hatch status information. The hatch status direct data extraction unit is used to extract the clearance distance d axi between the guide arm sliding pin and the S guide rail disc, the clearance distance d bxi between the stop point and the stop pad, and the vibration signal Φ xi at the i-th moment. The hatch status indirect data extraction unit fuses the three-dimensional point cloud model of the hatch lock roller and the three-dimensional point cloud model of the slot in the direction of the lock roller movement at the i-th moment, and extracts the volume V sci of the successfully fused hatch lock roller and the volume V sbi, extract four groups of included angles between the hatch edge line and the doorframe edge line from the three-dimensional point cloud model of the hatch and the doorframe at the i-th moment, and use θ ai , θ bi , θ ci , θ di to represent, and extract the horizontal force F pai , F pbi and the vertical force F zai , F zbi of the parallelogram structure of the guide arm at the i-th moment; the indirect data processing unit of the hatch state calculates the alignment rate coefficient α sci of the lock roller at the i-th moment based on the successfully fused volume V sbi of the hatch lock roller and the volume V zi of the hatch lock roller with failed fusion. The specific formula is: ,

[0016] Calculate the parallel matching degree coefficient α ai of the hatch at the i-th moment based on the four groups of included angles θ bi , θ ci , θ di between the hatch edge line and the doorframe edge line. The specific formula is: pi

[0017] ,

[0018]

[0018] Calculate the force balance degree coefficient h pai of the parallelogram structure of the guide arm at the i-th moment based on the horizontal force F pbi , F zai and the vertical force F zbi . The specific formula is: xi

[0019] ;

[0020] The hatch state data transmission unit sends the directly extracted hatch state data and the processed indirect hatch state data to the hatch structure risk analysis module.

[0021] Preferably, the hatch structure risk analysis module includes a hatch state data receiving unit, a hatch structure standard parameter retrieval unit, a hatch structure risk analysis unit, and a data output unit. The hatch state data receiving unit is used to receive the directly extracted hatch state data and the processed indirect hatch state data; the hatch structure standard parameter retrieval unit is used to retrieve the standard alignment rate coefficient α d of the hatch lock roller, the standard parallel matching degree coefficient α x of the hatch, the standard clearance distance d ay between the sliding pin of the guide arm and the S guide rail disc, and the standard clearance distance d by between the stop point and the stop pad, the standard vibration signal Φ y and the standard force balance coefficient h y ; The hatch structure risk analysis unit is used to calculate the hatch structure risk coefficient X at the i-th moment Gi , and the specific formula is:

[0022] ,

[0023] X Fi is the force overrun coefficient; The data output unit is used to send the calculated hatch structure risk coefficient X at the i-th moment Gi to the hatch clamping risk analysis module.

[0024] Preferably, the hatch closing risk analysis module includes a hatch environment information receiving unit, a hatch environment information extraction unit, a hatch closing risk analysis unit, and a data output unit. The hatch environment information receiving unit is used to receive hatch environment information; The hatch environment information extraction unit is used to extract the number of objects n at the i-th moment in the close area of the hatch ai , the number of movable objects n relative to the hatch at the i-th moment ci , the distance l between the j-th object and the hatch at the i-th moment aij and the relative moving speed v of the u-th object approaching the hatch at the i-th moment ciu , and extract the number of objects n at the i-th moment in the far area of the hatch bi , the number of movable objects n relative to the hatch at the i-th moment di , the distance l between the k-th object and the hatch at the i-th moment bik and the relative moving speed v of the r-th object approaching the hatch at the i-th moment dir ; The hatch closing risk analysis unit is used to calculate the hatch closing risk coefficient X at the i-th moment Bi , and the specific formula is:

[0025] ,

[0026] X wi is the comprehensive object position risk coefficient at the i-th moment, and the specific calculation formula is as follows:

[0027] ,

[0028] n ai = 0, ,

[0029] n bi = 0, ,

[0030] X di is the comprehensive object movement risk coefficient at the i-th moment, and the specific calculation formula is as follows: ,

[0031] T ciu is the time taken for the u-th object in the i-th moment in the short-distance area to move to the hatch, and the specific calculation formula is:

[0032] ,

[0033] l aiu is the distance between the u-th movable object relative to the hatch and the hatch at the i-th moment in the short-distance area. T dir is the time taken for the r-th object in the i-th moment in the long-distance area to move to the hatch, and the specific calculation formula is: ,

[0034] l bir is the distance between the r-th movable object relative to the hatch and the hatch at the i-th moment in the long-distance area,

[0035] n ci When n = 0, ,

[0036] n di When n = 0, ;

[0037] The data output unit sends the calculated hatch closing risk coefficient X Bi at the i-th moment to the hatch clamping risk analysis module.

