Multifunctional intelligent robot for airport

Abstract

The invention relates to the technical field of airport equipment, in particular to a multifunctional intelligent robot for an airport. The embodiment of the invention provides a multifunctional intelligent robot for an airport. The multifunctional intelligent robot comprises an ultrasonic bird repelling unit, an ultrasonic detection unit, a control unit and a carrying platform. The carrying platform is provided with a power source, the bottom of the carrying platform is provided with a moving unit, the control unit is used for controlling the moving unit to cruise according to a preset line, and the ultrasonic bird repelling unit and the ultrasonic detection unit are installed on the carrying platform. The power supply provides power for the control unit, the ultrasonic bird repelling unit and the ultrasonic detection unit, the control unit is used for controlling the ultrasonic bird repelling unit to emit ultrasonic waves to repel birds, and the control unit is further used for controlling the ultrasonic detection unit to measure the wind speed and detect obstacles. The embodiment of the invention provides a multifunctional intelligent robot for an airport, which can automatically operate and maintain the airport.

Description

Technical Field

[0001] This invention relates to the field of airport equipment technology, and in particular to a multifunctional intelligent robot for airports. Background Technology

[0002] Against the backdrop of the continued rapid development of the global aviation industry, airports, as key transportation hubs, face unprecedented pressure on their operational efficiency and reliability. However, the airfield and perimeter still heavily rely on intensive manual labor. This manual-dominated model has significant inherent bottlenecks: on the one hand, its operational efficiency is nearing its physical limits, making it difficult to keep pace with increasingly frequent flight frequencies; on the other hand, labor costs are experiencing rigid growth, and personnel are susceptible to fatigue, mood, and individual skill differences, making it difficult to achieve highly uniform and stable service standards. More importantly, the traditional 24 / 7 operational demands pose a severe challenge to manual scheduling, often leading to manpower shortages or response delays during late nights and early mornings, directly restricting the airport's overall throughput capacity and emergency response level. Furthermore, the data generated by manual operations is mostly isolated and unstructured information flow, making it difficult to effectively collect and integrate into the airport's intelligent decision-making system, forming "data silos." Therefore, how to break through the limitations of the aforementioned manpower-dependent operational model and introduce highly reliable and adaptive automated solutions has become a key technical issue that the industry must address to improve operational resilience and achieve intelligent upgrades. Summary of the Invention

[0003] This invention provides a multifunctional intelligent robot for airports, capable of automating airport operation and maintenance.

[0004] This invention provides a multifunctional intelligent robot for airports, including an ultrasonic bird deterrent unit, an ultrasonic detection unit, a control unit, and a mounting platform; The mounting platform is equipped with a power supply and a mobile unit is mounted on its bottom. The control unit is used to control the mobile unit to cruise along a preset route. The ultrasonic bird-repelling unit and the ultrasonic detection unit are mounted on the mounting platform. The power supply provides power to the control unit, the ultrasonic bird-repelling unit, and the ultrasonic detection unit. The control unit is used to control the ultrasonic bird-repelling unit to emit ultrasonic waves to repel birds. The control unit is also used to control the ultrasonic detection unit to measure wind speed and detect obstacles.

[0005] Optionally, the ultrasonic detection unit includes first ultrasonic transducers that transmit and receive signals in two mutually perpendicular directions. When the platform moves to the wind measurement position, the control unit connects the bidirectional transceiver circuit to the two first ultrasonic transducers and controls the two first ultrasonic transducers to transmit and receive ultrasonic signals at a fixed frequency. When the platform is located at the wind measurement position, two second ultrasonic transducers are fixed at positions opposite to the two first ultrasonic transducers. The two second ultrasonic transducers are electrically connected to the control unit, and the control unit determines the wind speed through the signal transmission and reception time difference between the first and second ultrasonic transducers.

[0006] Optionally, when the platform travels to the obstacle detection location, the control unit controls any of the first ultrasonic transducers to receive and transmit signals. The control unit determines whether there is an obstacle in the detection area by the transmission and reception time interval and the echo intensity.

