Unpowered inspection vehicle, inspection equipment and inspection method based on airport independent transport system

Abstract

The present invention belongs to the field of inspection of independent transportation systems for airports, and specifically discloses an unpowered inspection vehicle, inspection equipment, and inspection method based on the independent transportation system for airports, wherein the unpowered inspection vehicle based on the independent transportation system for airports comprises a box-shaped chassis, the front side panels and the rear side panels both comprise a first inclined section and a second inclined section, the first inclined section is connected to the bottom panel and forms an acute angle with the horizontal plane of , the second inclined section forms an acute angle with the horizontal plane of , and; a camera assembly is mounted on the second inclined section; speed slide plates are embedded on the opposite sides of the left and right panels, and the coefficient of kinetic friction of the speed slide plates is . The solution of the present invention can solve the problems of unpowered inspection vehicles easily rubbing against and colliding with the guard plates on both sides of the ICS when turning, and there are also problems of easy jamming and poor passability, which affect data collection.

Description

Technical Field

[0001] The present invention belongs to the field of inspection of independent transportation systems of airports, and in particular relates to an unpowered inspection vehicle, inspection equipment and inspection method based on the independent transportation system of airports. Background Art

[0002] The Individual Carrier System (ICS) is the core baggage handling and sorting system at large hub airports. It consists of multiple sections and types of equipment (such as linear conveyors, curves, and merging equipment). It features a complex layout, long conveying distances (up to several kilometers), and high operating speeds (up to 10 m / s). To ensure the stability and reliability of the ICS, regular fault inspections are required.

[0003] like Figure 9 、 10 As shown in Figure 11, ICS includes straight-line transport equipment, turning transport equipment, and merging transport equipment. The straight-line transport equipment mainly consists of a double-sided narrow belt 20, a frame, and a guard plate 22; the turning transport equipment mainly consists of a roller and roller assembly 21 (including rollers and rollers installed on both sides of the rollers), a frame, and a guard plate 22; the merging transport equipment is divided into two parts: the main line and the branch line, and mainly consists of a roller and roller assembly 21 (including rollers and rollers installed on both sides of the rollers), a frame, and a guard plate 22. According to the required baggage conveying and sorting routes, the straight-line transport equipment, the turning transport equipment, and the merging transport equipment are assembled and coordinated to form a large ICS loop line, see Figure 16 As shown, Figure 16 Only the loop line portion is shown in the figure. The actual loop line design path in the airport will be more complicated.

[0004] Existing inspection methods include manual inspection and equipment self-inspection, both of which have corresponding shortcomings. Traditional powered inspection vehicles cannot move on ICS. Therefore, patent CN202410748360.3 discloses an inspection control method and system based on an independent airport transportation system, proposing that inspections can be carried out by relying on the transportation of the ICS itself, that is, proposing to design an unpowered inspection vehicle. However, due to the structure of the ICS, the unpowered inspection vehicle is very likely to hit the guard plates 22 on both sides when running on the ICS, which leads to friction, jamming, poor passability and other problems. For example, at the junction of straight transport equipment and turning transport equipment (see Figure 12 As shown), when turning, the unpowered inspection vehicle is very likely to rub against or collide with the guard plates 22 on both sides on the ICS; for example, when the unpowered inspection vehicle is running on a turning transport device, it may collide with the outer guard plates 22 due to the centrifugal force.

[0005] ICS are commonly used to transport luggage and cargo, and even collisions and jams do not affect delivery. However, unpowered inspection vehicles require high data collection accuracy during inspections. Any bumps or collisions can affect data collection, and can even cause data collection components within the unpowered inspection vehicle to fall off or be damaged due to collisions, making it impossible to complete the inspection. Therefore, it is currently unfeasible to design an unpowered inspection vehicle that can meet the inspection accuracy requirements solely through ICS transportation. Consequently, the method and process for achieving this inspection with unpowered inspection vehicles is a current technical challenge. Summary of the Invention

[0006] To address the shortcomings of the existing technology, the present invention provides an unpowered inspection vehicle, inspection equipment, and inspection method based on an independent airport transport system. These solutions address the following issues: unpowered inspection vehicles are prone to friction and collision with the guard plates on both sides of the ICS when turning. They also may be prone to getting stuck and have poor passability, which affects data collection. Currently, there is no unpowered inspection vehicle design that can meet inspection requirements relying solely on the ICS's own transportation.

[0007] According to an embodiment of the present invention, the present invention adopts the following technical solutions:

[0008] The unpowered inspection vehicle based on the airport independent transport system includes a box-shaped chassis, which includes a bottom plate, a left side plate, a right side plate, a front side plate, and a rear side plate. The front side plate and the rear side plate each include a first inclined section and a second inclined section. The first inclined section is connected to the bottom plate and forms an acute angle with the horizontal plane of , the acute angle formed by the second inclined section and the horizontal plane is ,and The second inclined section of the front side plate and / or the rear side plate is provided with a camera assembly; the left side plate and the right side plate are both embedded with a speed slide plate, and the kinetic friction coefficient of the speed slide plate is , Satisfies the formula: , where β refers to the angle formed between the end face of the straight conveyor and the first roller at the head end of the curve conveyor in the ICS.