[0038] Preferably, the hatch clamping risk analysis module includes an information receiving unit, a hatch clamping risk index calculation unit, and a data transmission unit. The information receiving unit is used to receive the hatch structure risk coefficient X Gi and the hatch closing risk coefficient X Bi at the i-th moment; the hatch clamping risk index calculation unit is used to calculate the hatch clamping risk index Y Ci at the i-th moment, and the specific formula is:

[0039] ;

[0040] The data transmission unit is used to transmit the calculated hatch clamping risk index Y Ci at the i-th moment to the intelligent early warning module.

[0041] The technical effects and advantages of the present invention:

[0042] The present invention is provided with a hatch information acquisition module, a hatch status data extraction module, a hatch structure risk analysis module, a hatch closing risk analysis module, a hatch clamping risk analysis module, and an intelligent early warning module. After the hatch anti-pinch detection device collects the hatch status information and hatch environment information of the UAV airport in real time, the real-time gap distance between the guiding arm sliding pin and the S guide rail disc, the gap distance between the stop point and the stop pad, and the vibration signal are extracted from the collected hatch status information. The three-dimensional point cloud model of the hatch lock roller and the three-dimensional point cloud model of the lock groove are fused in the moving direction of the lock roller, the volume of the hatch lock roller with successful fusion and the volume of the hatch lock roller with failed fusion are extracted. Four groups of included angles between the hatch edge line and the door frame edge line are extracted from the three-dimensional point cloud models of the hatch and the door frame, the horizontal force data and vertical force data of the parallelogram structure of the guiding arm are extracted. Based on the volume of the hatch lock roller with successful fusion and the volume of the hatch lock roller with failed fusion, the lock roller alignment rate is calculated. Based on the included angle between the hatch edge line and the door frame edge line, the hatch parallel matching degree is calculated. Based on the horizontal force data and vertical force data of the parallelogram structure of the guiding arm, the force balance degree is calculated. Then, the standard lock roller alignment rate coefficient, the standard hatch parallel matching degree coefficient, the standard gap distance between the guiding arm sliding pin and the S guide rail disc, the standard gap distance between the stop point and the stop pad, the standard vibration signal, the standard force balance degree coefficient, the standard horizontal force range, and the standard vertical force range are retrieved to calculate the hatch structure risk coefficient. After receiving the hatch environment information, the object position data and movement data in the hatch area are extracted to evaluate the comprehensive object position risk and the comprehensive object movement risk respectively, and then the hatch closing risk is analyzed. Based on the hatch structure risk analysis result and the hatch closing risk analysis result, the hatch clamping risk is comprehensively analyzed, effectively improving the accuracy of the hatch clamping risk detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a system structure block diagram of the present invention.

[0044] Figure 2 It is a method step diagram of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0046] Such as Figure 1The present embodiment provides an intelligent detection system for preventing the clamping of the hatch door of a drone airport, including an equipment control module, a hatch door information acquisition module, a hatch door status data extraction module, a hatch door structure risk analysis module, a hatch door closing risk analysis module, a hatch door clamping risk analysis module, an intelligent warning module, and a database. The equipment control module, the hatch door information acquisition module, the hatch door status data extraction module, the hatch door structure risk analysis module, the hatch door clamping risk analysis module, and the intelligent warning module are connected in sequence. The hatch door information acquisition module, the hatch door closing risk analysis module, and the hatch door clamping risk analysis module are connected in sequence. All modules in the system are connected to the database.

[0047] The equipment control module checks the performance status of the intelligent detection equipment for preventing the clamping of the hatch door before the drone operates, and arranges maintenance personnel to perform equipment maintenance when it is confirmed that the equipment performance status is abnormal.