[0007] Optionally, when repelling birds, the control unit connects the power amplifier circuit to the third ultrasonic transducer in the ultrasonic bird repelling unit to generate a randomly frequency-varying ultrasonic signal to repel birds.

[0008] Optionally, an azimuth adjustment device is connected to the mounting platform, and a mounting rod is connected to the azimuth adjustment device. The ultrasonic detection unit and the pitch adjustment device are sequentially mounted on the mounting rod in a direction away from the azimuth adjustment device, and the ultrasonic bird deterrent unit is mounted on the pitch adjustment device.

[0009] Optionally, a camera is connected to the side of the ultrasonic bird deterrent unit near the mounting platform. The camera is used to collect image information. The control unit receives the image information and identifies whether there are birds in the image information. If birds are identified, the control unit controls the ultrasonic bird deterrent unit to release ultrasonic waves to deter birds.

[0010] Optionally, a heat insulation plate is provided between the ultrasonic bird deterrent unit and the camera, and a connecting rod passing through the heat insulation plate connects the ultrasonic bird deterrent unit and the camera.

[0011] Optionally, the mounting rod and the connecting rod are fitted with elastic sleeves, and multiple reinforcing rods are installed between the mounting platform and the bearing fitted with the mounting rod.

[0012] Optionally, multiple wind measurement locations are included. When the platform is located at different wind measurement locations, the first ultrasonic transducer and its corresponding second ultrasonic transducer are located at the runway touchdown zone, the middle zone, and the stop end, respectively, and the first ultrasonic transducer and its corresponding second ultrasonic transducer are located no more than 120 meters but no less than 90 meters away from one side of the runway centerline.

[0013] Optionally, multiple obstacle detection locations are included. When the platform travels to each of the multiple obstacle detection locations, the first ultrasonic transducer points to the runway surface / shoulder, the low-altitude area / sensitive airspace of the runway extension, and the perimeter of the perimeter fence / equipment / specific area of ​​the apron.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: In this embodiment, the intelligent robot can use the moving unit 2 to move the functional units on the platform 1 to preset positions or to cruise. Cyclic movement and positional movement can be manually controlled or automated cruise can be achieved by editing routes in the control unit. Automated cruise is a prior art technology and can be implemented using displacement sensors and pre-imported maps. During cruise, an ultrasonic bird-repelling unit can be used to deter birds, and an ultrasonic detection unit can be used to detect obstacles and accurately measure local wind speed. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of a multifunctional intelligent robot for airports provided in an embodiment of the present invention.

[0017] In the picture: 1-Mounting platform, 2-Mobile unit, 3-First ultrasonic transducer, 4-Second ultrasonic transducer, 5-Third ultrasonic transducer, 6-Azimuth angle adjustment device, 7-Pitch angle adjustment device, 8-Camera, 9-Heat insulation plate, 10-Mounting rod, 11-Reinforcing rod. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; unless otherwise specified or stated, the term "multiple" refers to two or more; the terms "connected," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0020] In this specification, it should be understood that the directional terms such as "upper" and "lower" used in the description of the embodiments of the present invention are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of the present invention. Furthermore, in the context, it should also be understood that when it is mentioned that one element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0021] like Figure 1 As shown, this embodiment of the invention provides a multifunctional intelligent robot for airports, including an ultrasonic bird deterrent unit, an ultrasonic detection unit, a control unit, and a mounting platform 1; The mounting platform 1 is equipped with a power supply, and a mobile unit 2 is installed at the bottom. The control unit is used to control the mobile unit 2 to cruise along a preset route. The ultrasonic bird deterrent unit and the ultrasonic detection unit are installed on the mounting platform 1. The power supply provides power to the control unit, the ultrasonic bird deterrent unit and the ultrasonic detection unit. The control unit is used to control the ultrasonic bird deterrent unit to emit ultrasonic waves to deter birds. The control unit is also used to control the ultrasonic detection unit to measure wind speed and detect obstacles.

