CN111806716A - Aircraft tractor in butt joint with aircraft - Google Patents
Aircraft tractor in butt joint with aircraft Download PDFInfo
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- CN111806716A CN111806716A CN202010728236.2A CN202010728236A CN111806716A CN 111806716 A CN111806716 A CN 111806716A CN 202010728236 A CN202010728236 A CN 202010728236A CN 111806716 A CN111806716 A CN 111806716A
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- aircraft
- tractor
- wheel
- aircraft tractor
- airplane
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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
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/225—Towing trucks
- B64F1/227—Towing trucks adapted for directly connecting to aircraft, e.g. trucks without tow-bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
- B64C25/36—Arrangements or adaptations of wheels, tyres or axles in general
Abstract
The invention provides an aircraft tractor which is in butt joint with an aircraft, and the aircraft tractor comprises an aircraft tractor running system which can control the aircraft tractor to run on the ground. The aircraft tractor further comprises a power input docking system, a control input docking system, a wheel output docking system and a wheel drive system. The power input docking system releasably docks with the aircraft such that the aircraft tractor obtains aircraft power from the APU of the aircraft. The control input docking system releasably docks with a control output docking system of the aircraft to accept signals from the aircraft. The wheel output docking system releasably docks with wheels of landing gear of the aircraft to drive the wheels into rotation. The obtained airplane power supply provides electric energy for the airplane wheel driving system, and after the airplane wheel driving system is docked with the airplane, the airplane wheel driving system receives an instruction of controlling the input docking system to operate so as to convert the airplane power supply into mechanical energy and transmit the mechanical energy to the airplane wheel output docking system, and therefore the airplane wheel rotates.
Description
Technical Field
The invention relates to the technical field of airport airplane ground taxiing/towing, in particular to vehicle equipment capable of intelligently taxiing/towing an airport airplane, such as an airplane tractor docked with the airplane.
Background
The civil aviation industry is rapidly developed, the number of taking-off and landing of airports and the busyness degree are continuously increased, and in order to meet the current situation, each airport is also expanded according to a plan. At the same time, safe airport environments are also constantly being proposed.
Currently, the aircraft takes off from the tarmac to the taxiway and the aircraft takes off from the taxiway to the runway or the aircraft lands from the runway to the tarmac as a power source. When the airplane is taxiing, for example, the a380 plane consumes about 60 kg of fuel and discharges several kilograms of carbon dioxide every minute, and the airplane can shorten the service life of an engine and generate noise pollution. In addition, the airplane in a large airport has long ground sliding time, low engine running efficiency and serious energy waste.
For example, the busy taxiway of the international airport of capital of Beijing is heavily jammed, the engine idle consumption of the airplane on the ground is huge, and the total cost of oil consumption in the taxiing process is about 70 hundred million dollars every year by the research prediction of IAI and Airbus in 2012. It is also predicted that the consumption of these fuels will result in carbon dioxide emissions of about 18 million tons per year, with Foreign Object Damage (FOD) costs of about $ 3.5 million per year (sources: air MoU with IAI to explicit Eco-effect "engineering-off" taxi [ EB/OL ]. http:// www.airbus.com/en/compressed release/items/09/06/17/Eco/effective/exit.html, 2010-03-25).
Aircraft towing work requires an aircraft tractor. In order to meet the requirement of traction force, the airplane tractor with or without a rod needs a huge vehicle weight, and the energy consumption is increased. While the towing work requires high driving skills and may damage the nose landing gear. Meanwhile, a large number of workers are required to be equipped for operations on occasions such as entrance and departure of airplanes by airports and airlines, and the operation cost is increased.
At present, companies have introduced an electric green taxiing system, in which an electric motor and a speed reducer are used on the tires of the main landing gear, and the main landing gear tires are powered by an auxiliary power device of the airplane. This solution can alleviate the problem of aircraft fuel economy to some extent, but requires the aircraft to add hundreds of kilograms of weight.
Therefore, there is a need for an energy-saving, intelligent, efficient and safe aircraft towing and taxiing method, system and apparatus that addresses the above problems.
Disclosure of Invention
In order to solve the above technical problems, the present invention aims to provide an aircraft autonomous towing/taxiing method and system, which can improve the operating efficiency of an airport, prolong the service life of an aircraft engine, reduce the workload of airport staff, and reduce fuel consumption and exhaust emission, so as to integrate the aircraft taxiing/towing. The method and system relate to the reconstruction of an aircraft, the reconstruction of an aircraft tractor, the reconstruction of a method of towing/taxiing.
To this end, according to the present invention, there is provided an aircraft tractor for docking with an aircraft, comprising an aircraft tractor travel system capable of controlling the aircraft tractor to travel over the ground, the aircraft tractor further comprising:
a power input docking system releasably docking with the aircraft to enable the aircraft tractor to obtain aircraft power from the APU of the aircraft;
a control input docking system releasably docking with a control output docking system of the aircraft to accept signals from the aircraft;
a wheel output docking system releasably docked with a wheel of a landing gear of the aircraft to drive the wheel in rotation;
the airplane wheel driving system is powered by the obtained airplane power supply, and after the airplane wheel driving system is docked with the airplane, the airplane wheel driving system receives an instruction of controlling the input docking system to operate so as to convert the airplane power supply into mechanical energy and transmit the mechanical energy to the airplane wheel output docking system, and therefore the airplane wheel rotates.