[0048] Specifically, in this embodiment, the equipment control module includes a detection equipment performance data acquisition unit, an intelligent recognition unit, an identification result output unit, and a maintenance information feedback unit. The detection equipment performance data acquisition unit is used to collect the performance data of the intelligent detection equipment for preventing the clamping of the hatch door. The intelligent recognition unit uses the constructed intelligent recognition model for abnormal performance of the detection equipment to identify whether there is an abnormal performance status of the intelligent detection equipment for preventing the clamping of the hatch door. When it is confirmed that the performance status of the intelligent detection equipment for preventing the clamping of the hatch door is normal, the identification result output unit sends a prompt indicating that the performance status of the detection equipment for preventing the clamping of the hatch door is normal to the airport safety management center. When it is confirmed that the performance status of the intelligent detection equipment for preventing the clamping of the hatch door is abnormal, the identification result output unit sends a prompt indicating that the performance status of the detection equipment for preventing the clamping of the hatch door is abnormal, the drone number with abnormal performance status of the detection equipment for preventing the clamping of the hatch door, and the name and number of the detection equipment for preventing the clamping of the hatch door with abnormal performance status to the airport safety management center. The maintenance information feedback unit is used to feedback the information of the maintenance personnel and the maintenance records of the equipment with abnormal performance status.

[0049] Specifically, in this embodiment, the construction process of the intelligent recognition model for abnormal performance of the detection equipment is a prior art and will not be elaborated here.

[0050] The hatch door information acquisition module collects the hatch door status information and the hatch door environment information of the drone airport in real time through the detection equipment for preventing the clamping of the hatch door, synchronously transmits the collected hatch door status information to the hatch door status data extraction module, and synchronously transmits the collected hatch door environment information to the hatch door start-stop risk analysis module.

[0051] Further, 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 rollers and slots, as well as the hatch and the doorframe in real time to generate two groups of three-dimensional point cloud models in the same tooling coordinate system. It uses a laser distance sensor to measure the clearance distance between the guide arm sliding pin and the S guide rail disc, and the clearance distance between the stop point and the stop pad in real time. It uses a vibration sensor to monitor the vibration of the hatch structure in real time to obtain vibration signals, and uses a mechanical sensor to measure the force data of the guide arm parallelogram in real time. The hatch environment information acquisition unit uses a high-definition camera to obtain real-time images of the close area of the hatch, and uses a radar sensor to obtain real-time object information in the far area of the hatch. 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 closing risk analysis module.

[0052] The hatch status data extraction module extracts direct hatch status data and indirect hatch status data from the collected hatch status information, processes the extracted indirect hatch status data, and sends the direct hatch status data and the processed indirect hatch status data to the hatch structure risk analysis module;

[0053] The hatch status data extraction module includes a hatch status information receiving unit, a direct hatch status data extraction unit, an indirect hatch status data extraction unit, an indirect hatch status data processing unit, and a hatch status data transmission unit. The hatch status information receiving unit is used to receive hatch status information. The direct hatch status data extraction unit is used to extract the clearance distance d between the guide arm sliding pin and the S guide rail disc at the i-th moment axi , the clearance distance d between the stop point and the stop pad bxi , and the vibration signal Φ xi . The indirect hatch status data extraction unit fuses the three-dimensional point cloud model of the hatch lock roller and the three-dimensional point cloud model of the slot in the direction of the lock roller movement at the i-th moment, and extracts the volume V of the successfully fused hatch lock roller sci , the volume V of the hatch lock roller with failed fusion sbi . It extracts four groups of angles between the hatch edge line and the doorframe edge line from the three-dimensional point cloud model of the hatch and the doorframe at the i-th moment, which are represented by θ ai , θ bi , θ ci , θ di respectively. It extracts the horizontal forces F pai , F pbi and the vertical forces F zai , F zbi of the guide arm parallelogram structure at the i-th moment. The indirect hatch status data processing unit is based on the volume V of the successfully fused hatch lock roller sci, the volume V of the cabin door lock roller with fusion failure sbi Calculate the alignment rate coefficient α of the lock roller at the i-th moment zi , and the specific formula is: ,

[0054] Based on the angles θ ai , θ bi , θ ci , θ di Calculate the parallel matching degree coefficient α of the cabin door at the i-th moment pi , and the specific formula is:

[0055] ,

[0056] Based on the horizontal force F pai , F pbi and the vertical force F zai , F zbi Calculate the force balance degree coefficient h xi , and the specific formula is:

[0057] ;

[0058] The cabin door state data transmission unit sends the directly extracted cabin door state data and the processed indirectly cabin door state data to the cabin door structure risk analysis module.