[0022] In this embodiment, the intelligent robot can use the moving unit 2 to move the functional units on the platform 1 to preset positions or to cruise. Cyclic movement and positional movement can be manually controlled or automated cruise can be achieved by editing routes in the control unit. Automated cruise is a prior art technology and can be implemented using displacement sensors and pre-imported maps. During cruise, an ultrasonic bird-repelling unit can be used to deter birds, and an ultrasonic detection unit can be used to detect obstacles and accurately measure local wind speed.

[0023] It should be noted that this application combines the ultrasonic detection unit with the cruiseable mobile mounting platform 1 to achieve the function of simultaneously measuring obstacles and wind speed with one set of equipment. This not only saves the number of ultrasonic transducers and reduces costs, but also increases the types of data collected in a single cruise.

[0024] In some embodiments of the present invention, the ultrasonic detection unit includes a first ultrasonic transducer 3 that transmits and receives signals in two mutually perpendicular directions. When the platform 1 travels to the wind measurement position, the control unit connects the bidirectional transceiver circuit to the two first ultrasonic transducers 3 and controls the two first ultrasonic transducers 3 to transmit and receive ultrasonic signals at a fixed frequency. When the platform 1 is located at the wind measurement position, two second ultrasonic transducers 4 are fixed at positions opposite to the two first ultrasonic transducers 3. The two second ultrasonic transducers 4 are electrically connected to the control unit, and the control unit determines the wind speed by the signal transmission and reception time difference between the first ultrasonic transducers 3 and the second ultrasonic transducers 4.

[0025] In this embodiment, by simultaneously emitting ultrasonic waves of a fixed frequency through the first ultrasonic transducer 3 and the second ultrasonic transducer 4, the wind speed can be calculated based on the time difference between the transmission and reception of the first ultrasonic transducer 3 and the second ultrasonic transducer 4. Furthermore, the final wind speed can be calculated based on the two sets of vertical wind speeds. The wind speed calculation formula is as follows: Where V is the wind speed between the first ultrasonic transducer 3 and the second ultrasonic transducer 4, L is the distance between the first ultrasonic transducer 3 and the second ultrasonic transducer 4, and t AB t is the time it takes for the ultrasonic wave emitted by the first ultrasonic transducer 3 to travel to the second ultrasonic transducer 4. BA The time it takes for the ultrasonic wave emitted by the second ultrasonic transducer 4 to travel to the first ultrasonic transducer 3.

[0026] In this embodiment, the bidirectional transceiver circuit requires a transmitting circuit capable of generating extremely short and stable pulses, and a receiving circuit with high sensitivity, low noise, and a high sampling rate to measure time differences with nanosecond-level accuracy. The bidirectional transceiver circuit may include a dedicated current sense amplifier (CSA), which directly measures the current flowing through the receiving transducer or a small series resistor and converts it into a voltage. The front end of the receiving circuit needs to be equipped with protection circuitry (such as diode clamping) to prevent damage caused by leakage of high-power transmitted signals. The amplified signal needs to be converted into a digital signal by a high-resolution ADC so that the processor can perform accurate time measurements and related calculations.

[0027] In this embodiment, the piezoelectric ceramic chips of the first ultrasonic transducer 3 and the second ultrasonic transducer 4 have a high-stability, low-loss formulation. Long-term stability, a low coefficient of thermal expansion, and a high mechanical quality factor Qm are prioritized to ensure minimal change in resonant frequency with time and temperature. Thickness-based vibration mode is dominant. The structure is typically a simple thin disc, operating in a pure thickness-expansion mode to generate a narrow-beam, highly directional plane wave, ensuring precise acoustic path. Precise acoustic matching is employed. A specially designed acoustic matching layer (such as a special epoxy resin or composite material) can be provided at the front end to reduce acoustic impedance differences, allowing ultrasonic waves to penetrate the air more efficiently and broadening the operating bandwidth. It features high frequency and narrow bandwidth, typically between 100kHz and 200kHz. It operates near a sharp resonant point to ensure signal purity, concentrated energy, and a high echo signal-to-noise ratio.

