CN112365744B - Airport scene target operation management method, device and system - Google Patents
Airport scene target operation management method, device and system Download PDFInfo
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Abstract
The invention relates to the airport management technology, in particular to a method, a device and a system for managing the operation of an airport scene target; the airport surface target operation management method comprises the following steps: collecting real-time data of a management target in an airport scene and scene environment real-time data; calling data in an existing GIS map information storage module; fusing the collected real-time positioning data of the management target in the scene; updating data in a GIS map information storage module in real time according to the collected vehicle surrounding environment data; generating a work task and issuing the work task for the management target in the scene, and simultaneously monitoring the work state of the management target in real time; and judging whether each management target of the scene needs to be moved, planning a path of the management target, and sending the moving route to the management target. By monitoring, guiding and early warning the airport management target based on the integral real-time data of the airport, the safety of the airport scene target operation and the airport bearing capacity can be effectively improved.
Description
Technical Field
The invention relates to an airport management technology, in particular to an airport scene target operation management method, device and system.
Background
Under the trend of the current civil aviation big development, the load of the airplane carried by the airport is continuously increased, and the airport needs to be provided with more vehicles, personnel and other supporting facilities to serve the airplane so as to ensure the safe operation of the flight, and the operation safety of the airport surface is increasingly severe. In the prior art, the management means of the airplane and the vehicle on the airport surface adopts a single position information management function, and the airplane and the vehicle are respectively managed, so that the automatic linkage mechanism is less. Meanwhile, because of different functions, the airplane and various vehicles in the airport scene are generally respectively scheduled and managed by airports, air traffic control, airlines and the like, relative information among all departments is independent, long-time response is required for mutual cooperation, and the operation efficiency of the airplane/vehicle is reduced. Along with the increase of the number of various targets such as airplanes and vehicles on airport surfaces, the possibility of operation conflict among the targets is also increasing.
There is a need to develop a system and method for managing the operation of a scene target, so as to effectively manage the scene target, reduce the risk of scene conflicts, and improve the carrying capacity of an airport.
Disclosure of Invention
Based on the requirements of the prior art, the invention provides an airport surface target operation management method, device and system, which can effectively improve the safety of airport surface target operation and the airport bearing capacity by monitoring, guiding and early warning the airport management target based on the integral real-time data of an airport, and has the following specific technical scheme:
in a first aspect, the invention discloses an airport scene target operation management method, which comprises data acquisition and data processing;
the data acquisition instruction
Collecting real-time data of a management target in an airport scene and scene environment real-time data; calling data in an existing GIS map information storage module;
the data processing comprises:
carrying out fusion processing on the collected real-time positioning data of the management targets in the scene to obtain the unique real-time position information of each target in the scene;
updating data in a GIS map information storage module in real time according to the collected vehicle surrounding environment data;
generating a work task and issuing the work task for the management target in the scene, and simultaneously monitoring the work state of the management target in real time; and then judging whether each management target of the scene needs to be moved according to the work task, planning the path of the management target according to the operation rule of the scene target and the data in the latest GIS map information storage module, and sending the moving route to the management target.
According to the method, the targets in the scene are managed through data processing by acquiring real-time data of the managed targets in the airport and the environment of the managed targets and data (an airport map model and scene target operation rules) in a GIS map information storage module, whether each target needs to move or not is judged, and if the target needs to move, a planned moving route is sent to the target; and in the data processing process, the existing airport map model is updated in real time through the acquired data, so that the planning of the management target route is ensured to be carried out according to the latest airport map model.
Preferably, the data processing further comprises the step of constructing an airport scene airplane/vehicle three-dimensional operation model according to the airplane/vehicle position state information, the GIS map information storage module data, the airplane/vehicle three-dimensional data model and the airport three-dimensional data model.
The model is established in the method of the invention for further assessment of the likelihood of collision between aircraft, between vehicles, between aircraft and vehicle, and between aircraft/vehicle and airport surface building. Timely and effective linkage and cooperation are formed among all the departments of the airport, the operation efficiency of the airplane/vehicle is improved and the operation safety index of the airport is improved.
Preferably, the data processing further comprises calculating conflicts among the airport surface airplanes, among the vehicles, between the airplanes and the vehicles, and between the airplanes/vehicles and the surrounding buildings based on the airport surface airplane/vehicle three-dimensional operation model, obtaining an early warning scheme, and sending out the early warning scheme.