[0059] The cabin door structure risk analysis module compares the directly cabin door state data and the processed indirectly cabin door state data with the standard parameters of the corresponding data items to calculate the cabin door structure risk coefficient;

[0060] The cabin door structure risk analysis module includes a cabin door state data receiving unit, a cabin door structure standard parameter retrieval unit, a cabin door structure risk analysis unit, and a data output unit. The cabin door state data receiving unit is used to receive the directly cabin door state data and the processed indirectly cabin door state data; the cabin door structure standard parameter retrieval unit is used to retrieve the standard alignment rate coefficient α d , the standard parallel matching degree coefficient α x , the standard clearance distance d between the guide arm sliding pin and the S guide rail disc ay , the standard clearance distance d between the stop point and the stop pad by , the standard vibration signal Φ y and the standard force balance degree coefficient h y ; the cabin door structure risk analysis unit is used to calculate the cabin door structure risk coefficient X Gi , and the specific formula is:

[0061] ,

[0062] X Fi is the force - over - limit coefficient; the data output unit is used to send the calculated hatch structure risk coefficient X at the i - th moment Gi to the hatch clamping risk analysis module.

[0063] Specifically in this embodiment, an algorithm for the force - over - limit coefficient is provided, specifically as follows: ,

[0064] X Fpi is the horizontal force - over - limit coefficient, X Fzi is the vertical force - over - limit coefficient, and the specific calculation formulas are as follows:

[0065] , ,

[0066] [F pmin , F pmax is the standard horizontal force range, [F zmin , F zmax is the standard vertical force range.

[0067] After receiving the hatch environment information, the hatch closing risk analysis module extracts the object position data and movement data in the hatch area, evaluates the comprehensive object position risk and the comprehensive object movement risk respectively, and then analyzes the hatch closing risk;

[0068] Furthermore, the hatch closing risk analysis module includes a hatch environment information receiving unit, a hatch environment information extracting unit, a hatch closing risk analysis unit, and a data output unit. The hatch environment information receiving unit is used to receive the hatch environment information; the hatch environment information extracting unit is used to extract the number of objects n ai at the i - th moment in the close - range area of the hatch, the number of movable objects n ci relative to the hatch at the i - th moment, the distance l aij between the j - th object and the hatch at the i - th moment, and the relative moving speed v ciu at which the u - th object approaches the hatch at the i - th moment, and extracts the number of objects n bi at the i - th moment in the far - range area of the hatch, the number of movable objects n di relative to the hatch at the i - th moment, the distance l bik between the k - th object and the hatch at the i - th moment, and the relative moving speed v dir at which the r - th object approaches the hatch at the i - th moment; the hatch closing risk analysis unit is used to calculate the hatch closing risk coefficient X Bi at the i - th moment, and the specific formula is:

[0069] ,

[0070] Xwi is the comprehensive object position risk coefficient at the i-th moment, and the specific calculation formula is as follows:

[0071] ,

[0072] n ai When = 0, ,

[0073] n bi When = 0, , X di is the comprehensive object movement risk coefficient at the i-th moment, and the specific calculation formula is as follows:

[0074] ,

[0075] T ciu is the time taken for the u-th object in the close range to move to the hatch at the i-th moment, and the specific calculation formula is:

[0076] ,

[0077] l aiu is the distance between the u-th movable object relative to the hatch and the hatch in the close range at the i-th moment, T dir is the time taken for the r-th object in the far range to move to the hatch at the i-th moment, and the specific calculation formula is: , l bir is the distance between the r-th movable object relative to the hatch and the hatch in the far range at the i-th moment,

[0078] n ci When = 0, ,

[0079] n di When = 0, ; The data output unit sends the calculated hatch closing risk coefficient X at the i-th moment Bi to the hatch clamping risk analysis module.

[0080] Specifically, in this embodiment, in the technical formula for the hatch closing risk coefficient, there may be a situation where one of the position risk coefficient or the comprehensive object movement risk coefficient is 0 and the other is not 0. The "+1" in the formula is a data compensation processing method to avoid the situation where the calculated hatch closing risk coefficient is 0 due to the direct multiplication of one of the position risk coefficient or the comprehensive object movement risk coefficient being 0 and the other not 0. At this time, the actual hatch closing risk is not 0, and the reason for "+1" in the other formulas is the same.

