CN108945511B - Collision avoidance control system and method for airport vehicles - Google Patents
Collision avoidance control system and method for airport vehicles Download PDFInfo
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- CN108945511B CN108945511B CN201811061043.5A CN201811061043A CN108945511B CN 108945511 B CN108945511 B CN 108945511B CN 201811061043 A CN201811061043 A CN 201811061043A CN 108945511 B CN108945511 B CN 108945511B
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- 230000001681 protective effect Effects 0.000 claims description 13
- 230000035939 shock Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000001939 inductive effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an anti-collision control system and method of airport vehicles, wherein the system comprises a limit switch, a photoelectric switch, an ultrasonic sensor, a radar device and a controller; the limit switch is used for sensing the aircraft in the ascending process of the loading platform so as to control the ascending and descending movement of the loading platform; the photoelectric switch is used for sensing the aircraft in the forward extending process of the loading platform so as to control the telescopic movement of the loading platform; the ultrasonic sensor is used for sensing the cabin door of the aircraft to control the left-right movement of the loading platform; the radar device comprises a plurality of probes which are used for sensing the aircraft in the reversing and lifting carriage lifting process of the airport vehicle so as to control the reversing and lifting movement of the airport vehicle. The invention can prevent collision between airport vehicles and aircrafts in all directions, and can realize accurate butt joint of loading platforms of airport vehicles and aircraft doors.
Description
Technical Field
The embodiment of the invention relates to the field of anti-collision, in particular to an anti-collision control system and method for airport vehicles.
Background
With the sustainable development of the economy in China, the civil aviation industry is rapidly developed, and the number of airports is increased. The airport has the characteristics of large occupied area, strong mobility of airport vehicles and the like. When an aircraft is parked at a gate or other service location, it is possible that an airport vehicle such as a fuel truck, a ground powered cart, a luggage train, a cargo loader, a galley service vehicle, and a mobile exit ramp all present a risk of collision with the aircraft, particularly vehicles that require engagement with an aircraft landing, and are prone to contact collisions with the aircraft. In practice, even if the damage is a slight collision, the maintenance cost is very expensive, and the takeoff time delay and the like may be caused, so that huge losses are brought to airlines. Accordingly, anti-collision safety protection of airport vehicles and aircraft is becoming increasingly important.
At present, the anti-collision safety protection of the airport vehicle and the aircraft is mainly finished by visual inspection of operators, for example, a proximity switch or a mechanical touch limit switch is arranged at the forefront of a vehicle platform, and when the vehicle is close to the aircraft, the control platform stops extending forwards.
However, in practicing the present invention, the inventors found that the prior art has at least the following problems:
under partial scenes, the cargo vehicle approaches the loading platform in a reversing way, and because of barriers and dead zones in reversing, the cargo vehicle is easy to collide with the loading platform, and particularly when the loading platform is large-scale equipment such as an aircraft, the cargo vehicle does not have enough protection on the aspects of moving left and right, ascending and descending at the loading position and the top of the tail end of the carriage body in reversing, and is easy to collide with the aircraft and other loading platforms.
It should be noted that the foregoing description of the background art is only for the purpose of providing a clear and complete description of the technical solution of the present invention and is presented for the convenience of understanding by those skilled in the art. The above-described solutions are not considered to be known to the person skilled in the art simply because they are set forth in the background of the invention section.
Disclosure of Invention
In view of the above problems, an object of an embodiment of the present invention is to provide a collision avoidance control system and method for an airport vehicle, which can prevent collision between the airport vehicle and an aircraft in an omnibearing manner, and can realize accurate docking of a loading platform of the airport vehicle and a cabin door of the aircraft.