In the data processing of the method of the invention, based on the model, the collision possibility between airplanes, between vehicles, between airplanes and vehicles and between airplanes/vehicles and airport surface buildings is further evaluated; and sending a warning instruction to the corresponding target for the collision conflict which may occur, wherein the closer the collision which may occur is to the target, the more the warning representation form is changed, so that the operator can take measures in time to remove the collision danger.
Preferably, the data acquisition comprises acquiring self health data of the vehicle and data of the current work task of the vehicle;
the data processing comprises one or more of:
judging whether the state of the vehicle is healthy or not; if the vehicle is healthy, issuing corresponding vehicle health state data; otherwise, issuing an alarm instruction;
judging whether the current situation of the vehicle is competent for the current work task; if the function is qualified, an execution instruction is issued; otherwise, issuing a vehicle replacing instruction;
judging whether the vehicle accords with airport scene operation rules or not; and when the vehicle is not in accordance with the preset condition, issuing a warning instruction to the vehicle.
In the method, the running health state of the vehicle is monitored in real time, so that the running working efficiency of the vehicle on the scene of the airport is ensured, the targets in the scene can be effectively allocated and managed, the scene safety is integrally improved, and the collision risk is reduced.
Preferably, the data processing further comprises the step of comprehensively processing the collected data to obtain thermodynamic diagrams of the airport scene and prediction of future thermodynamic diagrams according to the collected data including positioning data, working state data, health state data of each vehicle, GIS map information data, airport scene operation rule data and airport three-dimensional data.
In the invention, the airport scene operation situation analysis and the future situation trend obtained by analyzing by a big data method are mainly presented in various modes such as thermodynamic diagrams, tables and the like on the basis of various information such as airplane/vehicle position state information, airplane/vehicle working state information and the like; the regional risk assessment can be carried out in advance, and a plan can be made in time to ensure the normal operation of the airport.
In a second aspect, the invention also discloses an airport scene target operation management device, which comprises
Positioning data fusion processing module: the system is used for fusing real-time positioning data of management targets in the scene to obtain unique real-time position information of each target in the scene;
artificial intelligence deep learning module: the airport map model is updated in real time according to the acquired data of the surrounding environment of the vehicle;
the work process data processing module: the system is used for generating and issuing work tasks for the management targets in the scene and monitoring the working state of the management targets in real time; and then judging whether each management target of the scene needs to be moved according to the work task, planning the path of the management target according to the operation rule of the scene target and the data in the latest GIS map information storage module, and sending the moving route to the management target.
Preferably, the airport surface target operation management device comprises
The cloud computing conflict early warning processing module is used for constructing an airport scene airplane/vehicle three-dimensional operation model according to the airplane/vehicle position state information, the GIS map information, the airplane/vehicle three-dimensional data model and the airport three-dimensional data model, calculating conflicts among the scene airplanes, among the vehicles, between the airplanes and the vehicles and between the airplanes/vehicles and surrounding buildings based on the airport scene airplane/vehicle three-dimensional operation model, obtaining an early warning scheme, and sending the early warning scheme.
Preferably, the airport surface target operation management device comprises
And the vehicle health state processing module is used for monitoring whether the vehicle runs normally or not in real time according to the collected vehicle health state data and the working state of the vehicle, carrying out replacement assignment on the task vehicle on the work plan which cannot be completed and issuing a warning instruction for the abnormal health state data.
Preferably, the airport surface target operation management device further comprises an airport surface operation situation processing module, which is used for comprehensively processing the collected data including the positioning data of the aircraft and the vehicles, the working state data, the health state data of each vehicle, the GIS map information, the airport surface operation rule data and the airport three-dimensional data to obtain the thermodynamic diagram and the future thermodynamic diagram dynamic analysis of the airport surface.