[0009] Compared with the prior art, the present invention has the following beneficial effects:

[0010] 1. When the unpowered inspection vehicle is on the turning transport equipment and the merging transport equipment, it is powered by the roller and the wheel assembly. However, there is a gap between the rollers, which may cause the front side plate or the rear side plate to collide with the roller, which may easily cause damage to the unpowered inspection vehicle. Therefore, the first inclined section is provided to provide a certain guiding effect, which greatly reduces the collision damage.

[0011] The second inclined section also plays a certain guiding role, but in order to ensure the shooting range of the camera assembly, the angle of the second inclined section Not too small.

[0012] 2. When the unpowered inspection vehicle travels from the linear conveyor to the curve conveyor and contacts the first roller, the force direction changes, causing the vehicle's trajectory to shift. This can cause the vehicle's sides (left and right panels) to contact and rub against the curve conveyor's guard plates. Excessive friction can cause the vehicle to sway or become stuck. To address this, this solution controls the friction when the vehicle travels from the linear conveyor to the curve conveyor and contacts the first roller, preventing these issues.

[0013] In this solution, the front, rear, left, and right side panels of the non-powered inspection vehicle are redesigned to greatly reduce collision damage and jamming, thereby improving the applicability of the non-powered inspection vehicle on the ICS.

[0014] Furthermore, the left side panel includes a first left side portion, a second left side portion and a third left side portion, and the right side panel includes a first right side portion, a second right side portion and a third right side portion; the first left side portion, the first right side portion and the front side panel are integrally formed to form a first section, the second left side portion, the second right side portion and the bottom panel are integrally formed to form a middle section, and the third left side portion, the third right side portion and the rear side panel are integrally formed to form a tail section; the first section, the middle section and the tail section are detachably connected in sequence.

[0015] Furthermore, the chassis is provided with crisscrossing reinforcing ribs, all of which are U-shaped.

[0016] Furthermore, a shock-absorbing plate is detachably connected to the bottom of the base plate, and the critical friction coefficient between the bottom of the shock-absorbing plate and the turning transport equipment of the ICS is , Satisfies the formula: , where v is the turning speed of the unpowered inspection vehicle on the turning transport equipment of the ICS, in m / s, R is the turning radius of the unpowered inspection vehicle on the ICS, in m, and g is the acceleration due to gravity.

[0017] Furthermore, the coefficient of kinetic friction at the bottom of the damping plate is , Satisfies the formula: ,in, is the speed of the unpowered inspection vehicle when it stops, in m / s. S is the required gliding distance of the unpowered inspection vehicle after the ICS stops, S≤0.05m. g is the acceleration due to gravity.

[0018] Furthermore, the shock-absorbing plate includes a rubber portion and a hard plate portion bonded to the rubber portion, the hard plate portion has a thickness of 1-2 mm, and is located between the rubber portion and the bottom plate; the shock-absorbing plate is bolted to the bottom plate.

[0019] Furthermore, the camera assembly includes a camera and a light source for illuminating the camera shooting environment. Two cameras are provided and are respectively located on both sides of the second inclined section.

[0020] further, Angle Satisfaction , where b refers to the distance from the center of the camera along the surface of the second inclined section to the plane where the bottom plate is located, in meters, and d refers to the shooting distance requirement of the camera, in meters.

[0021] Furthermore, a plurality of heat dissipation holes are provided on the front side panel and / or the rear side panel and / or the left side panel and / or the right side panel.

[0022] Furthermore, an RFID tag is embedded in the bottom of the chassis, and a cover plate for covering the RFID tag is detachably connected to the bottom of the chassis.

[0023] According to an embodiment of the present invention, the present invention adopts the following technical solutions:

[0024] The inspection equipment includes an unpowered inspection vehicle based on an independent airport transport system and a wireless charging mechanism. The unpowered inspection vehicle based on the independent airport transport system also includes a top plate covering the chassis. The wireless charging mechanism includes a standby position set on the side of the ICS linear transport equipment, a wireless charging receiving module installed on the top plate, and a wireless charging transmitting module installed in the standby position. The wireless charging receiving module and the wireless charging transmitting module cooperate to complete wireless charging.

[0025] Furthermore, the wireless charging mechanism also includes a transport component for transporting the chassis from the ICS to the standby position. The transport component includes a lifting module that slides or telescopes vertically, a first conveying module arranged on the lifting module, and a second conveying module arranged at the standby position. The conveying direction of the first conveying module is close to or away from the standby position, and the conveying direction of the second conveying module is consistent with that of the first conveying module.