[0028] In this embodiment, the controller includes a main control chip (MCU / DSP / FPGA) to run software in three modes, thereby receiving mode switching commands, controlling hardware switches, and executing corresponding signal generation, acquisition, and algorithms. Link switching can be achieved through an analog switch matrix.

[0029] In some embodiments of the present invention, when the platform 1 travels to the obstacle detection position, the control unit controls any of the first ultrasonic transducers 3 to receive and transmit signals. The control unit determines whether there are obstacles in the detection area by the time interval between receiving and transmitting signals and the echo intensity.

[0030] In this embodiment, when there are no obstacles, the echo time and echo intensity at the obstacle detection location are recorded. The collected echo time and echo intensity are compared with the recorded echo time and echo intensity to determine whether there are obstacles in the detection area.

[0031] In some embodiments of the present invention, when repelling birds, the control unit connects the power amplifier circuit to the third ultrasonic transducer 5 in the ultrasonic bird repelling unit to generate a randomly frequency-varying ultrasonic signal to repel birds.

[0032] In this embodiment, the power amplifier circuit can efficiently and controllably generate a high-voltage, high-current signal capable of driving the transducer. Specifically, it includes a Class D amplifier that converts the input signal into a high-frequency switching waveform via pulse width modulation, amplifies it through a power switch, and finally restores the original waveform through an LC low-pass filter. A driver stage is typically required before power amplification to boost the control signal to a level sufficient to quickly and completely turn the power transistors on and off. An H-bridge circuit is used to achieve bidirectional current drive. An impedance matching network is added between the power amplifier and the transducer to ensure that the power output from the power amplifier is transferred to the transducer with maximum efficiency.

[0033] It should be noted that a common transducer group can be safely switched to different signal links (bidirectional transceiver circuits or power amplifier circuits) by means of relays or high-performance analog switch matrices.

[0034] In this embodiment, the piezoelectric ceramic chip of the third ultrasonic transducer 5 has a high coupling coefficient and a high power tolerance formulation. It possesses a high electromechanical coupling coefficient (Kt) and dielectric constant to improve electroacoustic conversion efficiency and can operate under high voltage and high current without depolarization or overheating damage. It can exhibit bending vibration or composite modes, or more complex structures such as a "sandwich" structure (front cover, piezoelectric stack, rear mass block) to generate greater amplitude and volume displacement at a given voltage, thereby radiating stronger sound pressure. External robust protection and heat dissipation are provided. The front cover prioritizes mechanical protection (impact resistance, waterproofing). The encapsulation shell is typically made of metal and designed with heat sinks or heat dissipation channels to dissipate heat generated during high-power operation. The piezoelectric ceramic chip has a variable frequency and wide bandwidth. It has a low fundamental frequency (20kHz-40kHz) and is designed to operate within a certain frequency range to prevent bird adaptation. The sharpness requirement for the resonance peak is lower than that of the anemometer type.

[0035] In some embodiments of the present invention, an azimuth adjustment device 6 is connected to the mounting platform 1, and an installation rod 10 is connected to the azimuth adjustment device 6. An ultrasonic detection unit and a pitch adjustment device 7 are sequentially installed on the installation rod 10 in a direction away from the azimuth adjustment device 6, and an ultrasonic bird deterrent unit is installed on the pitch adjustment device 7.

[0036] In this embodiment, the azimuth adjustment device 6 and the pitch adjustment device 7 can be servo motors. The azimuth adjustment device 6 can rotate the mounting rod 10, thereby driving all devices on the mounting rod 10 to adjust the azimuth angle. Preferably, one detection direction of the ultrasonic detection unit and the detection direction of the ultrasonic bird deterrent unit are the same, so that they have the same azimuth angle, which facilitates the control unit adjustment and reduces computing power. When the ultrasonic detection unit detects, it often does not need to adjust the pitch angle, while the ultrasonic bird deterrent unit does need to adjust the pitch angle. Therefore, the pitch adjustment device 7 is provided on the upper part of the ultrasonic detection unit, and the ultrasonic bird deterrent unit is mounted on the pitch adjustment device 7.