In a third aspect, the invention also discloses an airport scene target operation management and early warning system, which comprises a data storage subsystem connected with a system gateway through data transmission, wherein the data processing subsystem adopts any one of the devices, the data acquisition subsystem, the airport scene wireless communication subsystem, the vehicle-mounted mobile terminal and the operation management subsystem in the second aspect;
the data storage subsystem comprises a three-dimensional data model storage module, a vehicle health state data storage module, a scene target operation rule storage module, a GIS map information storage module, an airplane/vehicle working state storage module and an airplane/vehicle position state storage module; the data storage or retrieval is carried out by other subsystems;
the data acquisition subsystem comprises a monitoring data acquisition subsystem, an optical camera and a laser radar, wherein the optical camera and the laser radar are connected with the vehicle-mounted mobile terminal; the monitoring data acquisition subsystem is used for positioning airplanes/vehicles on the airport scene and transmitting the obtained positioning information to the data processing subsystem in the form of IP network data; the optical camera and the laser radar are used for detecting the surrounding environment condition of the vehicle in real time and sending detection data to the vehicle-mounted terminal in the form of IP network data;
the vehicle-mounted terminal comprises an edge cloud computing conflict early warning processing module and a warning module; the system is mainly used for data interaction between the running vehicles in the airport scene and the data processing subsystem and the data storage system, detecting the surrounding environment of the vehicles, monitoring the working state of the vehicles, calculating the collision possibility of the vehicles, and warning the possible collision events to avoid collision;
the operation management subsystem is used for man-machine interaction used for a data processing system and comprises a display module, a data processing module and an alarm module.
In general, the system of the invention adopts an artificial intelligence mode to update airport information in real time, thereby ensuring the reliability of a collision avoidance mechanism;
1) the system adopts various collision avoidance mechanisms, so that the operation safety of the airport scene is effectively ensured;
2) the system combines the vehicle health, the vehicle work task and the vehicle operation safety monitoring, and improves the vehicle operation efficiency while ensuring the scene operation safety;
3) the system adopts a big data scheme to provide a reliable data base for an airport supervisor;
4) all functions of the system can be displayed in a graphical mode, and man-machine interaction is easy;
5) the scheme adopted by the system can be expanded and obtained in the existing airport system, and is economical and effective.
In the method, the device and the system, a data processing subsystem is used as a core, and management, allocation and conflict early warning are carried out on management targets in an airport after acquired data are processed.
The data processing subsystem comprises a positioning data fusion processing module, a working process data processing module and an artificial intelligence deep learning module; the system comprises a cloud computing conflict early warning processing module, an airport scene operation situation processing module and/or a vehicle health state processing module in some preferred schemes. The function of each module is described as follows:
a) positioning data fusion processing module
The fixed number data fusion processing module can receive the acquired real-time positioning data of the airplane/vehicle and perform fusion processing on various data to obtain unique position information of each target on the scene, and sends the information to the data storage module (airplane/vehicle state storage module) for storage, and the terminals (an operation management subsystem, a vehicle-mounted mobile terminal and an airborne mobile terminal) are used for real-time display.
b) Work process data processing module
The work process data processing module can calculate according to the requirements of an airport scene operation management target (vehicle/airplane) or work tasks, realize unified scheduling and send the work tasks to a terminal (vehicle-mounted mobile terminal or airborne mobile terminal). Meanwhile, the working state information and the demand information uploaded by the terminal are received in real time, the running condition of the airplane/vehicle on the airport scene is monitored, and the data are sent to a data storage system to be stored (a working state storage server of the data storage subsystem). The work completed by the work process data processing module comprises multiple aspects of planning of paths of airplanes/vehicles, dispatching of work tasks, implementation and supervision of work tasks and the like.
c) Cloud computing conflict early warning processing module
The cloud computing conflict early warning processing module monitors position information of airplanes/vehicles running on an airport scene in real time, simultaneously retrieves three-dimensional data model data of the airplanes/vehicles and three-dimensional map model data of the airport, completes conflict calculation among the airplanes/vehicles on the scene, among the vehicles, among the airplanes/vehicles and surrounding buildings, performs multi-grade division through conflict prediction time, implements a differentiated early warning scheme, and sends the early warning scheme to corresponding terminals (an airborne/vehicle-mounted mobile terminal and an operation management subsystem) to realize conflict early warning.
d) Airport scene operation situation processing module
The airport scene operation situation processing module can call data of a plurality of modules such as the airplane/vehicle position state storage module and the working state storage module to complete the operation situation analysis and the future short-time situation prediction of an airport scene target.
e) Artificial intelligence deep learning module
The artificial intelligent deep learning module can receive data of the vehicle-mounted sensor, and meanwhile, the data of the vehicle-mounted sensor is compared with three-dimensional map data in the GIS map memory module and historical data of the vehicle-mounted sensor, and the three-dimensional map model is periodically corrected and updated.
f) Vehicle health state processing module
The vehicle health state processing module can acquire vehicle health state data uploaded by the vehicle-mounted mobile terminal, monitors whether the vehicle runs normally or not in real time by combining the working state of the vehicle, and performs replacement assignment of task vehicles and issue of warning instructions for abnormal health state data on an unfinishable working plan.