[0026] According to an embodiment of the present invention, the present invention adopts the following technical solutions:

[0027] The inspection method, using inspection equipment, includes the following steps:

[0028] S1. After receiving the inspection instruction, move the non-powered inspection vehicle from the standby position to the ICS;

[0029] S2. The unpowered inspection vehicle conducts inspections on the ICS according to the ICS preset transportation route and collects characteristic information during the inspection process;

[0030] S3. Determine whether the unpowered inspection vehicle returns to the position corresponding to the ICS and the standby position within the specified time. If so, the inspection is deemed complete and S4 is executed. If not, the inspection is deemed failed, a fault alarm is issued, and the inspection is exited.

[0031] S4. Move the non-powered inspection vehicle from the ICS to the standby position;

[0032] S5. The non-powered inspection vehicle automatically charges at the standby position and enters the standby state after charging is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of an unpowered inspection vehicle based on an independent airport transportation system according to an embodiment of the present invention.

[0034] Figure 2 for Figure 1 Left view of .

[0035] Figure 3 Schematic diagram of the structure of a segmented chassis in an embodiment of the present invention.

[0036] Figure 4 for Figure 1 Front view of.

[0037] Figure 5 for Figure 1 Bottom view of .

[0038] Figure 6 A schematic diagram of the overall structure of the chassis.

[0039] Figure 7 This is a schematic diagram of the design of the reinforcement ribs in the unpowered inspection vehicle based on the airport independent transportation system according to an embodiment of the present invention.

[0040] Figure 8 This is a schematic diagram of the design of a shock-absorbing plate in an unpowered inspection vehicle based on an independent airport transportation system according to an embodiment of the present invention.

[0041] Figure 9 This is a schematic diagram of the status of an unpowered inspection vehicle based on an airport independent transportation system on an ICS linear transportation device according to an embodiment of the present invention.

[0042] Figure 10 This is a schematic diagram of the status of an unpowered inspection vehicle based on an airport independent transportation system on an ICS turning transportation device according to an embodiment of the present invention.

[0043] Figure 11 This is a schematic diagram of the status of an unpowered inspection vehicle based on an airport independent transportation system on an ICS merging transportation device according to an embodiment of the present invention.

[0044] Figure 12 This is a schematic diagram of the state of an unpowered inspection vehicle based on an airport independent transportation system according to an embodiment of the present invention transferring from an ICS straight transportation device to a turning transportation device.

[0045] Figure 13 for Figure 12 Force analysis diagram of the non-powered inspection vehicle.

[0046] Figure 14 It is a structural diagram of the inspection equipment according to an embodiment of the present invention.

[0047] Figure 15 This is a structural block diagram of the inspection method according to an embodiment of the present invention.

[0048] Figure 16 It is a schematic diagram of the ICS loop in the background technology of the present invention.

[0049] In the figure: 1. Top plate; 2. Left side plate; 3. Wireless charging receiving module; 4. First left side portion; 5. Second left side portion; 6. Third left side portion; 7. Second inclined section; 8. First inclined section; 9. Front side plate; 10. Rear side plate; 11. Camera; 12. Light source; 13. Heat dissipation hole; 14. Mounting slot; 15. Shock-absorbing plate; 16. Chassis; 17. Horizontal ribs; 18. Longitudinal ribs; 19. Reinforcing ribs; 20. Narrow belt; 21. Roller and wheel assembly; 22. Guard plate; 23. Second conveying module; 24. First conveying module; 25. Standby position; 26. Rubber part; 27. Hard board part; 28. Bottom plate; 29. ​​Cover plate; 30. RFID tag; 31. Right side plate. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below with reference to the accompanying drawings, and specific implementation methods will be given.

[0051] In a first aspect, embodiments of the present invention disclose an unpowered inspection vehicle based on an independent airport transport system, specifically including the following embodiments:

[0052] like Figure 1 、 Figure 6As shown, the unpowered inspection vehicle based on the airport independent transport system includes a box-shaped chassis 16, which includes a bottom plate 28, a left side plate 2, a right side plate 31, a front side plate 9, and a rear side plate 10. In actual use, chassis 16 can be used to install a series of conventional ICS inspection module components, such as data acquisition modules (e.g., sensor modules), power modules (for powering the sensor modules, camera components, etc.), data processing modules (for collecting and processing collected information), and wireless communication modules (for transmitting collected information). These components can be installed within chassis 16 as needed. Chassis 16 provides mounting space for these ICS inspection module components. The specific installation method is not described in this application; conventional methods in the prior art can be used, and the components can be integrated and fixed within chassis 16 or simply placed within chassis 16, depending on actual needs.

[0053] The flatness of the bottom of the chassis 16 (i.e., the bottom plate 28) is ≤2mm to avoid insufficient power or movement track deviation caused by the uneven bottom of the chassis 16. In particular, when the chassis 16 is uneven, it is easy to have obvious jumping when passing through merging transportation equipment and turning transportation equipment, affecting the signal collection of the inspection. Frequent vibration will also affect the life of the electrical components inside the non-powered inspection vehicle.