Preferably, on the basis of the above-mentioned technical solution of the aircraft tractor, the aircraft tractor running system includes a clutch, enabling a wheel of the aircraft tractor to be switched between a running mode in which the wheel is in a controlled state and a follow-up mode in which the wheel is in a freely rotatable state.
Preferably, on the basis of the above-mentioned technical solution of the aircraft tractor, the aircraft tractor is in the following mode at least when the aircraft is in a driving state in which the wheel drive system is in an operating state such that the wheels are rotated.
Preferably, on the basis of the above-mentioned technical solution of the aircraft tractor, the wheel output docking system comprises a pair of power output mechanical interfaces arranged to face a pair of wheels of the landing gear, respectively.
Preferably, on the basis of the above-described solution for an aircraft tractor, the power take-off mechanical interface comprises an output shaft arranged to be releasably connected to a hub of a wheel to drive the wheel in rotation.
Preferably, on the basis of the technical scheme of the aircraft tractor, the power output mechanical interface further comprises a first camera arranged at the end part of the output shaft, the output shaft can move at least in three directions of the aircraft heading, the aircraft altitude and the aircraft transverse direction, and the first camera is used for searching the docked position of the aircraft wheel.
Further, the power input docking system and the control input docking system are disposed to face the rear bracket of the landing gear.
Preferably, on the basis of the technical scheme of the aircraft tractor, the power input docking system comprises a power input bracket for obtaining an aircraft power supply; the control input docking system comprises a control cable connector and a second camera, and the control cable connector completes docking under the guidance of the second camera so as to receive signals from the airplane.
Further, the wheel drive system includes a hydraulic system to convert the aircraft electrical power into mechanical energy.
Preferably, on the basis of the technical scheme of the aircraft tractor, the hydraulic system comprises an electric motor driven by an aircraft power supply, a hydraulic pump driven by the electric motor, and a hydraulic motor driven by hydraulic pressure from the hydraulic pump, and the wheel driving system further comprises a transmission mechanism for transmitting mechanical energy converted by the hydraulic motor to the output shaft.
Preferably, on the basis of the technical solution of the aircraft tractor described above, the hydraulic system further includes an electromagnetic switch valve and a throttle valve provided between the pressure port and the oil return port of the hydraulic motor.
Preferably, on the basis of the technical scheme of the aircraft tractor, the aircraft tractor running system comprises a vehicle autonomous control system, a vehicle remote control system and a vehicle control system; the control mode of the aircraft tractor running system comprises an autonomous mode and a remote mode, wherein in the autonomous mode, the vehicle autonomous control system is started, in the remote mode, the vehicle remote control system is started, and the vehicle control system operates in the autonomous mode or the remote mode; the docking and the undocking between the aircraft tractor and the aircraft are completed in a driving mode; the vehicle control system receives the signal and controls the running of the aircraft tractor and the connection and disconnection between the aircraft tractor and the aircraft in a running mode.
Preferably, on the basis of the above technical solution of the aircraft tractor, the vehicle control system includes a control unit, which controls the driving speed and the driving direction of the wheels and has two channels for controlling and monitoring.
Preferably, on the basis of the technical scheme of the aircraft tractor, the aircraft tractor running system further comprises a vehicle power supply and a vehicle driving mechanism driven by the vehicle power supply, and the vehicle driving mechanism drives wheels of the aircraft tractor to rotate.
Preferably, on the basis of the above technical solution of the aircraft tractor, the vehicle driving mechanism drive includes a motor and a speed reducer, each wheel is driven by the respective motor and speed reducer, and the clutch is disposed between the vehicle driving mechanism and the wheel.
Preferably, on the basis of the above-mentioned technical solution of the aircraft tractor, the aircraft tractor further comprises a control button accessible outside the aircraft tractor for controlling the engagement and disengagement of the clutch.
Preferably, on the basis of the technical scheme of the aircraft tractor, the aircraft tractor comprises a U-shaped vehicle body and four wheels, wherein the four wheels are arranged on two sides of the vehicle body, and a concave part formed by the U-shaped vehicle body is used for receiving the wheels.
Drawings
Fig. 1 is a schematic view of an aircraft and an aircraft tractor employed in the civil aircraft taxiing/towing integration according to the present invention in an aircraft driving state;
FIGS. 2A and 2B are schematic top and side views, respectively, illustrating the docking of an aircraft tractor with the main landing gear of an aircraft during the taxiing/towing integration of a civilian aircraft;
FIG. 3 is a schematic diagram showing the configuration of the hydraulic system in the wheel drive system during the taxi/tow integration of a civil aircraft;
fig. 4 is a schematic view of an embodiment of the civil aircraft taxiing/towing integrated system design according to the present invention.
The figures are purely diagrammatic and not drawn true to scale.
List of reference numerals in the figures in the technical solutions and embodiments:
1-an aircraft tractor comprising:
11-a vehicle body;
12-a wheel;
2- (main) landing gear comprising:
21-a main shaft;
22-a wheel;
23-a hub;
24-a strut;
3-a hydraulic system comprising:
31-a drive motor;
32-a hydraulic pump;
33-a hydraulic motor;
34-an electromagnetic switch valve;
35-throttle valve.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, so as to more clearly connect the inventive principles and advantageous effects of the present invention.
