Airport foreign matter detecting and cleaning robot, control method thereof and dual-redundancy device fault processing method

Abstract

The invention relates to an airport foreign matter detection and cleaning robot, a control method thereof and a dual-redundancy device fault processing method, and aims to solve the technical problems that an existing airport foreign matter detection and cleaning robot is difficult to meet the detection-cleaning integrated requirement of an airport complex scene and is low in working efficiency. The invention provides an airport foreign matter detecting and cleaning robot. The airport foreign matter detecting and cleaning robot comprises a quadruped robot, a mechanical arm assembly, a visual assembly and a clamping jaw assembly. The clamping jaw assembly comprises a clamping jaw driving assembly, two in-place sensors, a clamping jaw and a supporting frame. The clamping jaw driving assembly comprises a metal shell, a clamping jaw control plate arranged in the metal shell, a driving plate and a motor, and an encoder is arranged on the motor; the support frame is arranged at the top of the metal shell through the in-place spring; the two in-place sensors are arranged on the two sides of the supporting face of the supporting frame respectively.

Description

Technical Field

[0001] This invention relates to a foreign object detection and cleaning robot, specifically to an airport foreign object detection and cleaning robot and its control method, as well as a method for handling faults in dual redundant devices. Background Technology

[0002] In the high-intensity, fast-paced operating environment of an airport, any foreign object appearing on the runway or taxiway can cause flight delays or even serious safety incidents. Foreign object detection and removal robots can achieve real-time monitoring and automatic cleaning of runway areas around the clock. Compared to traditional manual inspection methods, robots have higher response speeds and recognition accuracy, significantly improving the safety, intelligence, and overall operational efficiency of airport operations.

[0003] Chinese patent document CN114875832A discloses an airport pavement safety inspection robot that facilitates the collection of foreign objects. The robot includes an airport runway remote-controlled vehicle with a mounting column rotatably connected to the middle of its upper surface. The mounting column is equipped with an observation component for observing the airport pavement. The upper surface of the airport runway remote-controlled vehicle also has a drive component for rotating the mounting column. A camera within the observation component can observe the situation on the runway, enabling timely detection of foreign objects. The camera can rotate under the drive of the drive component, allowing for multi-directional observation even without moving the airport runway remote-controlled vehicle. When foreign objects are detected, a cleaning component at the front of the airport runway remote-controlled vehicle can remove them.

[0004] However, the aforementioned existing technologies cannot accurately grasp irregularly shaped objects, have weak cleaning capabilities, and are difficult to meet the integrated detection and cleaning requirements of complex airport scenarios. Furthermore, they rely on smooth pavement during operation and require manual assistance when crossing ditches or steps, resulting in low work efficiency. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems of existing airport foreign object detection and cleaning robots having weak cleaning capabilities, making it difficult to meet the integrated detection and cleaning requirements of complex airport scenarios, and having low work efficiency. The invention provides an airport foreign object detection and cleaning robot and its control method, as well as a dual-redundant device fault handling method.

[0006] To achieve the above objectives, the technical solution provided by this invention is as follows: A foreign object detection and cleaning robot for airports is unique in that: It includes a quadruped robot, a robotic arm assembly, a vision assembly, and a gripper assembly; the gripper assembly is connected to the quadruped robot via the robotic arm assembly; the robotic arm assembly and the vision assembly are electrically connected to the quadruped robot, and the robotic arm assembly is electrically connected to both the vision assembly and the gripper assembly. The vision component is used to detect the coordinate information of the target foreign object and send it to the quadruped robot; after receiving the coordinate information, the quadruped robot sends a grasping and placing command to the robotic arm component; after receiving the grasping and placing command, the robotic arm component obtains the position information of the target foreign object through the vision component and controls the gripper component to clean the target foreign object; The gripper assembly includes a gripper drive assembly, two positioning sensors, grippers, and a support frame; The gripper drive assembly includes a metal housing, a gripper control board and a drive board disposed inside the metal housing, and a motor, wherein an encoder is disposed on the motor; the gripper control board is electrically connected to the drive board, the drive board is electrically connected to the motor, and the encoder is electrically connected to the gripper control board; the gripper control board is used to control the drive board to drive the motor to output torque, and the gripper control board is also used to monitor the position information of the encoder. The support frame is mounted on top of the metal casing via positioning springs; The two positioning sensors are respectively installed on both sides of the support surface of the support frame; The grippers are located at the bottom of the metal casing; One end of the robotic arm assembly is connected to the support surface of the support frame, and the other end is connected to the quadruped robot; the vision assembly is connected to the support surface of the support frame; the gripper control board and the position sensor are electrically connected to the robotic arm assembly respectively, the gripper control board is used to receive closing or opening commands sent by the robotic arm assembly, and the position sensor is used to send movement positioning signals to the robotic arm assembly.

[0007] Furthermore, the robotic arm assembly includes a robotic arm controller and a robotic arm. One end of the robotic arm is connected to the quadruped robot, and the other end is connected to the support surface of the support frame. The robotic arm controller is located at one end of the robotic arm and is used to control the movement of the robotic arm. The vision component includes a left camera, an infrared projector, a right camera, and a vision industrial control computer. The left camera, infrared projector, and right camera are sequentially arranged on the lower end face of the vision industrial control computer. The upper end face of the vision industrial control computer is mounted on the support surface of the support frame via a mounting plate. The quadruped robot includes a quadruped robot body, four limb structures disposed on the front and rear sides of the quadruped robot body, and a quadruped robot controller disposed at the bottom of the quadruped robot body for driving the limb structures to swing. The front part of the top of the quadruped robot body is connected to one end of the robotic arm. The mobile robot host is located in the middle of the top of the quadruped robot body, and a foreign object storage box is located at the rear of the top of the quadruped robot body. The mobile robot host is electrically connected to the quadruped robot controller, the robotic arm controller, and the vision industrial control computer, respectively. The robotic arm controller is electrically connected to the vision industrial control computer, the gripper control board, and the positioning sensor, respectively. The quadruped robot controller is used to drive the quadruped structure to swing after receiving the control signal sent by the mobile robot host. The vision control computer is used to send the coordinate information of the target object to the mobile robot host; after receiving the coordinate information of the target object, the mobile robot host sends a grasping and placing command to the robotic arm controller; after receiving the grasping and placing command, the robotic arm controller requests the grasping position and posture information of the target object from the vision control computer, and after obtaining the grasping position and posture information, sends a closing or opening command to the gripper control board. The positioning sensor is used to send a positioning signal to the robotic arm controller after the gripper has moved into position.