[0081] The hatch clamping risk analysis module comprehensively analyzes the hatch clamping risk based on the results of the hatch structure risk analysis and the hatch closing risk analysis, and transmits the analysis results to the intelligent warning module;

[0082] Further, the hatch clamping risk analysis module includes an information receiving unit, a hatch clamping risk index calculation unit, and a data transmission unit. The information receiving unit is used to receive the hatch structure risk coefficient X Gi and the hatch closing risk coefficient X Bi at the i-th moment; the hatch clamping risk index calculation unit is used to calculate the hatch clamping risk index Y Ci at the i-th moment, and the specific formula is:

[0083] ;

[0084] The data transmission unit is used to transmit the calculated hatch clamping risk index Y Ci at the i-th moment to the intelligent warning module.

[0085] The intelligent warning module issues an alarm when the calculated hatch clamping risk index is greater than or equal to the preset alarm threshold, and does not perform any processing when the calculated hatch clamping risk index is less than the preset alarm threshold.

[0086] The database is used to store the data information of all modules in the system.

[0087] Specifically in this embodiment, the preset values and standard values used are selected based on actual needs, and no specific value limits are made here.

[0088] As Figure 2 shown, this embodiment provides an intelligent detection method for preventing hatch clamping of an unmanned aerial vehicle airport, including the following steps:

[0089] S1: Real-time collect the hatch state information and hatch environment information of the unmanned aerial vehicle airport through the hatch anti-pinch detection device;

[0090] S2: Extract the direct hatch state data and indirect hatch state data from the collected hatch state information, and at the same time process the extracted indirect hatch state data;

[0091] S3: Compare the direct hatch state data and the processed indirect hatch state data with the standard parameters of the corresponding data items to calculate the hatch structure risk coefficient;

[0092] S4: After receiving the hatch environment information, extract the object position data and movement data in the hatch area to evaluate the comprehensive object position risk and comprehensive object movement risk respectively, and then analyze the hatch closing risk;

[0093] S5: Comprehensively analyze the risk of hatch clamping based on the results of the hatch structure risk analysis and the hatch closing risk analysis;

[0094] S6: Issue an alarm when the calculated hatch clamping risk index is greater than or equal to the preset alarm threshold, and do nothing when the calculated hatch clamping risk index is less than the preset alarm threshold.

[0095] Finally: The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent detection system for preventing pinching of the hatch door of a drone airport, characterized in that: Including: Hatch door information acquisition module: It acquires the hatch door status information and hatch door environment information of the UAV airport in real time through the hatch door anti-pinch detection device, synchronously transmits the acquired hatch door status information to the hatch door status data extraction module, and synchronously transmits the acquired hatch door environment information to the hatch door closing risk analysis module; Hatch door status data extraction module: Extracts the direct hatch door status data and indirect hatch door status data from the acquired hatch door status information, processes the extracted indirect hatch door status data, and sends the direct hatch door status data and the processed indirect hatch door status data to the hatch 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 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 angles θ ai 、 θ bi 、 θ ci 、 θ di between the four sets of hatch edge lines and the door frame edge lines, calculate the hatch parallel matching degree coefficient α pi at the i-th moment. The specific formula is as follows: ， Horizontal force F based on the parallelogram structure of the guiding arm at the i-th moment pai , F pbi and vertical force F zai , F zbi Calculate the force balance coefficient h xi , and the specific formula is: ； The hatch door status data transmission unit sends the extracted direct hatch door status data and the processed indirect hatch door status data to the hatch door structure risk analysis module; Hatch door structure risk analysis module: Compares the direct hatch door status data and the processed indirect hatch door status data with the standard parameters of the corresponding data items to calculate the hatch door structure risk coefficient; Hatch door closing risk analysis module: After receiving the hatch door environment information, extracts the object position data and movement data in the hatch door area, evaluates the comprehensive object position risk and the comprehensive object movement risk respectively, and then analyzes the hatch door closing risk; Hatch door clamping risk analysis module: Comprehensively analyzes the hatch door clamping risk based on the hatch door structure risk analysis result and the hatch door closing risk analysis result, and transmits the analysis result to the intelligent warning module; Intelligent warning module: Issues an alarm when the calculated hatch door clamping risk index is greater than or equal to the preset alarm threshold, and does nothing when the calculated hatch door clamping risk index is less than the preset alarm threshold.