In order to achieve the above-mentioned purpose, the present invention provides an airport vehicle anti-collision control system, wherein the airport vehicle comprises a headstock, a vehicle body, a lifting carriage and a loading platform, the lifting carriage is mounted on the vehicle body, and the loading platform is mounted at one end of the lifting carriage close to the headstock; the collision avoidance control system includes: the device comprises a limit switch, a photoelectric switch, an ultrasonic sensor, a radar device and a controller, wherein the limit switch, the photoelectric switch, the ultrasonic sensor and the radar device are respectively in communication connection with the controller; the limit switch, the photoelectric switch and the ultrasonic sensor are positioned on the loading platform, wherein the limit switch is used for inducing the aircraft in the lifting process of the loading platform, so that the lifting movement of the loading platform is controlled by the controller; the photoelectric switch is used for sensing the aircraft in the forward extending process of the loading platform, so that the telescopic movement of the loading platform is controlled by the controller; the ultrasonic sensor is used for sensing the cabin door of the aircraft, so that the left-right movement of the loading platform is controlled by the controller; the radar device comprises a plurality of probes which are respectively positioned at the tail part of the vehicle body and the top end of the tail part of the lifting carriage and are used for inducing an aircraft in the reversing and lifting carriage lifting process of the airport vehicle, so that the controller is used for controlling the reversing and lifting movement of the reversing and lifting carriage of the airport vehicle.
In order to achieve the above object, an embodiment of the present invention further provides an anti-collision control method for an airport vehicle, which is applied to an anti-collision control system for an airport vehicle as described above, including: in the reversing process of the airport vehicle, a radar probe positioned at the tail of the vehicle body senses the aircraft and controls the reversing of the airport vehicle through a controller; after an airport vehicle is stopped, in the ascending process of the lifting carriage, an aircraft is sensed according to a radar probe positioned at the top end of the tail part of the lifting carriage, and simultaneously, an aircraft door is sensed according to a limit switch positioned on the loading platform and an ultrasonic sensor positioned on the loading platform, and the lifting movement of the loading platform is controlled by a controller; in the forward extending process after the loading platform stops lifting, the aircraft is sensed according to a photoelectric switch on the loading platform, and the telescopic movement of the loading platform is controlled by a controller; after the loading platform stops extending forwards, the loading platform is aligned to the aircraft cabin door by sensing the aircraft cabin door through the ultrasonic sensor on the loading platform and controlling the left-right movement of the loading platform through the controller.
Therefore, the airport vehicle anti-collision control system and the airport vehicle anti-collision control method provided by the embodiment of the invention can respectively realize the induction of the airport vehicle and the aircraft during the reversing of the airport vehicle, the induction of the top end of the tail of the carriage and the aircraft during the lifting carriage, the induction of the loading platform positioned at the front edge of the bottom of the carriage and the aircraft, and the induction of the loading platform and the cabin door of the aircraft, and realize the omnidirectional prevention of the collision of the airport vehicle and the aircraft. And the loading platform is aligned to the aircraft cabin door by sensing the distance between the loading platform and the aircraft cabin door.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described one by one, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an airport vehicle collision avoidance control system provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of a position of a limit switch, a photoelectric switch and an ultrasonic sensor in a protection cylinder according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a collision avoidance control system according to an embodiment of the present invention located at a vehicle at an airport;
fig. 4 is a flow chart of an anti-collision control method for an airport vehicle according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
The embodiment of the invention provides an anti-collision control system of an airport vehicle, which comprises a vehicle head, a vehicle body, a lifting carriage and a loading platform, wherein the lifting carriage is arranged on the vehicle body, and the loading platform is arranged at one end of the lifting carriage close to the vehicle head.
As shown in fig. 1, the collision avoidance control system includes a limit switch, a photoelectric switch, an ultrasonic sensor, a radar device, and a controller.
As shown in fig. 2, the limit switch, the photoelectric switch and the ultrasonic sensor are positioned on the protection cylinder; as shown in connection with fig. 3, the protective cylinder is mounted on the front edge of a loading platform of an airport vehicle and comprises a protective shell and a shock pad wrapping the protective shell. In the embodiment of the invention, the protecting shell is preferably a hollow cylindrical column, the shock pad is a rubber shock pad, and of course, the protecting shell can also have other shapes and the shock pad can also have other material selections, and the invention is not limited herein.