[0008] Meanwhile, the present invention also provides a control method for an airport foreign object detection and cleaning robot. The method employs the aforementioned airport foreign object detection and cleaning robot, and its special feature is that it includes the following steps: S1. When the quadruped robot starts working, the robotic arm assembly, vision assembly, and gripper assembly are all in the preset zero position. The vision assembly detects in real time whether there is a target foreign object. If so, it determines and sends the coordinate information of the target foreign object to the quadruped robot and then executes step S2. If not, the quadruped robot continues to move until it detects the target foreign object, determines and sends the coordinate information of the target foreign object to the quadruped robot, and then executes step S2. S2. After the quadruped robot moves to the preset location near the target object based on the received coordinate information, it sends a grasping and placement command to the robotic arm assembly. S3. After receiving the grasping and placing instruction, the robotic arm component first moves the vision component to the preset photo position, and then requests the grasping position and posture information of the target foreign object from the vision component. After receiving the request, the vision component determines the grasping position and posture information of the target foreign object at the photo position and sends it to the robotic arm component. S4. The robotic arm assembly moves the gripper according to the received gripping position and posture information. After the gripper touches the ground, the robotic arm continues to move downward. The positioning spring deforms as the robotic arm moves, thereby shortening the distance between the positioning sensor and the metal shell. When the distance reaches the preset distance, the positioning sensor sends a motion positioning signal to the robotic arm assembly. After receiving the motion positioning signal, the robotic arm assembly sends a closing command to the gripper control board. After receiving the closing command, the gripper control board controls the drive board to generate an alternating voltage, and drives the motor to output torque, thereby driving the gripper to perform a closing action. During the closing action, the gripper control board determines whether the gripper has completed the gripping of the target foreign object by monitoring the position information of the encoder. After the gripper control board confirms that the gripper has successfully grasped the target foreign object, it sends a successful grasp signal to the robotic arm assembly. Upon receiving the successful grasp signal, the robotic arm assembly first moves to the preset placement position and then sends an opening command to the gripper control board. Upon receiving the opening command, the gripper control board controls the drive board to generate an alternating voltage, which drives the motor to output torque, thereby causing the gripper to perform the opening action. During the opening action, the gripper control board monitors the position information of the encoder to determine whether the gripper has successfully placed the target foreign object. Once the placement is confirmed to be complete, the removal of the target foreign object is finished.

[0009] Furthermore, the specific process of step S3 is as follows: S3.1 After receiving the grasping and placing instruction, the robotic arm controller plans a first motion trajectory according to the preset camera position, and controls the robotic arm to perform a first spatial curve motion according to the first motion trajectory until the left and right cameras move to the preset camera position. Then, the robotic arm controller requests the grasping position and posture information of the target object from the vision industrial control computer. The preset camera position is when the left and right cameras are at an angle parallel to the ground. S3.2 After receiving the request, the vision control computer controls the left and right cameras to take pictures, generates the grasping position and posture information of the target object based on the picture results, and sends it to the robotic arm controller.

[0010] Furthermore, the specific process of step S4 is as follows: S4.1 The robotic arm controller performs kinematic calculations based on the received gripping position and posture information, generates a second motion trajectory, and controls the robotic arm to execute a second spatial curve motion according to the second motion trajectory. After moving directly above the target object, the robotic arm executes a linear descent motion. After moving to the target object and making contact with the ground, it continues to execute a linear descent motion. The positioning spring deforms with the movement of the robotic arm, thereby shortening the distance between the positioning sensor and the metal shell. After the positioning sensor senses that the distance has reached the preset distance through the change of magnetic field, it sends a motion positioning signal to the robotic arm controller. S4.2 After receiving the motion positioning signal, the robotic arm controller sends a closing command to the gripper control board. Upon receiving the closing command, the gripper control board controls the drive board to generate an alternating voltage, which drives the motor to output torque, thereby causing the gripper to perform the closing action. During the closing action, the gripper control board monitors the position information of the encoder to determine whether the gripper has completed the gripping of the target object. If so, the gripper control board sends a gripping completion signal to the robotic arm controller. If not, it continues to monitor in real time until the gripping action is completed, and then sends a gripping completion signal to the robotic arm controller. S4.3 After receiving the gripping completion signal, the robotic arm controller plans a third motion trajectory based on the position of the foreign object storage box, and controls the robotic arm to execute a third spatial curve motion according to the third motion trajectory. After moving to directly above the foreign object storage box, the robotic arm controller sends an opening command to the gripper control board. After receiving the opening command, the gripper control board controls the drive board to generate an alternating voltage, drives the motor to output torque and drives the gripper to perform the opening action. During the gripper's opening action, the gripper control board monitors the encoder's position information to determine whether the gripper has completed placing the target foreign object. If so, the gripper control board sends a placement completion signal to the robotic arm controller. If not, it continues to monitor in real time until the placement action is completed, and then sends a placement completion signal to the robotic arm controller, thus completing the cleaning of the target foreign object.

[0011] Furthermore, the specific process of step S1 is as follows: S1.1 When the quadruped robot starts working, the left camera, infrared projector, right camera, and gripper are all in a preset zero position; the preset zero position of the left camera, infrared projector, and right camera is when the left camera, infrared projector, and right camera are shooting at an angle of θ° to the ground, where θ∈(45, 90); the preset zero position of the gripper is when the gripper is in an open state. S1.2 The infrared projector emits a specific infrared light signal to detect whether there is a target foreign object in real time. If so, the vision control computer collects the infrared light reflected back from the target foreign object, obtains the coordinate information of the target foreign object from the reflected infrared light, and sends it to the mobile robot host. If not, the quadruped robot continues to move until the target foreign object is detected. After determining and sending the coordinate information of the target foreign object to the mobile robot host, step S2 is executed.

[0012] Furthermore, it also includes: S5. After receiving the placement completion signal, the robotic arm controller sends a cleaning completion signal to the mobile robot host. After receiving the cleaning completion signal, the mobile robot host sends a zero-return command to the robotic arm controller. After receiving the zero-return command, the robotic arm controller controls the robotic arm to perform a zero-return movement, so that the left camera, infrared projector, and right camera are all in the preset zero position. The zero-return movement process is as follows: The robotic arm controller plans a fourth motion trajectory based on the preset zero positions of the left camera, infrared projector, and right camera, and controls the robotic arm to execute a fourth spatial curve motion according to the fourth motion trajectory. After the left camera, infrared projector, and right camera move to the preset zero position, the robotic arm controller sends a return-to-zero success signal to the mobile robot host.

[0013] Meanwhile, this invention also provides a method for handling faults in dual-redundant components of an airport foreign object detection and cleaning robot. The method, employing the aforementioned airport foreign object detection and cleaning robot, is characterized by the following steps: Step 1: Determine the fault handling strategy corresponding to the dual-redundant device type based on the dual-redundant device type of the airport foreign object detection and cleaning robot; the dual-redundant device type includes vision components and gripper components; the fault handling strategy corresponding to the dual-redundant device type is as follows: When the vision component malfunctions, an automatic switching monocular measurement strategy is used to handle the malfunction; when the gripper component malfunctions, a self-decomposition and self-masking strategy is used to handle the malfunction. Step 2: When a fault is detected in the dual-redundant device of the airport foreign object detection and cleaning robot, adopt the corresponding fault handling strategy according to the type of dual-redundant device to complete the fault handling of the dual-redundant device of the airport foreign object detection and cleaning robot.