[0037] In some embodiments of the present invention, a camera 8 is connected to the side of the ultrasonic bird deterrent unit near the mounting platform 1. The camera 8 is used to collect image information. The control unit receives the image information and identifies whether there are birds in the image information. If birds are identified, the control unit releases ultrasonic waves to deter birds.

[0038] In this embodiment, the camera 8 and the ultrasonic bird-repelling unit are oriented in the same direction and are close to each other. Therefore, the field of view of the camera 8 and the effective range of the ultrasonic bird-repelling unit basically overlap. When the camera 8 captures birds in its field of view, it can directly release ultrasonic waves to repel the birds without any further adjustments.

[0039] In some embodiments of the present invention, a heat insulation plate 9 is provided between the ultrasonic bird deterrent unit and the camera 8, and a connecting rod passing through the heat insulation plate 9 connects the ultrasonic bird deterrent unit and the camera 8.

[0040] In this embodiment, the camera 8 can be an infrared camera. The ultrasonic bird deterrent unit often has high power and therefore generates heat. In order to prevent the heat generated by the unit from interfering with the infrared camera, a heat insulation plate 9 is set between the two. The two are connected by a connecting rod through which the heat insulation plate 9 is inserted. The connecting rod is preferably a hollow rod with a small cross-sectional area and less heat transfer.

[0041] In some embodiments of the present invention, the mounting rod 10 and the connecting rod are fitted with elastic sleeves, and a plurality of reinforcing rods 11 are installed between the mounting platform 1 and the bearing fitted on the mounting rod 10.

[0042] In this embodiment, the ultrasonic bird-repelling unit generates horizontal vibrations during operation, or under the influence of wind. Since the ultrasonic detection unit requires a relatively stable environment for detection, the ultrasonic bird-repelling unit is positioned at the top. Elastic sleeves are fitted onto the mounting rod 10 and connecting rod, and multiple reinforcing rods 11 are installed between the mounting platform 1 and the bearing fitted onto the mounting rod 10 to ensure the stability of the mounting rod 10 near the ultrasonic detection unit.

[0043] In this embodiment, the elastic sleeve can be fully or partially covered, and can be made of rubber or rubber-metal materials. Preferably, it is made of an additively manufactured negative Poisson's ratio polymer. When the ultrasonic transducer generates horizontal vibration and pressure, the sleeve also contracts vertically, effectively enveloping the vibrating rod. Specifically, the sleeve contracts at the strongest amplitude, increasing the rod's stiffness, and releases when the amplitude is weaker, causing the sleeve to continuously contract with vibration. The special microstructure of the negative Poisson's ratio material (such as concave honeycomb or rotating polygons) can more effectively convert mechanical energy (vibration energy) into heat energy during contraction and deformation, thereby suppressing vibration. Furthermore, its higher shear and indentation resistance better resists localized impacts and deformation.

[0044] In some embodiments of the present invention, multiple wind measurement locations are included. When the platform 1 is located at different wind measurement locations, the first ultrasonic transducer 3 and its corresponding second ultrasonic transducer 4 are located at the runway touchdown zone, the middle zone, and the stop end, respectively. The distance between the first ultrasonic transducer 3 and its corresponding second ultrasonic transducer 4 and one side of the runway centerline is no more than 120 meters but not less than 90 meters. The height of the first ultrasonic transducer 3 and the second ultrasonic transducer 4 is 3~12m.

[0045] In this embodiment, the mounting rod 10 can be a telescopic sleeve rod. When retracted, the mounting rod is shorter, making it easier to move. During testing, the moving unit 2 stops moving, and the mounting rod 10 extends stably to a preset position to perform work at different heights.