The terms used herein for convenience in describing the present invention are as follows:
APU (auxiliary power unit) of the airplane.
Running: both the aircraft tractor and the aircraft move on the ground, and each of the aircraft tractor and the aircraft is driven by a respective wheel (the aircraft tractor is a wheel, and the aircraft is a wheel of an undercarriage). In the case of aircraft tractors, "driving" is carried out without disengaging the aircraft.
Aircraft tractor: the aircraft towing vehicle in this context extends the conventional technical terminology, but differs from a conventional aircraft towing vehicle, which is a vehicle that enables an aircraft to travel on the ground in an airport, covering the conventional towing and taxiing, or, more specifically, to enable the aircraft to travel on the ground.
Integrated sliding/towing or sliding/towing: both taxiing and towing are moving the aircraft over the ground, and in the conventional art, towing is relative to taxiing, i.e., when taxiing, the wheels of the aircraft are the drive wheels, and when towing, the wheels of the aircraft tractor are the drive wheels. In this context, the term "travel" is used in the art for the movement of an aircraft on the ground, without the distinction between taxiing and towing, i.e. the invention uses the wheels of the aircraft as the primary wheels, as opposed to conventional towing and taxiing, i.e. the aircraft travels. Thus, taxi/tow integration or taxi/tow in the present invention refers to travel of the aircraft on the ground. Thus, aircraft travel herein covers both traditional towing and taxiing, such that taxiing/towing is integrated, with "aircraft taxiing/towing" having the same meaning as "aircraft travel".
Outside the machine: refers to being outside, i.e. off-board, the aircraft, in the embodiment an aircraft tractor.
Vehicle: refers to an aircraft tractor.
Aircraft section
Fig. 1 is a schematic view of an aircraft and an aircraft tractor 1 employed in the civil aircraft taxiing/towing integration according to the present invention in an aircraft driving state. The figure shows an aircraft and an aircraft towing vehicle 1 modified according to the invention to accommodate aircraft taxiing/towing integration. The aircraft in the figure can be driven on the ground with the aid of an aircraft tractor 1. Fig. 2A and 2B show the docked condition of the aircraft tractor 1 and the aircraft main landing gear 2, the main landing gear 2 comprising a wheel spindle 21, a pair of wheels 22 disposed at either end of the spindle 21, a hub 23, and a strut 24 extending from the fuselage.
In order to enable the aircraft to travel on the ground, the aircraft includes a travel function control system, a travel function power supply system, a travel function docking system, and a wheel input docking system. These systems ensure that the aircraft can autonomously travel on the ground with the aid of an off-board drive system.
The driving function control system is arranged in the aircraft cockpit and can control the aircraft to drive on the ground. The driving function control system comprises a function control box, a cockpit control handle, a button, a corresponding control cable and other components which are mutually associated so as to control the connection and disconnection of the off-board device and the airplane and the driving of the airplane. The pilot can control the aircraft tractor 1 through a cockpit control handle to drive the aircraft to move forwards or backwards. When the airplane turns, the speed difference of the main wheel can be controlled according to the turning angle of the front wheel of the airplane, and the sideslip and the abrasion of tires are reduced. Buttons are also provided for commanding the docking and undocking of the aircraft tractor 1.
The travel function power supply system includes an APU of the aircraft to provide power for travel of the aircraft. The running function power supply system comprises a power supply control switch, a circuit breaker, a corresponding power transmission cable and other components. The power for the driving function is supplied by the APU of the aircraft, and the function control box controls the output of the aircraft power from the APU of the aircraft, in a specific embodiment to the main landing gear 2, through the power control switch and the circuit breaker.
The driving function docking system comprises a power output docking system and a control output docking system. The power output docking system releasably docks with an off-board device to output aircraft power from an APU of the aircraft to the off-board device, the off-board device including a wheel drive system to which aircraft power is input through the power output docking system. In the embodiment, the off-board device is an aircraft tractor 1, and the configuration of the aircraft tractor 1 is described in detail below. The control output docking system releasably docks with the aircraft tractor 1 to output signals from the aircraft to the aircraft tractor 1.
In addition, the driving function docking system further comprises an infrared guiding device. The infrared guiding device is used for guiding the aircraft tractor 1 to approach and butt joint, so that an output end interface of a power output butt joint system and an output end interface of a control output butt joint system of the aircraft are in butt joint with a corresponding interface of the aircraft tractor 1. The infrared guiding device, the power supply output butt joint system and the control output butt joint system are arranged at the rear end of the main landing gear 2 of the airplane.
The wheel input docking system is mounted on the aircraft landing gear 2 such that the wheels 22 of the landing gear 2 releasably dock with the wheel drive system of the aircraft tractor 1 to drive the wheels 22 in rotation, preferably docking with the wheels 22 of the main landing gear 2. The wheel input docking system comprises a pair of power input mechanical interfaces provided on a pair of wheels 22 of the main landing gear 2 respectively. Preferably, a power input mechanical interface is located on the hub 23 of each wheel 22, and the wheel drive system drives the wheels 22 to rotate when the wheel drive system interfaces with the hub 23. In order to facilitate centering during butt joint, a spline is arranged on the axis of the hub 23 of the wheel 22, the opening of the spline faces outwards, and a cross pattern is drawn in the center. After the butt joint is completed, the driving function control system checks the aircraft tractor 1, and after the butt joint is confirmed to be complete, the driving function power supply system is controlled to supply power to the aircraft tractor 1, the aircraft tractor 1 converts electric energy into mechanical energy through the wheel driving system and transmits the mechanical energy to the aircraft main wheel 22, and the aircraft main wheel 22 is driven to rotate, so that the aircraft can drive on the ground under the control of a driver.