In the method and the system, the data acquisition subsystem is realized by monitoring the data acquisition subsystem and the vehicle-mounted sensor.
The invention relates to a monitoring data acquisition subsystem, which is a multi-system monitoring system for positioning an airport scene target, and the target positioning technology related to the subsystem is to position airplanes/vehicles on the airport scene by utilizing various technical characteristics and transmit the obtained positioning information to a data processing subsystem in the form of IP network data.
The 'monitoring data acquisition subsystem' comprises the existing airport scene multi-type target positioning technology, and specifically comprises a primary radar positioning technology, a secondary radar positioning technology, an ADS-B positioning technology and a multipoint positioning technology.
a) Primary radar positioning technology
The primary radar positioning technology is that pulse radar is adopted to continuously transmit radio frequency pulses to the airport surface, simultaneously, echoes generated by airplanes/vehicles meeting the surface are received, and the position of a target is confirmed according to the time and the direction of the pulses and the echoes.
b) Secondary radar positioning technology
In the secondary radar positioning technology, an interrogation radar of an airport surface transmits an interrogation signal to the airport surface in a certain mode, a transponder mounted on an airplane receives the interrogation signal, processes and decodes the interrogation signal to send a reply signal back to a ground interrogation radar, and the ground interrogation radar obtains the reply signal and then decodes the reply signal to obtain information such as the position, the height and the like of the airplane.
c) ADS-B positioning technology
The ADS-B positioning technology is characterized in that an ADS-B system in an airport scene receives broadcast information sent by airborne ADS-B equipment, and the broadcast information contains various information such as airplane satellite positioning and airplane labels, so that the airplane position is obtained.
d) Multipoint positioning technology
The multipoint positioning technology utilizes a plurality of receivers on the airport scene to capture the pulse of the aircraft transponder, and utilizes different time of the pulse of the aircraft transponder reaching each receiver to calculate and obtain the position and the identification of the aircraft on the airport scene.
Vehicle-mounted sensor
The system is used together with a vehicle-mounted mobile terminal, consists of an optical camera and a laser radar, and is used for realizing real-time detection of the surrounding environment condition of the vehicle. The functions of the two components are specifically as follows:
optical pick-up head
The optical camera is used for shooting video information of 360 degrees around the vehicle in real time and sending the video to the vehicle-mounted terminal in the form of IP network data.
Laser radar
The laser radars are respectively arranged around the vehicle, emit laser by utilizing the characteristics of high propagation speed, good linear property and the like of the laser, and receive returned information to describe the surface form of the measured physics. The laser radar is used for detecting the environment condition around the vehicle and whether the target such as an airplane/vehicle exists in the periphery, and sending the detection data to the vehicle-mounted terminal in the form of IP network data.
The system of the invention relates to a system gateway, a time service subsystem, a differential positioning subsystem, an airport scene wireless communication subsystem, a vehicle-mounted mobile terminal, a vehicle-mounted sensor and a partial subsystem and a module in an operation management subsystem: these subsystems are illustrated as follows:
system gateway
The system of the invention is built in the form of IP network, and the system gateway is a bridge for connecting all components in the system. In order to reduce the mutual influence among the components and ensure the mutual data interconnection and intercommunication among the components, the system gateway allocates and manages IP network/address for the components in the access system. In addition, "system gateway" can also possess the function of preventing hot wall, this patent relates to the system can carry out the connection with the extranet (such as internet etc.), and "system gateway" can realize data remote output when guaranteeing the security of system's internal network.
Time service subsystem
The system of the invention may comprise a time service subsystem, which is based on a time service system of an IP data network. The time service subsystem obtains time information through Internet or time service satellite, and after internal calibration and conversion, the time information is converted into current use place time, and the time information is issued to all components in the system to ensure that the system time of all the devices is consistent.
Differential positioning subsystem
The differential positioning subsystem is provided with a positioning satellite receiver and can perform satellite positioning to obtain the position information of a reference station. The differential positioning subsystem transmits the calculated error between the position of the reference station and the actual position to the vehicle-mounted terminal by using IP network data. The system differential reference station can use a plurality of satellite differential technologies such as GPS, BD and the like.