[0054] Combine Figure 9 As shown, the overall width of the non-powered inspection vehicle, namely the distance between the opposing sides of the left and right panels 2 and 31, is L1. This requires consideration of the center-to-center distance (L2) of the narrow belts 20 of the ICS linear conveyor system (i.e., the length of the connecting centerlines of the narrow belts 20), as well as the distance (L3) between the left and right panels 2 and 31 and the guard plates 22 on either side of the ICS. In actual design, L1 > L2 to ensure contact area between the chassis 16 and the narrow belts 20, ensuring the linear conveyor system can provide sufficient power for the non-powered inspection vehicle. L3 is 5-10 mm, which prevents friction between the left or right panels 2 and 31 and the guard plates 22, while also preventing the non-powered inspection vehicle from drifting.

[0055] Combine Figure 2 The front side plate 9 and the rear side plate 10 both include a first inclined section 8 and a second inclined section 7. The first inclined section 8 is connected to the bottom plate 28 and forms an acute angle with the horizontal plane of The acute angle formed by the second inclined section 7 and the horizontal plane is ,and A camera assembly is mounted on the second inclined section 7 of the front side panel 9 and / or the rear side panel 10. When the unpowered inspection vehicle is on curved or merging transport equipment, it is powered by rollers and a wheel assembly. Due to the spacing between the rollers, collisions between the front side panel 9 or the rear side panel 10 and the rollers are possible. At a speed of 2.5 m / s, this can easily damage the rollers of the unpowered inspection vehicle or the ICS. Therefore, the first inclined section 8 is provided to provide a certain degree of guidance, greatly reducing collision damage.

[0056] The second inclined section 7 also plays a certain guiding role, but in order to ensure the shooting range of the camera assembly, the angle of the second inclined section 7 is It should not be too small. The camera assembly is mainly used to take pictures of the narrow belts 20 on both sides of the linear transport equipment for belt wear analysis. It is necessary to ensure that the belt detection part is within the shooting range of the camera assembly. In order to increase the probability of monitoring the damaged surface of the belt, the shooting distance requirement d (in meters) of the camera assembly should meet d ≥ 1m. Should meet ,Right now , where b refers to the distance from the center position of the camera 11 along the surface of the second inclined section 7 to the plane where the bottom plate 28 is located, and the unit is m.

[0057] Specific, combined Figure 4 As shown, the camera assembly includes a camera 11 and a light source 12 for illuminating the environment captured by camera 11. Two cameras 11 are provided, one on each side of the second inclined section 7, to capture images of the narrow belt 20 on both sides. In large airports, when constructing an ICS, there may be a need to circumvent obstacles, cross isolated areas, or connect two terminals. This creates a tunnel environment. Specifically, the ICS is constructed in a poorly lit tunnel. To ensure the clarity of the images captured by camera 11, light source 12 is provided. Specifically, LED light sources 12 can be used.

[0058] Combine Figure 12 、 Figure 13 As shown, when the unpowered inspection vehicle travels from the linear conveyor to the curved conveyor and contacts the first roller, the force direction changes, causing the vehicle's trajectory to shift. This results in contact and friction between the vehicle's sides (left side panel 2 and right side panel 31) and the curved conveyor's guard plate 22. Excessive friction can cause the vehicle to sway or become stuck. Therefore, in this solution, speed-reducing slides are embedded on the opposing sides of the left and right side panels 2 and 31. These slides reduce friction between the left and right side panels 2 and 31 and the guard plate 22.

[0059] Specifically, when selecting the material of the speed slide, it is necessary to focus on the friction coefficient of the speed slide. The dynamic friction coefficient of the speed slide is , Satisfies the formula: , where β refers to the angle between the end surface of the linear conveyor and the first roller at the beginning of the curve conveyor in the ICS. In the actual design process, the speed slide plate is made of polymer nylon or existing STS speed slide material, which has high wear resistance and a low friction coefficient, meeting the application requirements.

[0060] Specifically, when the unpowered inspection vehicle enters the turning transport equipment from the straight transport equipment, the force exerted by the straight transport equipment is , the direction is perpendicular to the end face of the straight transport equipment, and the magnitude of the force received by the first roller at the head end of the turning transport equipment is , the direction is perpendicular to the central axis of the roller. and The resultant force is .Will Decomposed into the force perpendicular to the roller direction and the force along the centerline of the roller . Make the unpowered inspection vehicle move forward, The pressure on the side of the speed sled when it contacts the guard plate 22. Friction in the opposite direction Then we can calculate , , , To enable the unpowered inspection vehicle to continue moving forward, , that is, .