Limit switches are arranged at the two ends of the front edge of the protective cylinder, and contacts of the limit switches are arranged obliquely upwards and are used for sensing objects in the lifting process of the loading platform. The limit switch is used for realizing switching on or switching off the control circuit when a contact of the limit switch collides with an object in the course of travel. In an embodiment of the invention, the contacts are arranged obliquely upwards at a first angle of 30-60 degrees, preferably 45 degrees. When the loading platform ascends, if the limit switch touches the aircraft, a signal is sent to the controller, and the controller controls the loading platform to stop ascending.
The photoelectric switch is arranged at the front edge of the protective cylinder and used for sensing an object of the loading platform in the telescopic process. The photoelectric switch converts the intensity change of light between the transmitting end and the receiving end into the change of current so as to achieve the purpose of detection. In the embodiment of the invention, the sensing distance of the photoelectric switch is set to be 50-100 mm, preferably 100mm, namely, when the photoelectric switch senses the aircraft in the process of extending forward of the loading platform, the distance between the loading platform and the object is equal to or smaller than 100mm, the photoelectric switch sends a signal to the controller, and the controller controls the loading platform to stop extending forward.
The ultrasonic sensors are mounted at both ends of the protective cylinder for sensing the aircraft door, in particular the side or underside of the aircraft door. Ultrasonic wave refers to mechanical wave with frequency above 20kHz, is a special sound wave, and has basic physical characteristics of refraction, reflection, interference and the like of the sound wave. The ultrasonic sensor emits ultrasonic signals to one direction outside through the emitting device, the ultrasonic signals are started to be timed at the same time of emitting the ultrasonic waves, the ultrasonic waves are transmitted through the air, the ultrasonic waves are immediately reflected and transmitted back when encountering obstacles (such as the side surface or the lower surface of a cabin door of an aircraft during the transmission, and the ultrasonic receiver immediately stops timing at the moment of receiving the reflected waves. The propagation speed of ultrasonic wave in the air is 340m/s, and the timer can calculate the distance length(s) from the emission point to the obstacle by recording the time t, namely: s=340 t/2. In the operation process of the loading platform, the ultrasonic sensor senses the distance between the loading platform and the aircraft cabin door and sends a signal to the controller so that the controller controls the loading platform to be aligned with the aircraft cabin door. Specifically, ultrasonic sensors at two ends of the protection cylinder respectively sense the distance between the ultrasonic sensors and the left and right ends of the aircraft cabin door, and the controller controls the loading platform to move left and right according to the sensed distance and controls the loading platform to stop moving left and right when the center line of the loading platform is aligned with the center position of the aircraft cabin door.
The radar device comprises a plurality of probes which are respectively arranged at the tail part of the airport vehicle and the top end of the tail part of the lifting carriage and are used for detecting objects of the airport vehicle in the processes of reversing and lifting the carriage, and the radar device has an automatic IP addressing function, namely, under the participation of a dynamic host configuration protocol server or other IT address allocation mechanisms, the equipment automatically acquires legal IP addresses. In the embodiment of the invention, the probe of the radar device automatically determines the azimuth and allocates the internal ID according to the trend of the cable. The radar device is used for preventing the airport vehicle from being lost due to collision of the top of the carriage with the wings and other parts in the reversing and lifting process of the carriage.
The controller is arranged at the head of the airport vehicle, the signal output ends of the ultrasonic sensor, the photoelectric switch, the limit switch and the radar device are connected with the signal input end of the controller to realize communication connection, and the signal output end of the controller is connected with a driving computer of the airport vehicle through the signal converter and is powered by the vehicle-mounted power supply. When the ultrasonic sensor, the photoelectric switch and the limit switch are in sensing or contact, signals are sent to the controller, and the controller controls the operation and stop of the airport vehicle, the lifting of the lifting carriage and the expansion, translation and lifting of the loading platform according to the received signals. In addition, the controller adopts the aluminium type shell, and inside adopts no connecting wire design to have higher antidetonation level, thereby reach crashproof effect.