Data storage subsystem
The system 'data storage subsystem' comprises a three-dimensional data model storage module, a scene target operation rule storage module, a GIS map information storage module and an airplane/vehicle position state storage module, can store various data used by the system in a classified manner, and has strong storage capacity.
a) Three-dimensional data model storage module
The three-dimensional data model storage module is used for storing three-dimensional digital models of vehicles and various airplanes operated on the scene, and meanwhile, the internal storage data of the three-dimensional data model storage module can be accessed by a data processing subsystem and the like, and the three-dimensional model data of the airplanes/vehicles is called for safety calculation.
b) Vehicle health state data storage module
The vehicle health state data storage module is used for storing various health state related data such as various running vehicle oil materials and speeds on the scene and classifying and storing various aspects such as vehicle labels and data types. Meanwhile, the data in the vehicle health state data storage module can be read and called by other modules.
c) Airport scene target operation rule storage module
The system, namely an airport scene target operation rule storage module, is used for storing airport scene airplane/vehicle operation rules, for example, vehicles need to stop at corresponding points of an airport when taking off and landing, and operation rules of different vehicles in operation areas, running speeds and the like under different working states of airport before/after stopping, emergency and the like have different regulations, and the rules are not limited to the two situations. Meanwhile, the airport scene target operation rule storage module transmits various operation rules to the GIS map information storage module in a digital form.
d) GIS map information storage module
The GIS map information storage module is mainly used for storing two-dimensional and three-dimensional airport scene map information, receiving the digital airplane/vehicle operation rules sent by the scene target operation rule storage module and forming corresponding monitoring areas, such as an overspeed area, an entrance area and the like. And moreover, the GIS map information storage module sends latest ground scene maps and monitoring area information to an airport scene airborne/vehicle-mounted mobile terminal and an operation management subsystem display module, so that the implementation and supervision of scene prototype vehicles/airplanes are realized. In addition, the GIS map information storage module is used for storing the vehicle camera video and the laser radar data uploaded by the vehicle-mounted sensor and matching the three-dimensional map data with the two data.
e) Airplane/vehicle working state storage module
The airplane/vehicle working state storage module is used for storing the working states of airplanes/vehicles running on the scene in real time, such as the states of airplane parking positions, vehicle running destinations, refueling tank states of refueling vehicles, the positions of ferry service airplanes and other working states of the airport scene. Meanwhile, data in the 'airplane/vehicle working state storage module' can be accessed and called by other modules.
f) Airplane/vehicle position state storage module
The airplane/vehicle position state storage module is used for receiving the scene vehicle airplane/vehicle positioning data fused in the positioning data fusion processing module and storing the scene vehicle airplane/vehicle positioning data in a mode of classifying airplane/vehicle labels and a time axis. Meanwhile, the data in the module can be accessed and called by other modules.
Airport scene wireless communication subsystem
The airport scene wireless communication subsystem can ensure that an airborne/vehicle-mounted mobile terminal is reliably connected with a system gateway to complete transmission of various data in the system, is a special wireless communication system for the airport scene and is built based on an IP network, and has two functions of mobility and wireless broadband, such as the traditional 5G communication system, the LTE communication system, the WiFi communication system, the Aero MACS communication system and the like.
Vehicle-mounted mobile terminal
The vehicle-mounted mobile terminal comprises a wireless communication module, a data processing module, a data storage module, an edge cloud computing collision early warning processing module, an external sensor interface, a display module and an alarm module. The vehicle-mounted terminal is mainly used for data interaction between an airport operation vehicle and a system server, detecting the surrounding environment of the vehicle, ensuring the operation safety of the vehicle, monitoring the working state of the vehicle and the like.
a) Wireless communication module
The wireless communication module is a connection terminal used for a wireless communication subsystem of a system airport scene, and can ensure the data interaction between the vehicle-mounted mobile terminal and a system server.
b) Data processing module
The data processing module is used for processing and receiving data sent by the server and transmitting the data to all components of the vehicle-mounted mobile terminal, meanwhile, classifying and processing various data such as positioning module data, CAN bus data and external sensor data, and transmitting the data to the wireless communication module and then transmitting the data to the server.
c) Data storage module
The data storage module is used for storing a plurality of data information such as airport scene two-dimensional maps, limited control areas and the like.
d) Edge cloud computing conflict early warning processing module
The 'edge cloud computing collision early warning processing module' can detect the surrounding environment of the vehicle through an optical camera of a 'vehicle-mounted external sensor' and laser radar data in an intelligent computing mode, and generates a warning instruction to send to the warning module for possible collision behaviors.
e) External sensor interface
The external sensor interface is used for connecting the vehicle sensor and transmitting the sensor data to the vehicle-mounted terminal for further processing.
f) Display module
The display module is used for displaying a plurality of information such as airport scene map information, airport scene airplane/vehicle position information, self vehicle health condition, vehicle working state and the like.
g) Alarm module
The warning module adopts warning equipment such as sound or a buzzer and the like. And when the vehicle-mounted terminal receives an alarm instruction sent by the server or detects a collision early warning, the vehicle-mounted terminal sends out a warning.