[0014] Furthermore, in step 2, when the gripper assembly malfunctions, the process of handling the malfunction using a self-decomposition and self-masking strategy is as follows; a1. After detecting a position sensor failure, the robotic arm controller determines whether both position sensors have failed. If yes, proceed to step a2; otherwise, proceed to step a3. a2. After the robotic arm controller reports a dual-sensor fault to the external central control device, it reads the position information of each drive axis on the robotic arm. Based on the position information of each drive axis, it uses kinematic equations to calculate the end-effector pose of the robotic arm. Based on the calculation results, it determines whether the gripper is in position. If it is, it means that the robotic arm has moved to the target position, and the fault handling is completed. If not, the robotic arm continues to move downward and reads the position information of each drive axis on the robotic arm again. Based on the position information of each drive axis, it uses kinematic equations to calculate the end-effector pose of the robotic arm until the gripper touches the ground, which means that the robotic arm has moved to the target position, and the fault handling is completed. a3. After the robotic arm controller reports a single sensor fault to the external central control device, the robotic arm controller shields the faulty sensor from abnormal triggering, putting it into a non-triggered state. Then, it uses a normal sensor to sense changes in the magnetic field to determine whether the robotic arm has moved to the target position, thereby completing the fault handling.

[0015] Furthermore, when the vision component malfunctions, an automatic switching monocular measurement strategy is employed to handle the fault, including the following steps: b1. After detecting a camera communication failure, the vision control computer determines whether both the left and right cameras are experiencing communication failures. If so, the vision control computer reports the dual-camera communication failure to the external central control device and then manually removes the foreign object to complete the fault handling. If not, proceed to step b2. b2. After the vision industrial control computer reports the single camera communication failure to the external central control device, it uses a monocular measurement strategy to measure the target foreign object and determines whether the measurement is successful. If it is, the fault handling is completed; otherwise, step b3 is executed. b3. The vision control computer determines whether the number of monocular measurements is greater than 3. If so, it reports the monocular measurement fault to the external central control device and then transfers the fault to manual personnel for foreign object removal. If not, it continues monocular measurement until the number of measurements is greater than 3, and then transfers the fault to manual personnel for fault handling.

[0016] The beneficial effects of this invention are: 1. The present invention provides an airport foreign object detection and cleaning robot, which integrates a robotic arm component and a vision component onto a quadruped robot, enabling it to both detect and clean foreign objects. This avoids the problem of low efficiency caused by the need for multiple devices to cooperate in single-function (detection or cleaning) operations, and meets the integrated detection-cleaning requirements of complex airport scenarios. 2. The present invention provides an airport foreign object detection and cleaning robot, which can accurately grasp foreign objects by setting electric grippers, positioning springs and positioning sensors on the robotic arm, thereby enhancing the cleaning ability; by setting vision components on the robotic arm, it can identify and accurately locate target foreign objects; and by using a quadruped robot, it can cross ditches or steps during operation without human assistance, thereby improving work efficiency. 3. The present invention provides a control method for an airport foreign object detection and cleaning robot, which enables full-body coordinated control of the airport foreign object detection and cleaning robot without human intervention throughout the process, thereby improving the working efficiency and cleaning capability of the airport foreign object detection and cleaning robot; 4. The present invention provides a fault handling method for dual-redundant devices in an airport foreign object detection and cleaning robot. When the position sensor of the dual-redundant device malfunctions, a self-calculation and self-shielding strategy can be used to handle the fault. When the camera of the dual-redundant device malfunctions, an automatic switching monocular measurement strategy can be used to handle the fault. This ensures the continuous operation of the airport foreign object detection and cleaning robot without the need for downtime, thus improving work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an embodiment of an airport foreign object detection and cleaning robot according to the present invention; Figure 2This is a schematic diagram of the robotic arm assembly structure of an embodiment of an airport foreign object detection and cleaning robot according to the present invention; Figure 3 This is a schematic diagram of the vision component structure of an embodiment of an airport foreign object detection and cleaning robot according to the present invention; Figure 4 This is a schematic diagram of the gripper assembly structure of an embodiment of an airport foreign object detection and cleaning robot according to the present invention; Figure 5 This is a hardware system architecture diagram of an embodiment of an airport foreign object detection and cleaning robot according to the present invention; Figure 6 This is a flowchart illustrating an embodiment of a control method for an airport foreign object detection and cleaning robot according to the present invention; Figure 7 This is a schematic diagram of the zero position of the foreign object detection and cleaning robot in step S1.1 of an embodiment of the control method of the airport foreign object detection and cleaning robot of the present invention; Figure 8 This is a schematic diagram of the camera position of the foreign object detection and cleaning robot in step S3.1 of an embodiment of the control method of the airport foreign object detection and cleaning robot of the present invention. Figure 9 This is a schematic diagram of the gripping position of the foreign object detection and cleaning robot in step S4 of an embodiment of the control method of the airport foreign object detection and cleaning robot of the present invention; Figure 10 This is a schematic diagram of the placement of the foreign object detection and cleaning robot in step S4.3 of an embodiment of the control method for an airport foreign object detection and cleaning robot of the present invention; Figure 11 This is a flowchart illustrating the control method of an airport foreign object detection and cleaning robot according to an embodiment of the present invention. Figure 12 This is a flowchart illustrating the fault handling process of the position sensor in an embodiment of a dual-redundant device fault handling method for an airport foreign object detection and cleaning robot according to the present invention. Figure 13 This is a flowchart illustrating the camera's fault handling process in an embodiment of a dual-redundant device fault handling method for an airport foreign object detection and cleaning robot according to the present invention.

[0018] Explanation of reference numerals in the attached figures: 1-Quadruped robot, 11-Mobile robot host, 12-Quadruped robot controller, 13-Limb structure, 2-Mechanical arm assembly, 21-Mechanical arm controller, 22-Mechanical arm, 3-Vision assembly, 31-Left side camera, 32-Infrared projector, 33-Right side camera, 34-Vision industrial computer, 4-Gripper assembly, 41-Gripper drive assembly, 411-Metal shell, 412-Gripper control board, 413-Drive board, 414-Motor, 415-Encoder, 42-Position sensor, 43-Gripper, 44-Position spring, 45-Support frame, 5-Foreign object storage box, 6-Mounting plate. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] This embodiment describes an airport foreign object detection and cleaning robot, such as... Figure 1 As shown, it includes a quadruped robot 1, a robotic arm assembly 2, a vision assembly 3, and a gripper assembly 4; as Figure 4 As shown, the gripper assembly 4 includes a gripper drive assembly 41, two positioning sensors 42, a gripper 43, and a support frame 45. The gripper drive assembly 41 includes a metal housing 411, a gripper control board 412 and a drive board 413 disposed inside the metal housing 411, and a motor 414 with an encoder 415 mounted on the motor. The support frame 45 is mounted on the top of the metal housing 411 via a positioning spring 44. The two positioning sensors 42 are respectively disposed on both sides of the support surface of the support frame 45. The gripper 43 is disposed on the bottom of the metal housing 411. One end of the robotic arm assembly 2 is connected to the support surface of the support frame 45, and the other end is connected to the quadruped robot 1. The vision assembly 3 is disposed between the support surface of the support frame 45 and the robotic arm assembly 2.

[0021] like Figure 2 As shown, the robotic arm assembly 2 includes a robotic arm controller 21 and a robotic arm 22; one end of the robotic arm 22 is connected to the quadruped robot 1, and the other end is connected to the support surface of the support frame 45; the robotic arm controller 21 is located at one end of the robotic arm 22, and the robotic arm 22 is composed of various drive shafts, each of which is equipped with a motor driver.