Aircraft tractor section
Fig. 2A and 2B show the docking of the aircraft tractor 1 with the aircraft main landing gear 2. The aircraft tractor 1 comprises a U-shaped vehicle body 11 and four wheels 12 on either side of the vehicle body 11, the vehicle body 11 recess receiving the wheels and the main wheel.
According to the invention, in order to realize the driving of the aircraft on the ground, a conventional aircraft tractor is modified. Thus, according to the present invention, there is provided an aircraft tractor 1 for docking with an aircraft, comprising an aircraft tractor running system, a power input docking system, a control input docking system, a wheel output docking system and a wheel drive system.
The main function of the aircraft tractor running system is the same as that of a conventional aircraft tractor for controlling the aircraft tractor 1 to run on the ground. The aircraft tractor running system comprises a clutch enabling the wheels 12 of the aircraft tractor 1 to be switched between a running mode and a follow-up mode. In the driving mode, the wheels 12 are in a controlled state, i.e., are driving wheels. In the follow-up mode, the wheel 12 is in a freely rotatable state, i.e., a driven wheel.
The aircraft tractor running system further comprises a vehicle power supply of the aircraft tractor 1 and a vehicle driving mechanism driven by the vehicle power supply, wherein the vehicle driving mechanism drives the wheels 12 of the aircraft tractor 1 to rotate in a running mode. Each wheel 12 is driven by a separate motor and reducer, with an electronically controlled clutch mounted between the motor reducer and the wheel 12. The forward, reverse, and cornering functions of the vehicle can be accomplished by adjusting the speed of the four wheels 12. When the clutch is released, the vehicle is in a follow-up mode.
The aircraft tractor 1 further comprises control buttons accessible outside the aircraft tractor 1 for controlling the engagement and disengagement of the clutches. For example, a control button is provided on the outer panel of the vehicle, when the clutch is disengaged, the aircraft tractor 1 enters the vehicle follow-up mode, and a plurality of aircraft tractors 1 entering the follow-up mode can be combined by other vehicles and then towed. This mode is suitable for the safe deployment of a large number of aircraft tractors 1 in various work areas inside an airport.
The power input docking system corresponds to and releasably docks with the power output docking system of the aircraft, enabling the aircraft tractor 1 to obtain aircraft power from the APU of the aircraft. The control input docking system corresponds to a control output docking system of the aircraft and releasably docks with the control output docking system to accept signals from the aircraft. The wheel output docking system corresponds to the wheel input docking system of the aircraft and releasably docks with wheels 22 of landing gear 2 of the aircraft to drive wheels 22 in rotation. The airplane power obtained through the power input docking system provides electric energy for the wheel drive system, and after the airplane tractor 1 completes docking with the airplane, the wheel drive system receives an instruction of controlling the input docking system to operate, so that the airplane power is converted into mechanical energy to be transmitted to the wheel output docking system, and the wheels 22 are rotated.
The power input docking system and the control input docking system are arranged facing the rear support or main shaft 21 of the landing gear 2. The power input docking system includes a power input cradle for obtaining aircraft power. The control input docking system comprises a control cable connector and a camera, wherein the control cable connector is used for completing docking under the guidance of the camera so as to receive signals from the airplane.
The wheel output docking system corresponds to a wheel input docking system of an aircraft and comprises a pair of power take off mechanical interfaces arranged to face respectively a pair of wheels 22 of the landing gear 2, in particular of the main landing gear 2. The power take off mechanical interface includes an output shaft arranged to releasably connect to the hub 23 of the wheel 22 to drive the wheel 22 in rotation. The airplane wheel input docking system can drive the output shaft to move in three directions of airplane course, airplane height and airplane transverse direction, and the output shaft end is provided with a camera for searching the axle center position of the airplane wheel 22.
The wheel drive system comprises a hydraulic system 3 to convert the aircraft electrical power into mechanical energy. The hydraulic system 3 comprises an electric motor 31 driven by the aircraft's electric power supply, a hydraulic pump 32 driven by the electric motor, and a hydraulic motor 33 driven by hydraulic pressure from the hydraulic pump 32. Therefore, the airplane wheel driving system uses airplane energy, and the driving mode is electrohydraulic driving. The power supply of the airplane is rectified and transformed, the input motor 31 drives the hydraulic pump 32, so as to drive the hydraulic motor 33, the hydraulic motor 33 outputs mechanical energy, and the mechanical energy is transmitted to a mechanical output shaft of the airplane wheel input butt joint system through a chain, so as to drive the airplane wheels 22 and drive the airplane to move forwards and backwards. A solenoid switch valve 34 and a throttle valve 35 are also connected in series between the pressure port and the oil return port of the hydraulic motor 33, and when the hydraulic pump 32 is stopped, the solenoid switch valve 34 is opened for deceleration of the aircraft traveling process.