Airborne mobile terminal
The 'airborne mobile terminal' consists of six parts, namely a wireless communication module, a data processing module, a data storage module, a working state module, a display module, an alarm module and the like, and obtains a plurality of data information, such as airport scene operation information, working instructions and the like, while realizing data interaction between airborne personnel and a server.
The specific functions of the six modules are as follows:
a) wireless communication module
The wireless communication module is a connection terminal used for a wireless communication subsystem of a system airport scene, and can ensure data interaction between an airborne mobile terminal and a system server.
b) Data processing module
The data processing module is connected with the wireless communication module and each module in the airborne terminal to realize data interaction between each module and the server.
c) Data storage module
The data storage module is used for storing a plurality of data information such as airport scene two-dimensional maps, limited control areas and the like.
d) Working state module
The working state module is connected with the data processing module and used for exchanging data with the working process data processing module at the server side to complete the interaction of working instructions and the uploading of working progress states.
e) Display module
The display module is used for displaying a plurality of information such as airport scene map information, airport scene plane/vehicle position information, self plane working state and the like.
f) Alarm module
The warning module adopts warning equipment such as sound or a buzzer and the like. And when the onboard terminal receives an alarm instruction sent by the server, sending an alarm.
Operation management subsystem
The 'operation management subsystem' mainly aims at the man-machine interaction used by a service end and mainly comprises a display module, a data processing module and an alarm module.
a) Display module
The display module is used for displaying airport scene map information, airport scene plane/vehicle position information, scene target working state information and various alarm information.
b) Data processing module
The data processing module is used for processing interactive data information between the operation management subsystems.
c) Alarm module
The warning module adopts warning equipment such as sound or a buzzer and the like. And when the 'operation management subsystem' receives an alarm instruction sent by the server, an alarm is sent out. And all the airport scenes with conflict early warning can generate warning information, send the warning information to the operation management subsystem and send a warning.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is an exemplary flow chart of airport surface object monitoring realized by data processing of a positioning data fusion processing module in the device;
FIG. 3 is an exemplary process for implementing airport three-dimensional map model update for data processing by the artificial intelligent deep learning module in the apparatus of the present invention;
FIG. 4 is an exemplary flow of data processing by the work process data processing module of the apparatus of the present invention to implement airport scene work status monitoring;
FIG. 5 is an exemplary flow of data processing by the worker process data processing module of the apparatus of the present invention to implement airport scene goal guidance;
FIG. 6 is an exemplary flow of processing acquired data by a cloud computing conflict pre-warning processing module in the apparatus of the present invention to implement system-level conflict pre-warning evaluation;
FIG. 7 is a schematic flow chart of a vehicle health status processing module in the apparatus of the present invention for monitoring vehicle status;
FIG. 8 is a schematic flow chart of a vehicle health status processing module in the apparatus for monitoring a vehicle operating status;
FIG. 9 is a schematic flow chart of an airport surface operation situation analysis and prediction implemented by data processing performed by an airport surface operation situation processing module in the device of the present invention;
FIG. 10 is a schematic diagram of the components of an airport scene target operation management and early warning system of the present invention;
FIG. 11 shows a flow of a method for implementing collision warning and evaluation of a vehicle in a vehicle-mounted mobile terminal.
Detailed Description
The present invention will now be further illustrated, but not limited, by the following description, with reference to the accompanying drawings.
Referring to FIG. 1, an airport scene object operation management device comprises
Positioning data fusion processing module: the system is used for fusing real-time positioning data of management targets in the scene to obtain unique real-time position information of each target in the scene;
artificial intelligence deep learning module: the airport map model is updated in real time according to the acquired data of the surrounding environment of the vehicle;
the work process data processing module: the system is used for judging whether each management target of the scene needs to move or not, planning a path according to the operation rule of the scene target and airport map data, and sending a moving route to the management target.