[0061] The chassis 16 is covered with a top plate 1 to protect the electrical components inside the chassis 16. The top plate 1 can be bolted to the chassis 16 or connected to the chassis 16 by other means. A number of heat dissipation holes 13 are provided on the front side panel 9 and / or the rear side panel 10 and / or the left side panel 2 and / or the right side panel 31. The electrical components inside the chassis 16 will generate heat when in use. Through the design of the heat dissipation holes 13, ventilation is formed inside the chassis 16 to increase the service life of the electrical components. During the movement of the unpowered patrol vehicle, air can enter the chassis 16 through the heat dissipation holes 13 for ventilation and heat dissipation. Taking into account the air flow path, in the actual design process, multiple heat dissipation holes 13 can be designed on both the front side panel 9 and the rear side panel 10 to enable front-to-back convection and allow as much air as possible to enter the chassis 16.

[0062] Combine Figure 5 、 Figure 8As shown, an RFID tag 30 is embedded in the bottom of the chassis 16. Specifically, a mounting slot 14 is provided at the center of the bottom of the shock-absorbing plate 15. The RFID tag 30 is snapped into the mounting slot 14. When the RFID identifier is installed on the ICS, the RFID identifier does not protrude from the surface of the ICS during installation, so that the position of the non-powered inspection vehicle on the ICS can be identified in a contactless manner.

[0063] To prevent the RFID tag 30 from vibrating and falling off during the inspection process of the non-powered inspection vehicle, a cover plate 29 for covering the RFID tag 30 is detachably connected to the bottom of the chassis 16. The cover plate 29 is made of plastic and can be bolted to the shock-absorbing plate 15. In the actual design process, the installation slot 14 is a stepped slot, so that the cover plate 29 is also embedded in the installation slot 14 to avoid protruding from the shock-absorbing plate 15. The total depth of the installation slot 14 needs to meet the recognition distance of the RFID identifier. For example, the maximum recognition distance of a conventional RFID identifier is 15 cm. When the RFID tag 30 is embedded in the installation slot 14, when the non-powered inspection vehicle passes directly over the RFID identifier on the ICS, the distance between the RFID tag 30 and the RFID identifier needs to be less than 15 cm. The RFID identifier and RFID tag 30 are then installed according to the requirements.

[0064] In another embodiment of the present invention, Figure 2 、 Figure 3 As shown, the left side panel 2 includes a first left side portion 4, a second left side portion 5, and a third left side portion 6, and the right side panel 31 includes a first right side portion, a second right side portion, and a third right side portion. The first left side portion 4, the first right side portion, and the front side panel 9 are integrally formed to form the first section, the second left side portion 5, the second right side portion, and the bottom panel 28 are integrally formed to form the middle section, and the third left side portion 6, the third right side portion, and the rear side panel 10 are integrally formed to form the tail section. The first section, the middle section, and the tail section are sequentially detachably connected, for example, by conventional connection methods such as snap connections or bolt connections. The segmented design makes processing easier, ensuring the flatness of the bottom panel 28 while also facilitating multiple bending processes of the front side panel 9 and the rear side panel 10.

[0065] In another embodiment of the present invention, Figure 7As shown, the chassis 16 is provided with criss-cross reinforcing ribs 19, and the reinforcing ribs 19 are all U-shaped. Specifically, in this embodiment, two longitudinal ribs 18 and four transverse ribs 17 are fixed or integrally formed on the bottom plate 28 (during the design process, the number of longitudinal ribs 18 and transverse ribs 17 can be designed otherwise). The transverse ribs 17 and the longitudinal ribs 18 form a layout of a cross-shaped grid. The two ends of the longitudinal ribs 18 extend along the shapes of the front side plate 9 and the rear side plate 10. The two longitudinal ribs 18 are symmetrically arranged along the center line between the left side plate 2 and the right side plate 31. The two ends of the transverse ribs 17 extend along the shapes of the left side plate 2 and the right side plate 31. The four transverse ribs 17 are divided into two groups and are symmetrically arranged along the center line between the front side plate 9 and the rear side plate 10. The distance between the two transverse ribs 17 in the same group is less than the distance between the middle two transverse ribs 17, that is, the two groups of transverse ribs 17 are closer to the front side plate 9 and the rear side plate 10 respectively. This is because under the same force, the front and rear ends of the chassis 16 are more likely to deform than the middle area.

[0066] The contact forms between the chassis 16 and the turning transportation equipment and the confluent transportation equipment of the ICS are both line contacts (that is, line contacts with the rollers on the rollers). If the stiffness and strength of the chassis 16 are insufficient and deformation occurs, the contact points with the turning transportation equipment and the confluent transportation equipment will decrease, resulting in problems such as insufficient power, changes in the running track leading to impacts on the guard plate 22, jams, etc. Therefore, in this embodiment, the strength of the bottom plate 28 is enhanced through the design of the reinforcing ribs 19, and the deformation of the bottom plate 28 is reduced. After verification by finite element analysis, when the solution of this embodiment is adopted, the maximum deformation of the bottom of the unmanned patrol vehicle is <0.5 mm, within the allowable error of 2 mm when running on the ICS.