The embodiment of the invention also provides an anti-collision control method of the airport vehicle, which comprises the following steps:
in the reversing process of the airport vehicle, a radar probe positioned at the tail of the vehicle body senses the aircraft and controls the reversing of the airport vehicle through a controller;
after an airport vehicle is stopped, in the ascending process of the lifting carriage, an aircraft is sensed according to a radar probe positioned at the top end of the tail part of the lifting carriage, and simultaneously, an aircraft door is sensed according to a limit switch positioned on the loading platform and an ultrasonic sensor positioned on the loading platform, and the lifting movement of the loading platform is controlled by a controller;
in the forward extending process after the loading platform stops lifting, the aircraft is sensed according to a photoelectric switch on the loading platform, and the telescopic movement of the loading platform is controlled by a controller;
after the loading platform stops extending forwards, the loading platform is aligned to the aircraft cabin door by sensing the aircraft cabin door through the ultrasonic sensor on the loading platform and controlling the left-right movement of the loading platform through the controller.
Wherein the lifting movement of the loading platform is controlled by the controller, and the method specifically comprises the following steps: in the ascending process of the lifting carriage, if the contact of the limit switch touches the aircraft, a signal is sent to a controller, and the controller controls the loading platform to stop ascending; and/or if the ultrasonic sensor senses the bottom edge of the cabin door of the aircraft, sending a signal to a controller, wherein the controller controls the loading platform to stop ascending; and/or if the probe at the tail top end of the lifting carriage senses the aircraft within the third sensing distance, a signal is sent to a controller, and the controller controls the loading platform to stop ascending.
The telescopic movement of the loading platform is controlled by the controller, and the telescopic movement is specifically as follows: and if the photoelectric switch senses the aircraft within the first sensing distance, a signal is sent to a controller, and the controller controls the loading platform to stop extending forwards.
The left-right movement of the loading platform is controlled by the controller, specifically: the ultrasonic sensors respectively sense the distance between the ultrasonic sensors and the left and right ends of the aircraft cabin door, and the controller controls the left and right movement of the loading platform according to the sensed distance and controls the loading platform to stop moving left and right when the center line of the loading platform is aligned with the center position of the aircraft cabin door.
Taking fig. 4 as an example, if the radar probe at the tail of the vehicle senses the aircraft within a set distance during the reversing process of the airport vehicle, the controller sends out an alarm through the alarm system to control the reversing of the airport vehicle. After an airport vehicle is stopped, starting a carriage to ascend, and judging whether a contact of a limit switch senses an aircraft or not in the ascending process of a lifting carriage; if the contact of the limit switch touches the aircraft, the loading platform is controlled by the controller to stop ascending, the carriage is started according to the requirement, the position of the airport vehicle is readjusted, and the carriage is started to ascend after the position is adjusted; if no contact of the limit switch touches the aircraft, sensing an aircraft cabin door according to the ultrasonic sensor, and stopping the carriage from ascending when the platform is level with the cabin door; starting the platform to extend forwards, judging whether the photoelectric switch senses the aircraft, and if the photoelectric switch senses that the platform automatically stops extending forwards; starting the platform to move left and right, respectively sensing the left side and the right side of the aircraft cabin door by two ultrasonic sensors, and controlling the loading platform to stop moving left and right when the center line of the loading platform is aligned with the center position of the aircraft cabin door; if the cabin door cannot be aligned in the left-right movement, the platform is retracted, the lower part of the carriage is started again, the position of the whole vehicle is readjusted, and then the operation is started again.
The specific technical details of the airport vehicle anti-collision control method are similar to those of the airport vehicle anti-collision control system, so that detailed description is omitted.
Therefore, the anti-collision control system and method for the airport vehicle can respectively realize the induction of the airport vehicle and the aircraft during the reversing of the airport vehicle, the induction of the loading platform and the aircraft at the front edge of the bottom of the carriage and the induction of the loading platform and the aircraft cabin door during the lifting carriage ascending process, and the omnidirectional prevention of the collision of the airport vehicle and the aircraft. And the loading platform is aligned to the aircraft cabin door by sensing the distance between the loading platform and the aircraft cabin door.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are referred to each other, and each embodiment is mainly described as different from other embodiments.