[0022] like Figure 3 As shown, the vision component 3 includes a left camera 31, an infrared projector 32, a right camera 33, and a vision industrial control computer 34. The left camera 31, the infrared projector 32, and the right camera 33 are sequentially arranged on the lower end face of the vision industrial control computer 34. The upper end face of the vision industrial control computer 34 is arranged on the support surface of the support frame 45 through the mounting plate 6.

[0023] The quadruped robot 1 includes a quadruped robot body, four limb structures 13 disposed on the front and rear sides of the quadruped robot body, and a quadruped robot controller 12 disposed at the bottom of the quadruped robot body for driving the four limb structures 13 to swing; the front part of the top of the quadruped robot body is connected to one end of the robotic arm 22, the middle part of the top of the quadruped robot body is provided with a mobile robot host 11, and the rear part of the top of the quadruped robot body is provided with a foreign object storage box 5.

[0024] The functions of each component of the airport foreign object detection and cleaning robot and the signal transmission process in this embodiment are as follows: Infrared projector 32 is used to project specific infrared signals. Vision control computer 34 determines the coordinate information of the target object based on the projected specific infrared signals. Mobile robot host 11 is signal-connected to vision control computer 34 and is used to receive the coordinate information of the target object sent by vision control computer 34. It is also signal-connected to robotic arm controller 21 and is used to send a grasping and placing command to robotic arm controller 21 after receiving the coordinate information. The left camera 31 and the right camera 33 are used to photograph the target foreign object. The vision control computer 34 determines the grasping position and posture information of the target foreign object based on the photographed target foreign object. The robotic arm controller 21 is connected to the vision control computer 34 and is used to receive the grasping position and posture information of the target foreign object sent by the vision control computer 34. After receiving the grasping and placement instruction, the robotic arm 22 is controlled to move to the target foreign object based on the grasping position and posture information. The robotic arm controller 21 and the gripper control board 412 are connected by signals. After the robotic arm 22 moves to the target foreign object, it sends a closing command to the gripper control board 412. After receiving the closing command, the gripper control board 412 controls the drive board 413 to drive the motor 414 to output torque, thereby causing the gripper 43 to perform a closing action and grasp the target foreign object. After the gripper 43 completes the grasping of the target foreign object, the robotic arm controller 21 controls the robotic arm 22 to move to the preset placement position and sends an opening command to the gripper control board 412. After receiving the opening command, the gripper control board 412 controls the drive board 413 to drive the motor 414 to output torque, thereby causing the gripper 43 to perform an opening action, completing the placement of the target foreign object, and thus completing the cleaning of the target foreign object.

[0025] During the movement of the robotic arm 22 towards the target object, the positioning spring 44 deforms with the movement of the robotic arm 22, thereby shortening the distance between the positioning sensor 42 and the metal casing 411, which in turn causes a change in the magnetic field. The positioning sensor 42 detects the change in the magnetic field to monitor whether the robotic arm 22 has moved to the target object, and after detecting that the robotic arm 22 has moved to the target object, it sends a positioning signal to the robotic arm controller 21. After receiving the positioning signal, the robotic arm controller 21 sends a closing command to the gripper control board 412. After receiving the closing command, the gripper control board 412 controls the gripper 43 to perform a closing action, and during the closing action of the gripper 43... During the process, by monitoring the position information of the encoder 415, it is determined whether the gripper 43 has completed the gripping of the target foreign object; after the gripper control board 412 determines that the gripper 43 has completed the gripping of the target foreign object, it sends a gripping success signal to the robotic arm controller 21; after receiving the gripping success signal, the robotic arm controller 21 first controls the robotic arm 22 to move to the preset placement position, and then sends an opening command to the gripper control board 412; after receiving the opening command, the gripper control board 412 controls the gripper 43 to perform the opening action, and by monitoring the position information of the encoder 415, it determines whether the gripper 43 has completed the placement of the target foreign object. After confirming that the placement is completed, the cleaning of the target foreign object is completed.

[0026] This embodiment describes an airport foreign object detection and removal robot that can coordinate with multiple devices to complete a full-area runway inspection. When large foreign objects such as tree branches or cables that could cause tire blowouts or engine damage are detected, the robotic arm component 2 can accurately locate the target using the vision component 3, and automatically grab or store it in the foreign object collection box 5, without any human intervention. Its hardware architecture is as follows: Figure 5 As shown, the system includes a mobile robot host 11, a robotic arm controller 21, a vision component 3, an electric gripper 23, a position sensor 7, a FLASH memory chip, and a motor driver. The functions of each component are as follows: The mobile robot host 11 is responsible for sending instructions to the robotic arm controller 21, including zeroing instructions, automatic grasping and placement instructions, pause instructions, and reset instructions. It can also send photo instructions, grasping instructions, or placement instructions separately to complete the grasping and placement step by step. After receiving instructions from the mobile robot host 11, the robotic arm controller 21 executes relevant operations. Upon receiving a zero-return instruction, it plans the zero-return path for the robotic arm 22 and controls the robotic arm 22 to return to the zero position. Upon receiving an automatic grasping and placement instruction, it requests the position information of the target foreign object from the vision component 3 and performs kinematic calculations to generate position instructions for each drive axis and sends them to the motor drivers of each drive axis. It controls the robotic arm 22 to grasp the target foreign object, plans a reasonable trajectory to place it in the foreign object storage box 5, and automatically repeats the grasping and placement operation. Upon receiving a pause instruction, it controls the robotic arm 22 to decelerate to zero. Upon receiving a reset instruction, it clears the fault and continues to control the movement of the robotic arm 22. The vision component 3 is equipped with two cameras, namely the left camera 31 and the right camera 33. If both cameras are working properly, the position and orientation of the target object are calculated using a binocular algorithm and sent to the controller. If only one camera is working properly, only the planar position and angle information of the target object are provided. The gripper assembly 4 includes a gripper drive assembly 41, two position sensors 42, a gripper 43, and a support frame 45. The gripper 43 performs closing or opening actions according to the closing or opening command of the gripper drive assembly 41, and the encoder 415 determines the completion status of the action. The position sensor 42 is used to determine whether the gripper 43 is touching the ground. Because the robot body will tilt forward during the process of gripping the ground object, the depth information of the foreign object calculated by vision alone is not reliable enough. The position sensor 42 can be triggered after the gripper 43 touches the ground and presses firmly, so as to make an effective judgment. The FLASH storage chip is used for state storage and fault tolerance. The controller writes the start and stop status of each process to the FLASH chip in real time, supports fault tracing, and if an abnormal power failure occurs, the system can automatically read the stored status and resume the operation. The FLASH storage chip is integrated on the robotic arm controller 21; the motor driver controls the robotic arm 22 to reach the specified position. The sensing and storage units (such as the left camera 31, right camera 33, position sensor 7, and FLASH memory) all employ hardware redundancy. When the primary device fails, the system can automatically switch to the backup unit, significantly improving overall reliability. While the actuators (gripper 43, drive shaft, motor 414, and drive board 413) cannot achieve hardware redundancy due to physical space constraints, availability is ensured through communication redundancy. The gripper assembly 4 supports dual-mode communication of RS485 and digital IO, and the gripper drive assembly 41 and drive board 413 employ a dual CAN bus redundancy architecture. This design ensures that the system can continue to operate even in the event of a single point of communication failure.