[0046] In some embodiments of the present invention, multiple obstacle detection locations are included. When the platform 1 travels to the multiple obstacle detection locations, the first ultrasonic transducer 3 points to the runway surface / shoulder, the low-altitude area / sensitive airspace of the runway extension line, and the specific area of ​​the perimeter gap / equipment perimeter / apron.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-functional intelligent robot for airports, characterized in that, It includes an ultrasonic bird deterrent unit, an ultrasonic detection unit, a control unit, and a mounting platform; The mounting platform is equipped with a power supply and a mobile unit is mounted on its bottom. The control unit is used to control the mobile unit to cruise along a preset route. The ultrasonic bird-repelling unit and the ultrasonic detection unit are mounted on the mounting platform. The power supply provides power to the control unit, the ultrasonic bird-repelling unit, and the ultrasonic detection unit. The control unit is used to control the ultrasonic bird-repelling unit to emit ultrasonic waves to repel birds. The control unit is also used to control the ultrasonic detection unit to measure wind speed and detect obstacles.

2. The multifunctional intelligent robot for airports according to claim 1, characterized in that, The ultrasonic detection unit includes two first ultrasonic transducers that transmit and receive signals in two mutually perpendicular directions. When the platform moves to the wind measurement position, the control unit connects the bidirectional transceiver circuit to the two first ultrasonic transducers and controls the two first ultrasonic transducers to transmit and receive ultrasonic signals at a fixed frequency. When the platform is located at the wind measurement position, two second ultrasonic transducers are fixed at positions opposite to the two first ultrasonic transducers. The two second ultrasonic transducers are electrically connected to the control unit, and the control unit determines the wind speed by the signal transmission and reception time difference between the first and second ultrasonic transducers.

3. A multifunctional intelligent robot for airports according to claim 2, characterized in that, When the platform travels to the obstacle detection position, the control unit controls any of the first ultrasonic transducers to receive and transmit signals. The control unit determines whether there are obstacles in the detection area by the transmission and reception time interval and the echo intensity.

4. A multifunctional intelligent robot for airports according to claim 1, characterized in that, When repelling birds, the control unit connects the power amplifier circuit to the third ultrasonic transducer in the ultrasonic bird repelling unit to generate a randomly frequency-varying ultrasonic signal to repel birds.

5. A multifunctional intelligent robot for airports according to claim 1, characterized in that, An azimuth adjustment device is connected to the mounting platform. An installation rod is connected to the azimuth adjustment device. The ultrasonic detection unit and the pitch adjustment device are sequentially installed on the installation rod in a direction away from the azimuth adjustment device. The ultrasonic bird deterrent unit is installed on the pitch adjustment device.

6. A multifunctional intelligent robot for airports according to claim 5, characterized in that, The ultrasonic bird deterrent unit is connected to a camera on the side near the mounting platform. The camera is used to collect image information. The control unit receives the image information and identifies whether there are birds in the image information. If birds are identified, the control unit controls the ultrasonic bird deterrent unit to release ultrasonic waves to deter birds.

7. A multifunctional intelligent robot for airports according to claim 6, characterized in that, A heat insulation plate is provided between the ultrasonic bird deterrent unit and the camera, and a connecting rod passing through the heat insulation plate connects the ultrasonic bird deterrent unit and the camera.

8. A multifunctional intelligent robot for airports according to claim 7, characterized in that, The mounting rod and the connecting rod are fitted with elastic sleeves, and multiple reinforcing rods are installed between the mounting platform and the bearing fitted with the mounting rod.

9. A multifunctional intelligent robot for airports according to claim 2, characterized in that, The system includes multiple wind measurement locations. When the platform is located at different wind measurement locations, the first ultrasonic transducer and its corresponding second ultrasonic transducer are located at the runway touchdown zone, the middle zone, and the stop end, respectively. The distance between the first ultrasonic transducer and its corresponding second ultrasonic transducer and one side of the runway centerline is no more than 120 meters but no less than 90 meters.

10. A multifunctional intelligent robot for airports according to claim 3, characterized in that, Including multiple obstacle detection locations, when the platform travels to each of the multiple obstacle detection locations, the first ultrasonic transducer points to the runway surface / shoulder, the low-altitude area / sensitive airspace of the runway extension line, and the specific area of ​​the perimeter fence / equipment perimeter / apron.

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