[0067] In another embodiment of the present invention, in combination with Figure 8 As shown, a shock-absorbing plate 15 is detachably connected to the bottom of the bottom plate 28. Specifically, the shock-absorbing plate 15 is used to perform the shock-absorbing function and protect the internal components of the unmanned patrol vehicle. Specifically, the shock-absorbing plate includes a rubber part 26 and a hard plate part 27 bonded to the rubber part 26. The thickness of the hard plate part 27 is 1-2 mm, and the hard plate part 27 is located between the rubber part 26 and the bottom plate 28; the shock-absorbing plate 15 is bolted to the bottom plate 28.

[0068] The hard plate portion 27 is made of aluminum profile, and the rubber portion 26 is used for shock absorption. However, since the rubber portion 26 contacts the ICS, it is a wear part and needs to be replaced regularly. The detachable connection facilitates replacement. However, if the hard plate portion 27 is not provided, and the rubber portion 26 is simply bolted to the bottom plate 28, excessive pre-tightening force of the bolts will cause the rubber portion 26 to deform, affecting the flatness of the rubber portion 26 and the contact with the ICS. If the pre-tightening force is too small, it cannot ensure that the rubber portion 26 is completely attached to the bottom plate 28. Therefore, in this solution, a hard plate portion 27 made of aluminum profile is added between the rubber portion 26 and the bottom plate 28. The rigid hard plate portion 27 serves as a transition to better achieve the bolt connection between the shock absorbing plate 15 and the bottom plate 28.

[0069] In another embodiment of the present invention, since the damping plate 15 is in contact with the ICS, the friction force is used to make the unpowered inspection vehicle move or stop. Therefore, the friction coefficient of the damping plate 15 is critical. Specifically, the critical friction coefficient between the bottom of the damping plate 15 and the turning transport device of the ICS is When the unpowered inspection vehicle is on the turning transport equipment, it performs uniform circular motion during the turning process. When the friction between the unpowered inspection vehicle and the rollers of the turning transport equipment is just equal to the centrifugal force during the turn, the friction coefficient between the unpowered inspection vehicle and the rollers is the critical friction coefficient for the unpowered inspection vehicle to hit the outer guard plate 22. When the friction coefficient between the unpowered inspection vehicle and the rollers is greater than the critical friction coefficient, the friction force can overcome the centrifugal force. On the contrary, if the friction force is less than the centrifugal force, the trajectory of the unpowered inspection vehicle will change, hitting the guard plate 22, or even getting stuck.

[0070] Satisfies the formula: , where v is the turning speed of the unpowered inspection vehicle on the ICS, in m / s, R is the turning radius of the unpowered inspection vehicle on the ICS, in m, and g is the acceleration due to gravity.

[0071] When the inspection is completed, the ICS stops conveying. At this time, the unpowered inspection vehicle will move forward due to inertia. In order to better control the unpowered inspection vehicle to stop at the specified position, that is, the sliding distance of the unpowered inspection vehicle after stopping meets the required requirements, it is required that the bottom of the shock absorbing plate 15 has a certain friction force to stop on the ICS.

[0072] Specifically, the dynamic friction coefficient at the bottom of the damping plate 15 is , Satisfies the formula: ,in, It is the speed of the unpowered inspection vehicle when it stops, in m / s. S is the required sliding distance of the unpowered inspection vehicle after it stops on the ICS. In actual use, S is required to be ≤ 0.05m. g is the acceleration due to gravity.

[0073] Considering factors such as noise, wear resistance and the above-mentioned working condition friction coefficient requirements, the rubber portion 26 of the shock absorbing plate 15 is made of polyurethane rubber.

[0074] In a second aspect, an embodiment of the present invention discloses a patrol inspection device, specifically including the following embodiments:

[0075] Combine Figure 14 As shown, the inspection equipment includes the unpowered inspection vehicle based on the airport independent transport system as described in any of the above embodiments and a wireless charging mechanism. The wireless charging mechanism includes a standby position 25 arranged on the side of the ICS linear transport equipment, a wireless charging receiving module 3 installed on the top plate 1, and a wireless charging transmitting module installed in the standby position 25. The wireless charging receiving module 3 and the wireless charging transmitting module cooperate to complete wireless charging.

[0076] The power module and wireless charging receiving module 3 equipped on the unpowered inspection vehicle are electrically connected. The wireless charging receiving module 3 and the wireless charging transmitting module are both devices used for wireless charging in the existing technology. After the unpowered inspection vehicle completes the inspection, it stops at the standby position 25, so that the wireless charging receiving module 3 is located directly below the wireless charging transmitting module. The design of the shock-absorbing plate in the aforementioned embodiment is adopted. After the unpowered inspection vehicle completes the inspection, the sliding distance accuracy after stopping can enable the unpowered inspection vehicle to align with the standby position, and the horizontal and vertical distance errors do not exceed 3 cm, which can trigger and complete wireless charging, making it more convenient to use.