[0027] This embodiment describes a control method for an airport foreign object detection and cleaning robot, employing the aforementioned airport foreign object detection and cleaning robot, such as... Figure 6 As shown, it includes the following steps: S0. Before the foreign object removal begins, the quadruped robot 1 sends a zero-return command to the robotic arm assembly 2. After receiving the zero-return command, the robotic arm assembly 2 determines whether it is at zero position. If not, it performs a zero-return movement, so that the vision assembly 3 is at the preset zero position. Then, it sends a zero-return success signal to the quadruped robot 1 and executes step S1. If yes, it sends a zero-return success signal to the quadruped robot 1 and executes step S1. S1. When the quadruped robot 1 starts working, the vision component 3, the robotic arm component 2, and the gripper component 4 are all in a preset zero position. The vision component 3 detects in real time whether there is a target foreign object. If so, it determines and sends the coordinate information of the target foreign object to the quadruped robot 1, and then executes step S2. If not, the quadruped robot 1 continues to move until it detects the target foreign object, determines and sends the coordinate information of the target foreign object to the quadruped robot 1, and then executes step S2. The specific execution process is as follows: S1.1 During the movement of the quadruped robot 1, the left camera 31, infrared projector 32, right camera 33, and gripper 43 are all in preset zero positions; the preset zero position of the foreign object detection and cleaning robot is as follows: Figure 7 As shown, the preset zero position of the left camera 31, infrared projector 32, and right camera 33 is that the left camera 31, infrared projector 32, and right camera 33 are shooting at an angle of θ° to the ground, where θ∈(45, 90); the preset zero position of the gripper 43 is that the gripper 43 is in the open state. S1.2 Infrared projector 32 emits specific infrared light signals to detect whether there is a target foreign object in real time. If so, vision control computer 34 collects the infrared light reflected back from the target foreign object, obtains the coordinate information of the target foreign object from the reflected infrared light, and sends it to the mobile robot host 11. If not, the quadruped robot 1 continues to move until the target foreign object is detected. After determining and sending the coordinate information of the target foreign object to the mobile robot host 11, step S2 is executed.

[0028] S2. After the quadruped robot 1 moves to the preset location close to the target object based on the received coordinate information, it sends a grasping and placing command to the robotic arm assembly 2.

[0029] S3. After receiving the grasping and placement command, the robotic arm component 2 first moves the vision component 3 to the preset image capture position, and then requests the grasping position and posture information of the target foreign object from the vision component 3. After receiving the request, the vision component 3 determines the grasping position and posture information of the target foreign object at the image capture position and sends it to the robotic arm component 2; the specific process is as follows: S3.1 After receiving the grasping and placing command, the robotic arm controller 21 plans a first motion trajectory according to the preset camera position, and controls the robotic arm 22 to perform a first spatial curve motion according to the first motion trajectory until the left camera 31 and the right camera 33 move to the preset camera position. Then, the robotic arm controller 21 requests the grasping position and posture information of the target foreign object from the vision industrial control computer 34. The preset camera position of the foreign object detection and cleaning robot is as follows: Figure 8 As shown, the preset shooting positions are the left camera 31 and the right camera 33 at an angle parallel to the ground; the planning process of the first motion trajectory is as follows: the robotic arm controller 21 calculates the first target position information of each drive axis according to the preset shooting positions of the left camera 31 and the right camera 33, and sends it to the motor driver of each drive axis respectively. The motor driver of each drive axis drives each drive axis to perform the first spatial curve motion according to the first target position information. S3.2 After receiving the request, the vision control computer 34 controls the left camera 31 and the right camera 33 to take pictures, generates the grasping position and posture information of the target foreign object based on the picture results, and sends it to the robotic arm controller 21.

[0030] S4. The robotic arm assembly 2 moves the gripper 43 according to the received gripping position and posture information. After the gripper 43 touches the ground, the robotic arm 22 continues to move downward. The positioning spring 44 deforms as the robotic arm 22 moves, thereby shortening the distance between the positioning sensor 42 and the metal shell 411. When the distance reaches the preset distance, the positioning sensor 42 sends a motion positioning signal to the robotic arm assembly 2. After receiving the motion positioning signal, the robotic arm assembly 2 sends a closing command to the gripper control board 412. After receiving the closing command, the gripper control board 412 controls the drive board 413 to generate an alternating voltage, and the drive motor 414 outputs torque to drive the gripper 43 to perform the closing action. During the closing action, the control board 412 determines whether the gripper 43 has completed the gripping of the target foreign object by monitoring the position information of the encoder 415. After the gripper control board 412 determines that the gripper 43 has completed the gripping of the target foreign object, it sends a gripping success signal to the robotic arm assembly 2. After receiving the gripping success signal, the robotic arm assembly 2 first moves to the preset placement position and then sends an opening command to the gripper control board 412. After receiving the opening command, the gripper control board 412 controls the drive board 413 to generate an alternating voltage, and the drive motor 414 outputs torque to drive the gripper 43 to perform the opening action. During the opening action, the gripper control board 412 determines whether the gripper 43 has completed the placement of the target foreign object by monitoring the position information of the encoder 415. Once the placement is confirmed to be complete, the cleaning of the target foreign object is completed. The specific process of step S4 is as follows: S4.1 The robotic arm controller 21 performs kinematic calculations based on the received gripping position and posture information, generates a second motion trajectory, and controls the robotic arm 22 to execute a second spatial curve motion according to the second motion trajectory. After moving directly above the target object, the robotic arm 22 executes a linear descent motion. After moving to the target object and making the gripper 43 contact the ground, it continues to execute the linear descent motion. The positioning spring 44 deforms with the movement of the robotic arm 22, thereby shortening the distance between the positioning sensor 42 and the metal shell 411. After the positioning sensor 42 senses that the distance has reached the preset distance through the change in magnetic field, it sends a motion positioning signal to the robotic arm controller 21. Its gripping position and posture are as follows: Figure 9 As shown, the robotic arm controller 21 performs kinematic calculations based on the received grasping position and posture information to generate second target position information for each drive axis, and sends it to the motor driver of each drive axis respectively. The motor driver drives each drive axis to perform second spatial curve motion based on the second target position information. After moving to directly above the target object, each drive axis performs a linear descent motion. S4.2 After receiving the motion positioning signal, the robotic arm controller 21 sends a closing command to the gripper control board 412. After receiving the closing command, the gripper control board 412 controls the drive board 413 to generate an alternating voltage, and drives the motor 414 to output torque, thereby driving the gripper 43 to perform the closing action. During the closing action, the gripper control board 412 monitors the position information of the encoder 415 to determine whether the gripper 43 has completed the gripping of the target foreign object. If so, the gripper control board 412 sends a gripping completion signal to the robotic arm controller 21. If not, it continues to monitor in real time until the gripping action is completed, and then sends a gripping completion signal to the robotic arm controller 21. S4.3, Placement of the foreign object detection and cleaning robot as follows: Figure 10 As shown, after receiving the gripping completion signal, the robotic arm controller 21 plans a third motion trajectory based on the position of the foreign object storage box 5, and controls the robotic arm 22 to perform a third spatial curve motion according to the third motion trajectory. After moving to directly above the foreign object storage box 5, the robotic arm controller 21 sends an opening command to the gripper control board 412. After receiving the opening command, the gripper control board 412 controls the drive board 413 to generate an alternating voltage, drives the motor 414 to output torque and drives the gripper 43 to perform the opening action. During the opening action, the gripper control board 412 monitors the position information of the encoder 415 to determine whether the gripper 43 has completed the placement of the target foreign object. If so, the gripper control board 412 sends a placement completion signal to the robotic arm controller 21. If not, it continues to monitor in real time until the placement action is completed, and then sends a placement completion signal to the robotic arm controller 21, thus completing the cleaning of the target foreign object. The planning process for the third motion trajectory is as follows: the robotic arm controller 21 calculates the third target position information of each drive axis based on the position of the foreign object storage box 5, and sends it to the motor driver of each drive axis. The motor driver of each drive axis drives each drive axis to perform a third spatial curve motion based on the third target position information. When planning the above motion trajectory, a polynomial motion trajectory planning method can be used to plan the motion trajectory of the robotic arm 22.