The aircraft tractor running system comprises a vehicle autonomous control system, a vehicle remote control system and a vehicle control system. The control mode of the aircraft tractor running system comprises an autonomous mode and a remote mode, wherein in the autonomous mode, the vehicle autonomous control system is started, in the remote mode, the vehicle remote control system is started, and the vehicle control system can operate in the autonomous mode under unmanned control or the remote mode under remote control of an operator as required. The docking and undocking between the aircraft tractor 1 and the aircraft is completed in a driving mode, and the vehicle control system receives the signal and controls the driving of the aircraft tractor 1 and the docking and undocking between the aircraft tractor 1 and the aircraft in the driving mode.
The aircraft tractor 1 further comprises a vehicle positioning and obstacle avoidance system, wherein the system comprises a GPS positioning device, an infrared laser radar and an infrared navigation beacon receiving device, and is used for positioning the vehicle, identifying obstacles around the vehicle and receiving infrared navigation beacon signals. All of this sensory information is sent to the vehicle operating system for the vehicle operating system to control the motion of the vehicle itself.
The vehicle control system adopts an industrial personal computer as a control unit of the aircraft tractor 1, and is provided with two channels for controlling and monitoring, so that the safety is ensured. The vehicle control system is used for controlling the vehicle motion of the aircraft tractor 1 in a driving mode, and the docking and the undocking of the vehicle and the aircraft. The vehicle control system can receive a target instruction sent by the airport operation system, and simultaneously obtains a DGPS signal, a vehicle peripheral obstacle signal and an infrared navigation beacon signal from the vehicle positioning and obstacle avoidance system. The vehicle control system can control the aircraft tractor 1 to move according to the instructions of the airport operation system, autonomously avoid obstacles and complete docking or releasing.
The remote control system of the aircraft tractor 1 is suitable for the guidance of individual vehicles by personnel in fault conditions or in complex meteorological conditions (for example, heavy fog). The vehicle remote control system is provided with an aircraft tractor remote controller, can be carried by personnel and is close to aircraft tractor 1, and the aircraft tractor remote controller can accomplish the signal butt joint through the bluetooth signal, controls the vehicle to advance afterwards and turn. The remote mode of the aircraft tractor 1 is prioritized over the autonomous mode.
One embodiment of an aircraft tractor 1
The vehicle body 11 of the aircraft tractor 1 is in a U shape as shown in fig. 2A, four wheels 12 are arranged on two sides of the vehicle body, each wheel 12 is driven by an independent motor, and the vehicle autonomous control system is provided with an industrial personal computer so as to control the forward movement, the backward movement and the turning of the aircraft tractor 1 by controlling the rotating speed of each wheel 12. This control may enable pivot turning of the vehicle.
The aircraft tractor 1 finishes the butt joint work of the aircraft tractor 1 and a civil aircraft with a sliding/traction integrated function in a running mode, and specifically, a vehicle positioning and obstacle avoidance system of the aircraft tractor 1 comprises DGPS positioning equipment, an antenna, an infrared laser radar, an infrared navigation beacon receiving device and a camera.
The DGPS positioning device and antenna are used for positioning and navigation of the aircraft tractor 1. In the autonomous mode, the aircraft tractor 1 can only move in a designated working area, and a positioning signal is sent to an airport operation system; according to a vehicle traveling destination instruction received from an airport operation system and a stored airport map, a vehicle control system of the aircraft tractor 1 intelligently calculates a vehicle route and controls the traveling of the vehicle; the infrared laser radar is used for finding out obstacles such as personnel, other vehicles, airplanes and the like and avoiding the obstacles in time in the autonomous driving process of the aircraft tractor 1. The infrared navigation beacon receiving device is used for receiving signals sent by an infrared navigation beacon transmitter at the rear part of the main landing gear 2 of the airplane or signals sent by an infrared navigation beacon transmitter at a parking space of an airport parking apron or an airplane tractor working area. The aircraft tractor 1 completes the butt joint with the main landing gear 2 of the aircraft or a parking space according to the navigation beacon.
When the aircraft needs to leave a parking space and go to a runway, or the aircraft lands in an aircraft landing working area of the aircraft tractor 1, the aircraft sends a requirement for requesting help driving, an airport operation system can automatically send target instructions (including target positioning positions and aircraft direction information) to two aircraft tractors 1 which are nearest to the aircraft according to the requirement of the aircraft, after the aircraft tractors 1 receive the target instructions, the industrial personal computer automatically designs an advancing route according to the positioning information and advances towards a target direction, and in the advancing process, the obstacles are automatically judged and avoided according to the infrared laser radar, and the aircraft enters a position which is a certain distance away from the main undercarriage 2. At this time, the infrared navigation beacon receiving device receives the signal transmitted by the infrared navigation beacon transmitting device of the main undercarriage, and continues to advance towards the main undercarriage 2 until the infrared navigation beacon receiving device is in butt joint with the main undercarriage 2.
When the aircraft tractor 1 is in butt joint with a civil aircraft, a power supply interface and a control interface of a power supply input and control input butt joint system are connected with a power supply interface and a control interface of an aircraft main undercarriage 2, firstly, a power supply input support of the aircraft tractor 1 is in butt joint with a power supply output support at the rear part of the main undercarriage 2, after the power supply is in butt joint, under the guidance of a camera, a control cable joint of a vehicle is in butt joint with a control cable joint of the aircraft.
