Design Of Foreign Object Debris Clearance Robot And Study On Identification Of Foreign Object Debris

Since the beginning of the 21 st century,the world economy has developed rapidly,and the aviation industry at home and abroad has also been greatly developed.The passenger traffic on the aircraft has increased year by year,and the demand for the airport has also increased.This is both an opportunity and a challenge for the airport.After a large number of airports have been built or renovated,in order to ensure the safe take-off and landing of the aircraft,the inspection of foreign bodies on the airport runway has become a priority.Airport runway foreign objects refer to foreign objects that affect the normal movement of the aircraft in the airport runway area.The occurrence of foreign objects in the airport runway is complicated.The size,physical properties,time of occurrence,location,etc.of the foreign objects are all random.Once these foreign objects are sucked into the engine,causing the engine to malfunction,or directly smashing the aircraft tires,It will pose a threat to the safe take-off and landing of aircraft.This will not only bring huge economic losses to airports and airlines,but more serious situations will make passengers lose their precious lives.Therefore,the research on foreign object detection and timely pick-up of airport runway has become an urgent task.This paper designs an airport runway obstacle-removing robot,which mainly completes the structural design of the airport runway obstacle-removing robot,and uses the improved area growing algorithm to complete the image of the airport runway foreign object.Segmentation and identification of foreign objects on the runway surface.The main research contents of this paper are as follows:According to the requirements of civil aviation for the detection of airport runway surface,a foreign object identification and picking scheme suitable for airport runway is proposed.A fully automatic airport runway obstacle removal robot is designed,including robot image recognition system,body mechanism and foreign object picking mechanism.Based on the traditional region growing algorithm,an improved region growing algorithm for image segmentation of airport runways is proposed.Based on the selection of regional seed points for the airport runway image,the proposed algorithm performs 8-connected region growth centered on it;the Sobel algorithm is used to enhance the edge contour of the image after region growth;color similar,region adjacent and phagocytosis The three elements of the small area area are the criteria,and the feature similar areas are merged to obtain the foreign object target segmentation image.The simulation is carried out in MATLAB software to verify the effectiveness of the algorithm.According to the functional requirements of the robot,the prototype control system of the airport runway obstacle removal robot was designed and built.The robot control system mainly consists of two parts: a foreign object image recognition system and a control system for foreign matter picking.Produce a physical prototype of the foreign body obstacle removal robot at the airport runway,build a physical experiment platform,verify the driving stability and controllability of the robot through straight-line driving and in-situ rotation experiments;use the SMART-AS803 light intensity measuring instrument to measure the light intensity,so that the robot is different Under the illumination condition,different types of foreign objects are identified,and the robustness and reliability of the robot recognition system are verified.The foreign object picking experiment is performed on the robot,and the success rate of the robot picking up different types of foreign objects is counted to verify the stability of the robot picking up foreign objects.