[0031] S5. During the repeated grasping and placement process, once the vision component no longer detects any foreign objects, the robotic arm controller 21 sends a cleaning completion signal to the mobile robot host 11. Upon receiving the cleaning completion signal, the mobile robot host 11 sends a zero-return command to the robotic arm controller 21. After receiving the zero-return command, the robotic arm controller 21 controls the robotic arm 22 to perform a zero-return movement, thereby ensuring that the left camera 31, infrared projector 32, and right camera 33 are all at a preset zero position. The zero-return movement process is as follows: The robotic arm controller 21 plans a fourth motion trajectory based on the preset zero positions of the left camera 31, infrared projector 32, and right camera 33, and controls the robotic arm 22 to perform a fourth spatial curve motion based on the fourth motion trajectory. After the left camera 31, infrared projector 32, and right camera 33 move to the preset zero position, the robotic arm controller 21 sends a first zero-return success signal to the mobile robot host 11.

[0032] The motion flow switching of the airport foreign object detection and cleaning robot when executing automatic grabbing and placement commands, such as... Figure 11 As shown, after receiving the automatic grasping and placement command from the mobile robot host 11, the robotic arm controller 21 executes the photo-grab-place process sequentially until the left camera 31, infrared projector 32, and right camera 33 no longer detect any target object in front. The robotic arm then retracts to its zero position, completing the grasping task of the target object. After retracting to zero, it enters a standby state. The zero-return command can be executed in standby mode, but during the execution of a single action sequence, it will not respond to other commands except for pause or fault triggering. A new command can only be selected after the current sequence ends. In case of an emergency stop or fault triggering, a reset can be used to select whether to continue movement or execute the zero-return command to retract the robotic arm to its zero position.

[0033] This embodiment provides a method for handling faults in dual-redundant components of an airport foreign object detection and cleaning robot, which is used in the aforementioned airport foreign object detection and cleaning robot, and includes the following steps: Step 1: Based on the dual-redundant device type of the airport foreign object detection and cleaning robot, determine the corresponding fault handling strategy for the dual-redundant device type; the dual-redundant device type includes vision component 3 and gripper component 4; the fault handling strategy corresponding to the dual-redundant device type is as follows: When the vision component 3 malfunctions, an automatic switching monocular measurement strategy is used to handle the malfunction; when the gripper component 4 malfunctions, a self-decomposition and self-masking strategy is used to handle the malfunction. Step 2: When a fault is detected in the dual-redundant device of the airport foreign object detection and cleaning robot, adopt the corresponding fault handling strategy according to the type of dual-redundant device to complete the fault handling of the dual-redundant device of the airport foreign object detection and cleaning robot.

[0034] In step 2, when the gripper assembly 4, i.e., the positioning sensor, malfunctions, such as... Figure 12 As shown, the process of handling faults using self-solving and self-masking strategies is as follows; a1. After detecting a malfunction of the positioning sensor 42, the robotic arm controller 21 determines whether both positioning sensors 42 have malfunctioned. If so, it executes step a2; otherwise, it executes step a3. a2. After the robotic arm controller 21 reports a dual-sensor fault to the external central control device, it reads the position information of each drive axis on the robotic arm 22. Based on the position information of each drive axis, it uses kinematic equations to calculate the end-effector pose of the robotic arm 22. Based on the calculation result, it determines whether the gripper 43 touches the ground. If it does, it means that the robotic arm 22 has moved to the target position, and the fault handling is completed. If not, the robotic arm 22 continues to move downward and reads the position information of each drive axis on the robotic arm 22 again. Based on the position information of each drive axis, it uses kinematic equations to calculate the end-effector pose of the robotic arm 22 until the gripper 43 touches the ground, which means that the robotic arm 22 has moved to the target position, and the fault handling is completed. a3. After the robotic arm controller 21 reports a single sensor fault to the external central control device, the robotic arm controller 21 shields the faulty sensor from abnormal triggering, making it non-triggered. Then, it uses a normal sensor to sense changes in the magnetic field to determine whether the robotic arm 22 has moved to the target position, thereby completing the fault handling.

[0035] When the vision component 3, i.e. the camera, malfunctions, such as Figure 13 As shown, the process of handling faults using an automatic switching monocular measurement strategy is as follows: b1. After detecting a camera communication failure, the vision industrial control computer 34 determines whether both the left camera 31 and the right camera 33 have experienced communication failures. If so, the vision industrial control computer 34 reports the dual-camera communication failure to the external central control device and then transfers the case to manual handling to complete the fault handling. If not, step b2 is executed. b2. After the vision industrial control computer 34 reports the single camera communication failure to the external central control device, it uses a monocular measurement strategy to measure the target foreign object and determines whether the measurement is successful. If it is, the fault handling is completed; otherwise, step b3 is executed. b3. The vision industrial control computer 34 determines whether the number of monocular measurements is greater than 3. If so, it reports the monocular measurement fault to the external central control device and then transfers it to manual fault handling to complete the fault handling. If not, it continues to perform monocular measurements until the number of measurements is greater than 3, and then transfers it to manual fault handling to complete the fault handling.

Claims

1. An airport foreign matter detection and cleaning robot, characterized in that: it comprises a quadruped robot (1), a mechanical arm assembly (2), a vision assembly (3) and a gripper assembly (4); the gripper assembly (4) is connected through the mechanical arm assembly (2) and the quadruped robot (1); the mechanical arm assembly (2) and the vision assembly (3) are respectively electrically connected with the quadruped robot (1), and the mechanical arm assembly (2) is respectively electrically connected with the vision assembly (3) and the gripper assembly (4); the vision assembly (3) is used for detecting coordinate information of a target foreign matter and sending the coordinate information to the quadruped robot (1); the quadruped robot (1) sends a grabbing and placing instruction to the mechanical arm assembly (2) after receiving the coordinate information; the mechanical arm assembly (2) receives position information of the target foreign matter obtained through the vision assembly (3) after receiving the grabbing and placing instruction, and controls the gripper assembly (4) to clean the target foreign matter; the gripper assembly (4) comprises a gripper driving assembly (41), two position sensors (42), a gripper (43) and a support frame (45); the gripper driving assembly (41) comprises a metal shell (411), a gripper control board (412) arranged inside the metal shell (411), a driving board (413) and a motor (414), and an encoder (415) is arranged on the motor (414); the gripper control board (412) is electrically connected with the driving board (413), the driving board (413) is electrically connected with the motor (414), and the encoder (415) is electrically connected with the gripper control board (412); the gripper control board (412) is used for controlling the driving board (413) to drive the motor (414) to output torque, and the gripper control board (412) is also used for monitoring position information of the encoder (415); the support frame (45) is arranged at the top of the metal shell (411) through a position spring (44); the two position sensors (42) are respectively arranged on both sides of a support surface of the support frame (45); and the gripper (43) is arranged at the bottom of the metal shell (411); one end of the mechanical arm assembly (2) is connected with the support surface of the support frame (45), and the other end is connected with the quadruped robot (1); and the vision assembly (3) is connected on the support surface of the support frame (45); the gripper control board (412) and the position sensor (42) are respectively electrically connected with the mechanical arm assembly (2), the gripper control board (412) is used for receiving a closing or opening instruction sent by the mechanical arm assembly (2), and the position sensor (42) is used for sending a motion to position signal to the mechanical arm assembly (2).