After the power input and control input butt joint system is in butt joint, the traction/sliding function control system of the airplane performs self-checking on the vehicle, and after the self-checking is completed, the airplane wheel output butt joint system and the airplane wheel input interface of the airplane are controlled to be in butt joint. According to the guide of the camera, the vertical and front-back positions of the mechanical output shaft are adjusted and corrected, and the mechanical output shaft of the vehicle is inserted into the spline groove of the airplane hub.
When the airplane arrives at the parking apron or the airplane takeoff working area with the help of the airplane tractor 1, the requirement is released from the airplane tractor 1, and the airport operation system can automatically send an instruction for releasing the airplane to the airplane tractor 1 according to the requirement of the airplane and distribute the instruction to a target instruction of a relatively nearest parking position of the airplane tractor 1. After receiving the instruction, the aircraft tractor 1 firstly releases the mechanical output shaft of the vehicle from the aircraft, and the vehicle moves backwards for a certain distance to complete the release work of the vehicle. And then, according to the positioning information, the industrial personal computer automatically designs an advancing route, advances towards the target direction, and automatically judges and avoids obstacles according to the infrared laser radar in the advancing process until the industrial personal computer enters a parking space, and stops for standby.
System and method
After the above modifications to the conventional aircraft towing vehicle and aircraft, a system for driving the aircraft on the ground can be designed to replace the conventional aircraft towing and taxiing. The system for driving the airplane on the ground comprises the airplane and at least two airplane tractors 1, wherein the airplane tractors 1 are respectively butted with two main landing gears 2 at the rear part of the airplane, so that wheel driving devices of the airplane tractors 1 drive wheels 12 of the main landing gears 2 to rotate, and the airplane can drive on the ground.
After preparing the aircraft according to the invention and at least two aircraft tractors 1, the method of operating the system for driving the aircraft on the ground comprises the following steps:
the aircraft tractor 1 is in a driving mode,
a) an aircraft tractor positioning step, wherein an aircraft tractor 1 runs to the vicinity of a main landing gear 2 of an aircraft;
b) a wheel docking step, in which a wheel output docking system of the aircraft tractor 1 is releasably docked with a wheel input docking system of the aircraft;
c) a power supply docking step, wherein a power supply input docking system of the aircraft tractor 1 is releasably docked with a power supply output docking system of the aircraft;
d) a control docking step, wherein a control input docking system of the aircraft tractor 1 is releasably docked with a control output docking system of the aircraft;
e) a docking checking step, wherein a driving function control system of the airplane checks the docking condition, and after the docking is confirmed, a driving function power supply system is controlled to supply power for the driving of the airplane;
after the butt joint is completed, the aircraft tractor 1 enters a follow-up mode,
f) a wheel driving step, in which a wheel driving system of the aircraft tractor 1 converts an aircraft power supply from the aircraft into mechanical energy, and the mechanical energy is transmitted to the wheel 22 through a wheel output docking system and a wheel input docking system so as to drive the wheel 22 to rotate, so that the aircraft runs under the driving of the wheel 22;
after the airplane runs, the airplane tractor 1 enters a running mode,
g) a step of disconnecting the airplane wheel, in which the airplane wheel output docking system of the airplane tractor 1 is disconnected with the airplane wheel input docking system of the airplane;
h) a power supply disconnection step, namely disconnecting a power supply input butt joint system of the aircraft tractor 1 from a power supply output butt joint system of the aircraft;
i) a control releasing step, wherein a control input butt joint system of the aircraft tractor 1 is released from a control output butt joint system of the aircraft;
j) an aircraft tractor departure step, in which the aircraft tractor 1 travels away from the main landing gear 2 of the aircraft.
Before the docking step and before the releasing step, the aircraft pilot can control the running function control system to send a docking or releasing instruction, and after the docking is finished, the aircraft pilot can control the running function control system to control the aircraft to run on the ground.
In addition, the aircraft tractor 1 also comprises control buttons accessible outside the aircraft tractor 1 for controlling the engagement and disengagement of the clutches, so that the aircraft tractor 1 can enter the driving mode or the follow-up mode at any stage.
The outside of the aircraft tractor 1 can be provided with an emergency stop button, when the aircraft is operated on an apron close to a boarding bridge, ground crew can temporarily interrupt the operation according to the situation and stop the traction/sliding action so as to ensure the safety of the aircraft and a terminal building. When the airplane control system is in failure and communication is interrupted, the airplane tractor 1 automatically stops driving the airplane wheels 22 and disengages from the airplane.
The aircraft tractor 1 can send the current state and positioning information of the vehicle to the vehicle operation center and receive the instruction of the airport operation system in all modes.
The system for enabling an aircraft to travel on the ground according to the invention can be applied in one embodiment of a taxi/tow integrated airport operating system. As shown in fig. 4, the operation system includes an apron (taxi/tow) work area, an airplane take-off (taxi/tow) work area, an airplane landing (taxi/tow) work area, a dispatching operation center, and a vehicle maintenance parking warehouse. In addition, the taxi/tow integrated airport operation system requires an airport to install a differential GPS station and a communication base station as a support system of the taxi/tow integrated airport operation system.