Finally, it should be noted that: the foregoing description of various embodiments of the invention has been presented to those skilled in the art for the purposes of illustration. It is not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. As described above, various alternatives and variations of the present invention will be apparent to those skilled in the art. Thus, while some alternative embodiments have been specifically discussed, other embodiments will be apparent or relatively readily available to those skilled in the art. The present invention is intended to embrace all alternatives, modifications, and variations of the present invention that have been discussed herein and other embodiments that fall within the spirit and scope of the above-described application.
Claims (10)
1. An anti-collision control system of an airport vehicle, the airport vehicle includes locomotive, automobile body, lift carriage and loading platform, the lift carriage is installed on the automobile body, loading platform installs in the one end that the lift carriage is close to the locomotive, its characterized in that, anti-collision control system includes: the device comprises a limit switch, a photoelectric switch, an ultrasonic sensor, a radar device and a controller, wherein the limit switch, the photoelectric switch, the ultrasonic sensor and the radar device are respectively in communication connection with the controller;
the anti-collision control system further comprises a protection cylinder, wherein the protection cylinder is arranged at the front edge of the loading platform;
the limit switches are arranged at the two ends of the front edge of the protective cylinder, the photoelectric switches are arranged at the front edge of the protective cylinder, the ultrasonic sensors are arranged at the two ends of the protective cylinder, and the limit switches are used for sensing the aircraft in the ascending process of the loading platform, so that the controller controls the lifting movement of the loading platform; the photoelectric switch is used for sensing the aircraft in the forward extending process of the loading platform, so that the telescopic movement of the loading platform is controlled by the controller; the ultrasonic sensor is used for sensing the cabin door of the aircraft, so that the left-right movement of the loading platform is controlled by the controller;
the radar device comprises a plurality of probes which are respectively positioned at the tail part of the vehicle body and the top end of the tail part of the lifting carriage and are used for inducing an aircraft in the reversing and lifting carriage lifting process of the airport vehicle, so that the controller is used for controlling the reversing and lifting movement of the reversing and lifting carriage of the airport vehicle;
the controller is arranged at the head of the airport vehicle, the signal output ends of the ultrasonic sensor, the photoelectric switch, the limit switch and the radar device are connected with the signal input end of the controller to realize communication connection, and the signal output end of the controller is connected with a driving computer of the airport vehicle through the signal converter and is powered by the vehicle-mounted power supply.
2. The airport vehicle collision avoidance control system of claim 1 wherein the protective canister comprises a protective shell and a shock pad wrapped around the protective shell.
3. The crash control system for an airport vehicle of claim 2, wherein said limit switch contacts are disposed diagonally upward at a first angle; in the running process of the loading platform, if the contact of the limit switch touches the aircraft, a signal is sent to a controller, and the controller controls the loading platform to stop ascending;
in the running process of the loading platform, if the photoelectric switch senses the aircraft within a first sensing distance, a signal is sent to a controller, and the controller controls the loading platform to stop extending;
the ultrasonic sensor senses the distance between the loading platform and the aircraft cabin door in the running process of the loading platform and sends a signal to the controller, and the controller controls the loading platform to be aligned to the aircraft cabin door.
4. An airport vehicle collision avoidance control system according to claim 3 wherein the ultrasonic sensors at the ends of the protective canister sense distances from the left and right ends of the aircraft door respectively, and the controller controls the loading platform to move left and right in response to the sensed distances and to stop moving left and right when the center line of the loading platform is aligned with the center position of the aircraft door.
5. The collision avoidance control system of an airport vehicle of claim 4 wherein said plurality of probes of said radar device automatically determine probe orientation and assign internal IDs by an automatic IP addressing function in accordance with cable strike;
the probes respectively send detection signals to the controller;
if the probe positioned at the tail of the vehicle body senses the aircraft within the second sensing distance, the controller sends out an alarm through the alarm system; the controller elevates the car if a probe at the top of the trailing end of the elevator car senses the aircraft within a third sensing distance.