2. The airport foreign matter detection and cleaning robot according to claim 1, characterized in that: the mechanical arm assembly (2) comprises a mechanical arm controller (21) and a mechanical arm (22), one end of the mechanical arm (22) is connected with the quadruped robot (1), and the other end is connected with the support surface of the support frame (45); and the mechanical arm controller (21) is arranged at one end of the mechanical arm (22) and is used for controlling the mechanical arm (22) to move. ​ ​ ​ ​ ​ ​ ​ ​ The visual assembly (3) comprises a left camera (31), an infrared projector (32), a right camera (33) and a visual industrial computer (34), the left camera (31), the infrared projector (32) and the right camera (33) are sequentially arranged at the lower end face of the visual industrial computer (34); the upper end face of the visual industrial computer (34) is arranged on the support surface of the support frame (45) through the mounting plate (6); The four-legged robot (1) comprises a four-legged robot main body, four-limb structures (13) arranged at the front and rear sides of the four-legged robot main body, and a four-legged robot controller (12) arranged at the bottom of the four-legged robot main body for driving the four-limb structures (13) to swing; One end of the mechanical arm (22) is connected to the front position of the top of the four-legged robot main body, the mobile robot host (11) is arranged at the middle position of the top of the four-legged robot main body, and the foreign matter storage box (5) is arranged at the rear position of the top of the four-legged robot main body; The mobile robot host (11) is electrically connected with the four-legged robot controller (12), the mechanical arm controller (21) and the visual industrial computer (34), the mechanical arm controller (21) is electrically connected with the visual industrial computer (34), the gripper control board (412) and the in-place sensor (42); The four-legged robot controller (12) is configured to drive the four-limb structures (13) to swing after receiving the control signal sent by the mobile robot host (11); The visual industrial computer (34) is configured to send the coordinate information of the target foreign matter to the mobile robot host (11); the mobile robot host (11) sends a grabbing and placing instruction to the mechanical arm controller (21) after receiving the coordinate information of the target foreign matter; the mechanical arm controller (21) requests the grabbing position and posture information of the target foreign matter from the visual industrial computer (34) after receiving the grabbing and placing instruction, and sends a closing or opening instruction to the gripper control board (412) after receiving the grabbing position and posture information; The in-place sensor (42) is configured to send a movement-in-place signal to the mechanical arm controller (21) after the gripper (43) moves to the position.

3. The control method of the airport foreign object detection and cleaning robot according to any one of claims 1 to 2, characterized in that, The method comprises the following steps: S1, when the four-legged robot (1) starts to work, the mechanical arm assembly (2), the visual assembly (3) and the gripper assembly (4) are all in a preset zero position, the visual assembly (3) detects whether there is a target foreign matter in real time, if yes, the coordinate information of the target foreign matter is determined and sent to the four-legged robot (1), and then step S2 is performed, if not, the four-legged robot (1) continues to move until the target foreign matter is detected, the coordinate information of the target foreign matter is determined and sent to the four-legged robot (1), and then step S2 is performed; S2, the four-legged robot (1) moves to a preset position close to the target foreign matter according to the received coordinate information, and sends a grabbing and placing instruction to the mechanical arm assembly (2); S3, the mechanical arm assembly (2) receives the grabbing and placing instruction, first moves the visual assembly (3) to the preset photographing position, then requests the target foreign matter grabbing position and posture information from the visual assembly (3), the visual assembly (3) receives the request, determines the target foreign matter grabbing position and posture information at the photographing position and sends them to the mechanical arm assembly (2); S4, the mechanical arm assembly (2) moves the gripper (43) according to the received grabbing position and posture information, after the gripper (43) touches the ground, the mechanical arm (22) continues to move downward, the in-place spring (44) deforms with the movement of the mechanical arm (22), so that the distance between the in-place sensor (42) and the metal shell (411) becomes shorter, when the distance reaches the preset distance, the in-place sensor (42) sends a movement-in-place signal to the mechanical arm assembly (2), the mechanical arm assembly (2) sends a closing instruction to the gripper control board (412) after receiving the movement-in-place signal, the gripper control board (412) generates an alternating voltage after receiving the closing instruction, the motor (414) outputs torque to drive the gripper (43) to perform a closing action, the gripper control board (412) determines whether the gripper (43) completes the grabbing of the target foreign matter by monitoring the position information of the encoder (415) during the closing action of the gripper (43); After the gripper control board (412) determines that the gripper (43) completes the grabbing of the target foreign matter, it sends a grabbing success signal to the mechanical arm assembly (2); the mechanical arm assembly (2) moves to the preset placement position first after receiving the grabbing success signal, then sends an opening instruction to the gripper control board (412); the gripper control board (412) generates an alternating voltage after receiving the opening instruction, the motor (414) outputs torque to drive the gripper (43) to perform an opening action, the gripper control board (412) determines whether the gripper (43) completes the placement of the target foreign matter by monitoring the position information of the encoder (415) during the opening action of the gripper (43), and completes the cleaning of the target foreign matter after determining that the placement is completed.

4. The control method of the airport foreign object detection and cleaning robot according to claim 3, characterized by, The specific process of step S3 is as follows: S3.1, the mechanical arm controller (21) receives the grabbing and placing instruction, plans a first motion trajectory according to the preset photographing position, and controls the mechanical arm (22) to perform a first spatial curve motion according to the first motion trajectory, until the left camera (31) and the right camera (33) move to the preset photographing position, the mechanical arm controller (21) requests the target foreign matter grabbing position and posture information from the visual industrial computer (34); the preset photographing position is an angle at which the left camera (31), the right camera (33) and the ground are parallel for shooting; S3.2, the visual industrial computer (34) controls the left camera (31) and the right camera (33) to take pictures after receiving the request, generates the target foreign matter grabbing position and posture information according to the photographing result, and sends them to the mechanical arm controller (21).