An exemplary flow for implementing the processing of data by the positioning data fusion processing module is shown in fig. 2, and includes the following steps:
1) the data fusion processing module receives airport scene plane/vehicle positioning data according to the monitoring data acquisition subsystem and the vehicle positioning terminal;
2) the data fusion processing module classifies the data after receiving various positioning data, and the data is classified into airplane positioning data and vehicle positioning data respectively;
3) judging one or more data sources for positioning the same airplane for the airplane positioning data, if so, directly outputting the data, and if so, fusing and outputting a plurality of data;
4) the vehicle positioning data are processed in the same manner as 3);
5) the processed data are sent to an airplane/vehicle position state storage module for storage, and are sent to display modules of a vehicle-mounted mobile terminal, an airborne mobile terminal and an operation management subsystem for display;
6) the vehicle-mounted mobile terminal and the vehicle-mounted mobile terminal access the GIS map storage module firstly when accessing the system, inquire whether the airport map is updated, if so, download a new map and display the new map in the respective display module, and if not, use the original airport map to display in the display module.
An exemplary flow of data processing by the artificial intelligence deep learning module is shown in fig. 3, and the steps are as follows:
1) the system comprises a laser radar and an optical camera, wherein the laser radar and the optical camera are used for collecting the information of the space around a vehicle when the vehicle runs and sending the information to an artificial intelligence deep learning module;
2) the artificial intelligent deep learning module acquires detection data obtained by laser radar detection and optical camera detection and establishes a three-dimensional digital model of the position by combining the vehicle position in the GIS map information storage module;
3) the artificial intelligence deep learning module confirms the newly generated three-dimensional character model at the position through a plurality of vehicles or a plurality of times of generation and compares the data in the three-dimensional data model storage module;
4) if the new model is the same as the three-dimensional model in the three-dimensional data model storage module, no change is made;
5) and if the new model is different from the three-dimensional model in the three-dimensional data model storage module, replacing the original three-dimensional model in the three-dimensional data model storage module with the new model, thereby realizing the updating of the airport three-dimensional model.
An exemplary flow of data processing by the work process data processing module is shown in fig. 4 and 5, and includes the following steps:
1) the vehicle-mounted mobile terminal working state module follows the working state of the vehicle in real time and sends the working progress of the vehicle and the vehicle requirement to the working progress data processing module of the data processing subsystem;
2) the airborne mobile terminal working state module sends the airplane requirement to the data processing subsystem working process processing module;
3) after receiving airplane requirements, vehicle requirements and vehicle working states, a working process processing module of the data processing subsystem calls scene airplane/vehicle positions in an airplane/vehicle position state storage module in the data storage subsystem and all airplane/vehicle working plans of a working state storage server in the data storage subsystem;
4) the working process data processing module issues a working task to a specified airplane/vehicle through comprehensive operation, simultaneously monitors the working state of the airplane/vehicle in real time, updates a working plan to the working state storage module and simultaneously displays the working plan on the airplane/vehicle-mounted mobile terminal display module;
5) the working process data processing module judges whether the airplane/vehicle needs to move or not according to the generated airplane/vehicle working task and the data in the airplane/vehicle position state storage module;
6) if the airplane/vehicle needs to move, the work process data processing module calls the scene target operation rule storage module and the GIS map information storage module to obtain data, calculates the moving route of the airplane/vehicle and sends the route to the display module corresponding to the airplane/vehicle mobile terminal.
7) And if the airplane/vehicle does not need to move, entering the next path planning calculation by the 'working process data processing module'.
In some embodiments, the apparatus of the present invention further includes a cloud computing collision early warning processing module, configured to construct an airport surface airplane/vehicle three-dimensional operation model according to the airplane/vehicle position state information, the GIS map information, the airplane/vehicle three-dimensional data model, and the airport three-dimensional data model, and calculate collisions between airport airplanes, vehicles, airplanes and vehicles, and collisions between airplanes/vehicles and surrounding buildings based on the airport surface airplane/vehicle three-dimensional operation model, obtain an early warning scheme, and issue the early warning scheme.