6. The airport vehicle collision avoidance control system of claim 5 wherein said first angle is between 30 and 60 degrees diagonally upward;
the first sensing distance, the second sensing distance and the third sensing distance are respectively 50-100 mm.
7. An anti-collision control method for an airport vehicle, applied to an anti-collision control system for an airport vehicle according to any one of claims 1 to 6, comprising:
in the reversing process of the airport vehicle, a radar probe positioned at the tail of the vehicle body senses the aircraft and controls the reversing of the airport vehicle through a controller;
after an airport vehicle is stopped, in the ascending process of the lifting carriage, an aircraft is sensed according to a radar probe positioned at the top end of the tail part of the lifting carriage, and simultaneously, an aircraft door is sensed according to a limit switch positioned on the loading platform and an ultrasonic sensor positioned on the loading platform, and the lifting movement of the loading platform is controlled by a controller;
in the forward extending process after the loading platform stops lifting, the aircraft is sensed according to a photoelectric switch on the loading platform, and the telescopic movement of the loading platform is controlled by a controller;
after the loading platform stops extending forwards, the loading platform is aligned to the aircraft cabin door by sensing the aircraft cabin door through the ultrasonic sensor on the loading platform and controlling the left-right movement of the loading platform through the controller.
8. The method for controlling the collision avoidance of an airport vehicle according to claim 7, wherein the controller controls the lifting movement of the loading platform, specifically:
in the ascending process of the lifting carriage, if the contact of the limit switch touches the aircraft, a signal is sent to a controller, and the controller controls the loading platform to stop ascending; and/or
If the ultrasonic sensor senses the bottom edge of the cabin door of the aircraft, a signal is sent to a controller, and the controller controls the loading platform to stop ascending; and/or
If the probe at the top end of the tail of the lifting carriage senses the aircraft within the third sensing distance, a signal is sent to a controller, and the controller controls the loading platform to stop ascending.
9. The method for controlling the collision avoidance of an airport vehicle according to claim 7, wherein the telescopic movement of the loading platform is controlled by a controller, specifically:
and if the photoelectric switch senses the aircraft within the first sensing distance, a signal is sent to a controller, and the controller controls the loading platform to stop extending forwards.
10. The method for controlling the collision avoidance of an airport vehicle according to claim 7, wherein said controlling the left-right movement of the loading platform by said controller comprises:
the ultrasonic sensors respectively sense the distance between the ultrasonic sensors and the left and right ends of the aircraft cabin door, and the controller controls the left and right movement of the loading platform according to the sensed distance and controls the loading platform to stop moving left and right when the center line of the loading platform is aligned with the center position of the aircraft cabin door.
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| CN201811061043.5A CN108945511B (en) | 2018-09-12 | 2018-09-12 | Collision avoidance control system and method for airport vehicles |
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| CN201811061043.5A CN108945511B (en) | 2018-09-12 | 2018-09-12 | Collision avoidance control system and method for airport vehicles |
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| CN109532659A (en) * | 2018-11-03 | 2019-03-29 | 江苏天机场专用设备股份有限公司 | A kind of device and method that control airport vehicle anticollision machine system releases |
| CN109703432A (en) * | 2019-01-09 | 2019-05-03 | 中铁第四勘察设计院集团有限公司 | A kind of city check-in baggage container loading-unloading vehicle system and handling method |
| CN110116889A (en) * | 2019-05-31 | 2019-08-13 | 中铁第四勘察设计院集团有限公司 | A kind of high-speed rail logistics rail mounted automatic sensing platform automatic assembling and disassembling system |
| CN110381173A (en) * | 2019-06-26 | 2019-10-25 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of method of trailer-mounted radar dynamic IP address allocation |
| CN111319997B (en) * | 2020-03-19 | 2021-08-17 | 扬州雷鸟机器人科技有限公司 | Device is dodged with high efficiency to intelligence loading and unloading |
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