5. The control method of the airport foreign object detection and cleaning robot according to claim 4, characterized by, The specific process of step S4 is as follows: S4.1, the robot arm controller (21) performs kinematics calculation according to the received grabbing position and posture information, generates a second motion trajectory, and controls the robot arm (22) to perform a second spatial curve motion according to the second motion trajectory. After moving directly above the target foreign matter, the robot arm (22) performs a linear descending motion, and after moving to the target foreign matter and making the clamping jaw (43) contact the ground, it continues to perform a linear descending motion. The in-place spring (44) deforms with the movement of the robot arm (22), so that the distance between the in-place sensor (42) and the metal shell (411) becomes shorter. After the in-place sensor (42) senses that the distance reaches a preset distance through the change of the magnetic field, it sends a motion-to-position signal to the robot arm controller (21); S4.2, the robot arm controller (21) sends a closing instruction to the clamping jaw control board (412) after receiving the motion-to-position signal. The clamping jaw control board (412) generates an alternating voltage to control the drive board (413) after receiving the closing instruction. The motor (414) outputs torque to drive the clamping jaw (43) to perform a closing action. During the closing action of the clamping jaw (43), the clamping jaw control board (412) determines whether the clamping jaw (43) has completed grabbing the target foreign matter by monitoring the position information of the encoder (415). If yes, the clamping jaw control board (412) sends a grabbing completion signal to the robot arm controller (21). If not, it continues to monitor in real time until the grabbing action is completed, and then sends a grabbing completion signal to the robot arm controller (21); S4.3, the robot arm controller (21) plans a third motion trajectory according to the position of the foreign matter storage box (5) after receiving the grabbing completion signal, and controls the robot arm (22) to perform a third spatial curve motion according to the third motion trajectory. After moving directly above the foreign matter storage box (5), the robot arm controller (21) sends an opening instruction to the clamping jaw control board (412). The clamping jaw control board (412) generates an alternating voltage to control the drive board (413) after receiving the opening instruction. The motor (414) outputs torque to drive the clamping jaw (43) to perform an opening action. During the opening action of the clamping jaw (43), the clamping jaw control board (412) determines whether the clamping jaw (43) has completed placing the target foreign matter by monitoring the position information of the encoder (415). If yes, the clamping jaw control board (412) sends a placing completion signal to the robot arm controller (21). If not, it continues to monitor in real time until the placing action is completed, and then sends a placing completion signal to the robot arm controller (21), that is, the cleaning of the target foreign matter is completed.

6. The control method of the airport foreign object detection and cleaning robot according to claim 5, characterized by, The specific process of step S1 is as follows: S1.1, when the quadruped robot (1) starts to work, the left camera (31), the infrared projector (32), the right camera (33) and the gripper (43) are all in the preset zero position; the preset zero position of the left camera (31), the infrared projector (32) and the right camera (33) is that the left camera (31), the infrared projector (32), the right camera (33) and the ground are shot at θ°, wherein θ∈(45, 90); the preset zero position of the gripper (43) is that the gripper (43) is in the open state; S1.2, the infrared projector (32) emits a specific infrared light signal to detect whether there is a target foreign matter in real time, if yes, the vision industrial computer (34) collects the infrared light reflected back by the target foreign matter, obtains the coordinate information of the target foreign matter from the reflected infrared light and sends it to the mobile robot host (11), if not, the quadruped robot (1) continues to move until the target foreign matter is detected, the coordinate information of the target foreign matter is determined and sent to the mobile robot host (11), and then step S2 is performed.

7. The control method of the airport foreign object detection and cleaning robot according to claim 6, characterized by, Further comprising: S5, after receiving the placement completion signal, the mechanical arm controller (21) sends a cleaning completion signal to the mobile robot host (11), after receiving the cleaning completion signal, the mobile robot host (11) sends a zero return instruction to the mechanical arm controller (21), after receiving the zero return instruction, the mechanical arm controller (21) controls the mechanical arm (22) to perform zero return movement, so that the left camera (31), the infrared projector (32) and the right camera (33) are all in the preset zero position, the process of the zero return movement is as follows: The mechanical arm controller (21) plans a fourth motion trajectory according to the preset zero position of the left camera (31), the infrared projector (32) and the right camera (33), and controls the mechanical arm (22) to perform a fourth spatial curve motion according to the fourth motion trajectory, so that the left camera (31), the infrared projector (32) and the right camera (33) move to the preset zero position, and then the mechanical arm controller (21) sends a zero return success signal to the mobile robot host (11).

8. A method for handling a failure of a dual-redundant device of the airport foreign object detection and cleaning robot according to any one of claims 1 to 2, characterized in that, Comprising the following steps: Step 1, according to the type of double redundant devices of the airport foreign matter detection and cleaning robot, determine the fault handling strategy corresponding to the type of double redundant devices; the type of double redundant devices includes the vision assembly (3) and the gripper assembly (4); the fault handling strategy corresponding to the type of double redundant devices is: When the vision assembly (3) fails, an automatic switching single measurement strategy is adopted to handle the failure; when the gripper assembly (4) fails, a self-solving and self-shielding strategy is adopted to handle the failure; Step 2, when it is monitored that the double redundant devices of the airport foreign matter detection and cleaning robot fail, according to the type of double redundant devices, the corresponding fault handling strategy is adopted to complete the fault handling of the double redundant devices of the airport foreign matter detection and cleaning robot.

9. The airport foreign matter detection and cleaning robot double redundant device fault handling method according to claim 8, characterized in that: In step 2, when the jaw assembly (4) fails, the self-solution and self-shielding strategy is used to handle the failure as follows: a1, the mechanical arm controller (21) judges whether both of the two position sensors (42) fail after monitoring that the position sensor (42) fails, if yes, step a2 is executed, if not, step a3 is executed; a2, the mechanical arm controller (21) reports the double sensor failure to the external general control device, reads the position information of each drive shaft on the mechanical arm (22), and uses the kinematic equation to solve the end pose of the mechanical arm (22) according to the position information of each drive shaft, judges whether the jaw (43) is in place according to the solution result, if yes, the mechanical arm (22) moves to the target position, that is, the failure is handled; if not, the mechanical arm (22) continues to move down, and the position information of each drive shaft on the mechanical arm (22) is read again, the end pose of the mechanical arm (22) is solved by using the kinematic equation according to the position information of each drive shaft, until the jaw (43) touches the ground, indicating that the mechanical arm (22) moves to the target position, that is, the failure is handled; a3, after the mechanical arm controller (21) reports the single sensor failure to the external general control device, the mechanical arm controller (21) shields the abnormal trigger of the failed sensor, and determines whether the mechanical arm (22) moves to the target position by using the normal sensor to sense the magnetic field change, so as to complete the failure handling.

10. The double-redundancy device failure handling method of the airport foreign matter detection and cleaning robot according to claim 9, characterized in that: In step 2, when the vision assembly (3) fails, an automatic switching single measurement strategy is used to handle the failure, including the following steps: b1, the vision industrial computer (34) judges whether both the left camera (31) and the right camera (33) fail after monitoring that the camera communication fails, if yes, the vision industrial computer (34) reports the double camera communication failure to the external general control device, and then transfers to manual foreign matter cleaning, so as to complete the failure handling, if not, step b2 is executed; b2, the vision industrial computer (34) reports the single camera communication failure to the external general control device, and then uses the single measurement strategy to measure the target foreign matter, and judges whether the measurement is successful, if yes, the failure handling is completed, if not, step b3 is executed; b3, the vision industrial computer (34) judges whether the single measurement times are greater than 3, if yes, the single measurement failure is reported to the external general control device, and then the foreign matter cleaning is transferred to manual, so as to complete the failure handling, if not, the single measurement is continued until the measurement times are greater than 3, and the failure handling is transferred to manual, so as to complete the failure handling.

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