2. The intelligent detection system for preventing pinching of the drone airport hatch according to claim 1, wherein: The hatch door information acquisition module includes a hatch door status information acquisition unit, a hatch door environment information acquisition unit, and a hatch door information output unit. The hatch door status information acquisition unit uses a structured light scanner to scan the hatch door lock roller and lock groove, and the hatch door and door frame in real time to generate two groups of three-dimensional point cloud models in the same tooling coordinate system, uses a laser distance sensor to measure the clearance distance between the guide arm sliding pin and the S guide rail disc, and the clearance distance between the stop point and the stop pad in real time, uses a vibration sensor to perform real-time vibration monitoring on the hatch door structure to obtain vibration signals, and uses a mechanical sensor to measure the force data of the guide arm parallelogram in real time; the hatch door environment information acquisition unit obtains the real-time image of the close area of the hatch door through a high-definition camera, and obtains the real-time object information of the far area of the hatch door through a radar sensor; the hatch door information output unit transmits the acquired hatch door status information to the hatch door status data extraction module, and transmits the acquired hatch door environment information to the hatch door closing risk analysis module.

3. The intelligent detection system for preventing pinching of the drone airport hatch according to claim 1, wherein: The hatch structure risk analysis module includes a hatch status data receiving unit, a hatch structure standard parameter retrieval unit, a hatch structure risk analysis unit, and a data output unit. The hatch status data receiving unit is used to receive the direct hatch status data and the processed indirect hatch status data; the hatch structure standard parameter retrieval unit is used to retrieve the standard lock roller alignment rate coefficient α d , the standard hatch parallel matching degree coefficient α x , the standard clearance distance d between the guiding arm sliding pin and the S guide rail disc ay , the standard clearance distance d between the stop point and the stop pad by , the standard vibration signal Φ y , and the standard force balance degree coefficient h y ; the hatch structure risk analysis unit is used to calculate the hatch structure risk coefficient X Gi at the i-th moment, and the specific formula is: ， X Fi is the force overrun coefficient; the data output unit is used to send the calculated hatch structure risk coefficient X at the i-th moment Gi to the hatch clamping risk analysis module.

4. The intelligent detection system for preventing pinching of the hatch door of a drone airport according to claim 3, characterized in that: The hatch closing risk analysis module includes a hatch environment information receiving unit, a hatch environment information extraction unit, a hatch closing risk analysis unit, and a data output unit. The hatch environment information receiving unit is used to receive hatch environment information; the hatch environment information extraction unit is used to extract the number of objects n at the i-th moment in the close area of the hatch ai , the number of movable objects n relative to the hatch at the i-th moment ci , the distance l between the j-th object and the hatch at the i-th moment aij , and the relative moving speed v of the u-th object approaching the hatch at the i-th moment ciu , and extract the number of objects n at the i-th moment in the far area of the hatch bi , the number of movable objects n relative to the hatch at the i-th moment di , the distance l between the k-th object and the hatch at the i-th moment bik , and the relative moving speed v of the r-th object approaching the hatch at the i-th moment dir ; the hatch closing risk analysis unit is used to calculate the hatch closing risk coefficient X at the i-th moment Bi , and 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 When = 0, , n bi When = 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 u-th object to move to the hatch at the i-th moment in the short-distance area. The specific calculation formula is as follows: ， l aiu is the distance between the u-th movable object relative to the hatch and the hatch at the i-th moment in the short-distance area, T dir is the time taken for the r-th object to move to the hatch at the i-th moment in the long-distance area. The specific calculation formula is: , l bir is the distance between the r-th movable object relative to the hatch at the i-th moment in the far-distance area and the hatch. n ci When = 0, , n di When = 0, ; The data output unit sends the calculated hatch closing risk coefficient X at the i-th moment Bi to the hatch clamping risk analysis module.

5. An intelligent detection system for preventing pinching of the hatch door of a drone airport, according to claim 4, characterized in that: The hatch clamping risk analysis module includes an information receiving unit, a hatch clamping risk index calculation unit, and a data transmission unit. The information receiving unit is used to receive the hatch structure risk coefficient X Gi and the hatch closing risk coefficient X Bi at the i-th moment. The hatch clamping risk index calculation unit is used to calculate the hatch clamping risk index Y Ci at the i-th moment. The specific formula is as follows: ； The data transmission unit is used to transmit the calculated hatch clamping risk index Y at the i-th moment Ci to the intelligent early warning module.

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