[0077] In another embodiment of the present invention, a standby position 25 is located on the side of the ICS, which does not affect the normal operation of the ICS. This requires that the unpowered inspection vehicle can be transported to the standby position 25 after stopping. The wireless charging mechanism also includes a transport assembly for transporting the chassis 16 from the ICS to the standby position 25. The transport assembly includes a vertically sliding or telescopic lifting module, a first conveying module 24 disposed on the lifting module, and a second conveying module 23 disposed at the standby position 25. The first conveying module 24 conveys toward or away from the standby position 25, and the second conveying module 23 and the first conveying module 24 convey in the same direction.

[0078] Specifically, the lifting module is arranged between the double-sided narrow belts 20 of the linear transport equipment. A screw lift or other equipment with lifting function in the prior art can be selected. The first conveying module 24 uses a conveyor belt, and the conveyor belt is installed on the top of the lifting module so that it can be lifted and lowered with the lifting module. When the ICS is in normal use or the unpowered inspection vehicle is inspecting, the top of the first conveying module 24 is lower than the upper surface of the double-sided narrow belts 20 to avoid interference. When the unpowered inspection vehicle is stopped, the lifting module can be driven to rise, so that the upper surface of the first conveying module 24 is in contact with the unpowered inspection vehicle and slightly lifts the unpowered inspection vehicle upward, so that the unpowered inspection vehicle no longer contacts the ICS, and then the unpowered inspection vehicle is transported by the first conveying module 24 to move toward the standby position 25.

[0079] The second conveyor module 23 also uses a conveyor belt. As the unpowered inspection vehicle moves toward the standby position 25, it contacts the second conveyor module 23 and is then relayed by the second conveyor module 23 until the vehicle comes to a complete stop at the standby position 25. When an inspection is required, the second conveyor module 23 transports the vehicle toward the ICS, first transferring it to the first conveyor module 24. The height of the lifting module is then adjusted until the vehicle rests on the linear transport device, allowing inspection to begin.

[0080] In a third aspect, an embodiment of the present invention discloses a patrol inspection method, such as Figure 15 As shown, using the inspection device described in any of the above embodiments includes the following steps:

[0081] S1. Upon receiving the inspection instruction, the non-powered inspection vehicle is moved from the standby position 25 to the ICS. That is, the non-powered inspection vehicle is transported toward the ICS through the second conveying module 23. The non-powered inspection vehicle is first transported to the first conveying module 24, and then the height of the lifting module is adjusted so that the non-powered inspection vehicle stops on the linear transport equipment.

[0082] S2. The non-powered inspection vehicle conducts inspections on the ICS according to the ICS preset transportation route and collects characteristic information during the inspection process.

[0083] S3. Since the inspection route and speed have been set, the inspection is completed by determining whether the non-powered inspection vehicle returns to the position corresponding to the ICS and standby position 25 within the specified time. Specifically, if it does, the inspection is considered complete and S4 is executed. If it does not, the inspection is considered a failure, a fault alarm is issued, the inspection is terminated, and the non-powered inspection vehicle's location is determined using RFID identification and positioning technology, allowing for manual intervention.

[0084] S4, moving the non-powered inspection vehicle from the ICS to the standby position 25. In actual use, a photoelectric sensor in the prior art can be set at the standby position 25 to detect whether the non-powered inspection vehicle is parked at a suitable position in the standby position 25.

[0085] After the non-powered inspection vehicle enters the standby position 25, the information collected by the non-powered inspection vehicle can be collected and processed. For example, the following steps may be included: data is transmitted first, and after the data transmission is completed, data reconciliation is performed to determine whether the reconciliation is successful. If the reconciliation is unsuccessful, the number of reconciliations is recorded once, and the first-floor data is retransmitted based on the reconciliation information and the timestamp of the collected data; when the number of reconciliations is ≥5, the communication takes too long, it is considered a communication failure, and the alarm is exited.

[0086] S5. The non-powered inspection vehicle automatically charges at the standby position 25 and enters the standby state after charging is completed.

[0087] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. The unpowered inspection vehicle based on the airport independent transport system is characterized by: The chassis comprises a box-shaped chassis, which comprises a bottom plate, a left side plate, a right side plate, a front side plate, and a rear side plate. The front side plate and the rear side plate each comprise a first inclined section and a second inclined section. The first inclined section is connected to the bottom plate and forms an acute angle with the horizontal plane of , the acute angle formed by the second inclined section and the horizontal plane is ,and The second inclined section of the front side plate and / or the rear side plate is provided with a camera assembly; the left side plate and the right side plate are both embedded with a speed slide plate, and the kinetic friction coefficient of the speed slide plate is , Satisfies the formula: , where β refers to the angle formed between the end face of the straight conveyor and the first roller at the head end of the curve conveyor in the ICS.