The dispatching operation center can communicate with all other subsystems of the taxi/tow integrated airport operation system, including an apron (taxi/tow) working area, an airplane take-off (taxi/tow) working area, an airplane landing (taxi/tow) working area and a vehicle maintenance parking warehouse. In addition, the dispatching operation center can also be communicated with all the aircraft tractors 1 and civil aircrafts with the traction/sliding integrated function, and the dispatching operation center can know the positions and the states of all the aircraft tractors 1 and the civil aircrafts with the traction/sliding integrated function, receive or generate instructions and command and dispatch the traction/sliding operation of the civil aircrafts in the whole airport.
The dispatching operation center is responsible for the safe operation of the sliding/traction integrated system of the civil aircraft in the whole airport, and can remotely control and stop all aircraft tractors 1 working under the autonomous mode when necessary.
The dispatching operation center can display the positions and states of the aircraft tractors 1 in the whole airport and civil aircraft with the integrated traction/sliding function, and the dispatching operation center server automatically sends forward target instructions to the aircraft tractors 1 according to the requirements of the aircraft. The forward target command sent to the aircraft tractor 1 can be modified manually at any time by the dispatch operation centre staff.
The air park taxiing/towing working area is positioned at the airplane parking space; the aircraft takeoff taxiing/towing work area is located near a communication lane between the end of the runway and the end of the taxiway. The aircraft landing taxi/tow work area is located adjacent a fairway between the exit of the runway and the taxiway. An airport can be provided with a plurality of apron taxiing/towing working areas, airplane takeoff taxiing/towing working areas and airplane landing taxiing/towing working areas. And each working area is provided with an aircraft tractor parking space and a service staff station.
The parking space of the aircraft tractor is provided with an infrared navigation beacon and a charging device, and the infrared navigation beacon and the charging device are used for temporarily parking the aircraft tractor 1 in the working gap and charging a vehicle storage battery.
Working process of civil aircraft taxiing/traction integrated system
Aircraft takeoff towing/taxiing process: the aircraft tractor 1 automatically moves and is automatically butted with the main undercarriage 2 of the aircraft in front of the main undercarriage 2 of the aircraft from the aircraft tractor 1 to the parking position under the manual control. The aircraft tractor 1 is then controlled by the aircraft pilot and the aircraft APU provides the power supply to the aircraft tractor 1 to drive the aircraft main wheels 22. The aircraft pilot can control the aircraft tractor 1 to drive the aircraft to move forward and backward under the condition that the engine is not started and only the APU is used, and the aircraft turning and braking are completed by the aircraft system. The aircraft travels to the airport runway via taxiways under the guidance of ground crew and air traffic control systems.
The airplane arrives at an airplane take-off sliding/traction working area between the end of the runway and the end of the taxiway, after the airplane slides to the area, the airplane driver controls the airplane tractor 1 and the airplane main engine wheel 22 to be disengaged, the airplane tractor 1 automatically runs to the parking space of the airplane tractor and then is parked for standby, and the airplane starts an engine to complete the final sliding take-off work. The aircraft tractors 1 staying in the parking spaces of the aircraft tractors are uniformly dispatched by a dispatching operation center according to the situation and are pulled to an aircraft landing area or an airport parking apron by an airport worker set to continue the next round of work or maintain and park in a garage.
Aircraft landing towing/taxiing procedure: after the airplane lands, the airplane enters the communication channel from the runway exit, after the airplane slides to the airplane landing working area, the APU is started, the engine of the airplane is shut down, the operator in the airplane landing area controls the airplane tractor 1 to move to the front of the main undercarriage 2 of the airplane, and the airplane tractor 1 automatically moves and is automatically butted with the main undercarriage 2 of the airplane. The aircraft tractor 1 is then taxied by the aircraft pilot, guided by an air traffic system, through a taxiway to the tarmac.
When the aircraft arrives at the parking apron, the aircraft stops at the parking apron under the guidance of ground staff, the aircraft driver controls the aircraft tractor 1 and the aircraft main engine wheel 22 to be disengaged, the aircraft tractor 1 automatically drives to the parking stall of the aircraft tractor beside the parking apron to park for standby, and the next round of operation is continued.
While specific embodiments of the invention have been described above with reference to the accompanying drawings, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to the embodiments without departing from the principle and spirit of the invention, and such changes and modifications fall within the scope of the invention.
The individual features of the above embodiments can also be combined in any reasonable combination according to the principles of the invention, which combination also falls within the scope of the invention.
Claims (17)
1. An aircraft tractor for interfacing with an aircraft, comprising an aircraft tractor running system capable of controlling the aircraft tractor (1) to run on the ground, the aircraft tractor (1) further comprising:
a power input docking system releasably docked with an aircraft, such that the aircraft tractor (1) obtains aircraft power from an APU of the aircraft;
a control input docking system releasably docking with a control output docking system of an aircraft to accept signals from the aircraft;
a wheel output docking system releasably docked with a wheel (22) of a landing gear (2) of an aircraft to drive the wheel (22) in rotation;
and the obtained airplane power supply provides electric energy for the wheel driving system, and after the airplane is docked with the airplane, the wheel driving system receives the command of the control input docking system to operate so as to convert the airplane power supply into mechanical energy which is transmitted to the wheel output docking system, so that the wheel (22) rotates.