2. The unpowered inspection vehicle based on the airport independent transport system according to claim 1 is characterized in that: The left side panel includes a first left side portion, a second left side portion and a third left side portion, and the right side panel includes a first right side portion, a second right side portion and a third right side portion; the first left side portion, the first right side portion and the front side panel are integrally formed to form a first section, the second left side portion, the second right side portion and the bottom panel are integrally formed to form a middle section, and the third left side portion, the third right side portion and the rear side panel are integrally formed to form a tail section; the first section, the middle section and the tail section are detachably connected in sequence.

3. The unpowered inspection vehicle based on the airport independent transport system according to claim 1 is characterized in that: The chassis is provided with crisscross reinforcing ribs, and the reinforcing ribs are all U-shaped.

4. The unpowered inspection vehicle based on the airport independent transport system according to claim 1 is characterized in that: The bottom of the base plate is detachably connected to a shock-absorbing plate, and the critical friction coefficient between the bottom of the shock-absorbing plate and the ICS turning transport equipment is , Satisfies the formula: , where v is the turning speed of the unpowered inspection vehicle on the turning transport equipment of the ICS, in m / s, R is the turning radius of the unpowered inspection vehicle on the ICS, in m, and g is the acceleration due to gravity.

5. The unpowered inspection vehicle based on the airport independent transport system according to claim 4 is characterized in that: The dynamic friction coefficient of the bottom of the shock-absorbing plate is , Satisfies the formula: ,in, is the speed of the unpowered inspection vehicle when it stops, in m / s. S is the required gliding distance of the unpowered inspection vehicle after the ICS stops, S≤0.05m. g is the acceleration due to gravity.

6. The unpowered inspection vehicle based on the airport independent transport system according to claim 4 is characterized in that: The shock-absorbing plate includes a rubber part and a hard plate part bonded to the rubber part. The hard plate part has a thickness of 1-2 mm and is located between the rubber part and the bottom plate. The shock-absorbing plate is bolted to the bottom plate.

7. The unpowered inspection vehicle based on the airport independent transport system according to claim 1 is characterized in that: The camera assembly includes a camera and a light source for illuminating the camera shooting environment. Two cameras are provided and are respectively located on both sides of the second inclined section.

8. The non-powered inspection vehicle based on the airport independent transport system according to claim 7 is characterized in that: described Angle Satisfaction , where b refers to the distance from the center of the camera along the surface of the second inclined section to the plane where the bottom plate is located, in meters, and d refers to the shooting distance requirement of the camera, in meters.

9. The non-powered inspection vehicle based on the airport independent transport system according to claim 1 is characterized in that: A plurality of heat dissipation holes are provided on the front side panel and / or the rear side panel and / or the left side panel and / or the right side panel.

10. The non-powered inspection vehicle based on the airport independent transport system according to claim 1 is characterized in that: An RFID tag is embedded in the bottom of the chassis, and a cover plate for covering the RFID tag is detachably connected to the bottom of the chassis.

11. Inspection equipment, characterized in that, The invention comprises an unpowered inspection vehicle based on an independent airport transport system and a wireless charging mechanism as described in any one of claims 1 to 10, wherein the unpowered inspection vehicle based on an independent airport transport system further comprises a top plate covered on the chassis, and the wireless charging mechanism comprises a standby position arranged on the side of the linear transport equipment of the ICS, a wireless charging receiving module installed on the top plate, and a wireless charging transmitting module installed in the standby position, wherein the wireless charging receiving module and the wireless charging transmitting module cooperate to complete wireless charging.

12. The inspection device according to claim 11, characterized in that: The wireless charging mechanism also includes a transport component for transporting the chassis from the ICS to the standby position. The transport component includes a lifting module that slides or telescopes vertically, a first conveying module arranged on the lifting module, and a second conveying module arranged at the standby position. The conveying direction of the first conveying module is toward or away from the standby position, and the conveying direction of the second conveying module is the same as that of the first conveying module.

13. The inspection method is characterized in that: Using the inspection device according to any one of claims 11-12 comprises the following steps: S1. After receiving the inspection instruction, move the non-powered inspection vehicle from the standby position to the ICS; S2. The unpowered inspection vehicle conducts inspections on the ICS according to the ICS preset transportation route and collects characteristic information during the inspection process; S3. Determine whether the unpowered inspection vehicle returns to the position corresponding to the ICS and the standby position within the specified time. If so, the inspection is deemed complete and S4 is executed. If not, the inspection is deemed failed, a fault alarm is issued, and the inspection is exited. S4. Move the non-powered inspection vehicle from the ICS to the standby position; S5. The non-powered inspection vehicle automatically charges at the standby position and enters the standby state after charging is completed.

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