2. The aircraft tractor of claim 1,
the aircraft tractor running system comprises a clutch enabling the wheels (12) of the aircraft tractor (1) to be switched between a running mode in which the wheels (12) are in a controlled state and a follow-up mode in which the wheels (12) are in a freely rotatable state.
3. The aircraft tractor of claim 2,
the aircraft tractor (1) is in the following mode at least when the aircraft is in a drive condition in which the wheel (22) drive system is in an operative condition such that the wheel (22) rotates.
4. The aircraft tractor of claim 3,
the wheel output docking system comprises a pair of power take off mechanical interfaces arranged to face a pair of the wheels (22) of the landing gear (2), respectively.
5. The aircraft tractor of claim 4,
the power take off mechanical interface comprises an output shaft arranged to be releasably connected to a hub (23) of the wheel (22) to drive the wheel (22) in rotation.
6. The aircraft tractor of claim 5,
the power output mechanical interface further comprises a first camera arranged at the end part of the output shaft, the output shaft can move at least in three directions of the aircraft course, the aircraft height and the aircraft transverse direction, and the first camera is used for searching the docked position of the aircraft wheel (22).
7. The aircraft tractor of claim 3,
the power input docking system and the control input docking system are arranged to face a rear bracket of the landing gear (2).
8. The aircraft tractor of claim 7,
the power input docking system comprises a power input bracket for obtaining the aircraft power;
the control input docking system comprises a control cable connector and a second camera, wherein the control cable connector completes docking under the guidance of the second camera so as to receive the signal from the airplane.
9. The aircraft tractor of claim 5,
the wheel drive system comprises a hydraulic system (3) to convert the aircraft electrical power into the mechanical energy.
10. The aircraft tractor of claim 9,
the hydraulic system (3) comprising an electric motor (31) driven by the aircraft power supply, a hydraulic pump (32) driven by the electric motor (31), a hydraulic motor (33) driven by hydraulic pressure from the hydraulic pump (32),
the wheel drive system further includes a transmission mechanism that transmits the mechanical energy converted by the hydraulic motor (33) to the output shaft.
11. The aircraft tractor of claim 10,
the hydraulic system (3) further includes an electromagnetic opening/closing valve (34) and a throttle valve (35) provided between a pressure port and an oil return port of the hydraulic motor (33).
12. Aircraft tractor according to any of the claims 2-11,
the aircraft tractor running system comprises a vehicle autonomous control system, a vehicle remote control system and a vehicle control system;
the control modes of the aircraft tractor running system comprise an autonomous mode and a remote mode, wherein in the autonomous mode, the vehicle autonomous control system is started, in the remote mode, the vehicle remote control system is started, and the vehicle control system operates in the autonomous mode or the remote mode;
the docking and undocking between the aircraft tractor (1) and the aircraft is done in the driving mode;
the vehicle control system receives signals and controls the driving of the aircraft tractor (1) in the driving mode and the connection and disconnection between the aircraft tractor (1) and the aircraft.
13. The aircraft tractor of claim 12,
the vehicle control system comprises a control unit which controls the driving speed and the driving direction of the wheels (12) and has two channels for controlling and monitoring.
14. The aircraft tractor of claim 13,
the aircraft tractor running system further comprises a vehicle power supply and a vehicle driving mechanism driven by the vehicle power supply, wherein the vehicle driving mechanism drives wheels (12) of the aircraft tractor (1) to rotate.
15. The aircraft tractor of claim 14,
the vehicle drive mechanism drive comprises a motor and a retarder, each wheel (12) is driven by the respective motor and retarder, and the clutch is arranged between the vehicle drive mechanism and the wheel (12).
16. The aircraft tractor of claim 15,
the aircraft tractor (1) further comprises a control button accessible outside the aircraft tractor for controlling the engagement and disengagement of the clutch.
17. The aircraft tractor of claim 16,
the aircraft tractor (1) comprises a U-shaped vehicle body (11) and four wheels (12), wherein the four wheels (12) are arranged on two sides of the vehicle body (11), and a concave part formed by the U-shaped vehicle body (11) is used for receiving the wheels (22).
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| CN202010728236.2A CN111806716B (en) | 2020-07-24 | 2020-07-24 | Aircraft tractor in butt joint with aircraft |
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| CN202010728236.2A CN111806716B (en) | 2020-07-24 | 2020-07-24 | Aircraft tractor in butt joint with aircraft |
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| CN112937909A (en) * | 2021-03-29 | 2021-06-11 | 中国航空制造技术研究院 | Airplane complete machine transfer four-wheel tractor for pavement support self-adaption |
| CN113002799A (en) * | 2021-04-13 | 2021-06-22 | 重庆达航工业有限公司 | Electric aircraft tractor control system and method |
| CN113791621A (en) * | 2021-09-15 | 2021-12-14 | 北京航空航天大学 | Method and system for docking automatic driving tractor and airplane |
| WO2022160560A1 (en) * | 2021-01-28 | 2022-08-04 | 武汉工程大学 | Aircraft towing robot and working method therefor |
| CN115056697A (en) * | 2022-06-10 | 2022-09-16 | 广州赛特智能科技有限公司 | Automatic-docking intelligent traction system and traction method |
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| CN111806716B (en) | 2022-02-18 |
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