The acquired data are processed through the cloud computing collision early warning processing module to achieve system-level collision early warning evaluation, an exemplary flow is shown in fig. 6, and the steps are as follows:
1) the cloud computing conflict early warning processing module acquires airplane/vehicle position state information, GIS map information, an airplane/vehicle three-dimensional data model and an airport three-dimensional data model;
2) the cloud computing conflict early warning processing module establishes an airport scene airplane/vehicle three-dimensional operation model;
3) the cloud computing collision early warning processing module is used for computing collision possibilities among airplanes, among vehicles, between the airplanes and the vehicles and surrounding buildings under a three-dimensional model according to the operation speed, the operation direction, the operation route and the like of the airplanes and the vehicles;
4) the cloud computing collision early warning processing module estimates the time of possible collision, and if the time is within a certain threshold range, the cloud computing collision early warning processing module sends a warning to the airplane/vehicle related to the collision;
5) if the possibility of collision is eliminated, the warning instruction is eliminated, and if not eliminated, the warning instruction changes (more hurried, etc.) to remind the person.
In some embodiments, the device further includes a vehicle health status processing module, configured to monitor whether the vehicle is operating normally in real time according to the collected vehicle health status data and the vehicle operating status, and issue a warning instruction for the work plan that cannot be completed or the health status abnormal data.
An exemplary flow of implementing vehicle health monitoring by the vehicle health status processing module for data processing is shown in fig. 7, and includes the following steps:
1) the vehicle-mounted mobile terminal acquires CAN bus data and uploads the CAN bus data to the vehicle health state processing module;
2) the vehicle health state processing module calculates whether each state of the vehicle is normal or not;
3) the vehicle health state processing module sends the vehicle health state to the vehicle health state data storage module for the calling and displaying of the vehicle-mounted mobile terminal and the operation management subsystem;
4) if the vehicle health state processing module finds that the vehicle state is abnormal, an alarm instruction is sent to the corresponding vehicle-mounted mobile terminal alarm module for prompting.
An exemplary flow of implementing vehicle operation health monitoring on data processing by the vehicle health processing module is shown in fig. 8
1) The vehicle-mounted mobile terminal acquires CAN bus data and uploads the CAN bus data to the vehicle health state processing module;
2) the vehicle health state processing module calls a vehicle working task in the working state storage module and calculates whether the vehicle state is qualified for the working task;
3) if the vehicle state is adequate for the work task, the work task is executed;
4) if the vehicle state is not qualified as the work task, the work task is fed back to the work process data processing module to arrange tasks for other vehicles;
5) the vehicle health state processing module calls data of the GIS map information storage module and the airplane/vehicle position state storage module and judges whether the vehicle meets airport scene operation rules in real time;
6) if the vehicle accords with the airport scene operation rule, the vehicle health state processing module continues monitoring;
7) if the vehicle does not accord with the airport scene operation rule, the vehicle health state processing module sends out a warning to the corresponding vehicle.
In some embodiments of the apparatus of the present invention, the apparatus further comprises an airport surface operation situation processing module, configured to perform comprehensive processing on the collected data including the positioning data of the aircraft and the vehicle, the operating state data, the health state data of each vehicle, the GIS map information, the airport surface operation rule data, and the airport three-dimensional data to obtain a thermodynamic diagram of the airport surface and a future thermodynamic diagram analysis.
The flow of the implementation method of the airport surface operation situation analysis and prediction subsystem by performing data processing through the airport surface operation situation processing module is shown in fig. 9, and the steps are as follows:
1) the airport scene operation situation processing module acquires airplane/vehicle position state information, airplane/vehicle working state information, vehicle health state information, GIS map information, operation rule information and airport three-dimensional data information in the data storage subsystem;
2) the airport surface operation situation processing module comprehensively processes various information to obtain airport surface thermodynamic diagrams and future thermodynamic diagrams, and presents airplane/vehicle operation situations through a table;
3) the airport scene operation situation processing module sends the operation situation analysis to the display module of the operation management subsystem for display.
The invention provides an airport scene target operation management and early warning system based on the device, as shown in figure 10, which is characterized by comprising a data storage subsystem which is connected with a system gateway through data transmission, wherein the data processing subsystem adopts any one of the device, the data acquisition subsystem, the airport scene wireless communication subsystem, the vehicle-mounted mobile terminal and the operation management subsystem;
the data storage subsystem comprises a three-dimensional data model storage module, a vehicle health state data storage module, a scene target operation rule storage module, a GIS map information storage module, an airplane/vehicle working state storage module and an airplane/vehicle position state storage module; the data storage or retrieval is carried out by other subsystems;
the data acquisition subsystem comprises a monitoring data acquisition subsystem, an optical camera and a laser radar, wherein the optical camera and the laser radar are connected with the vehicle-mounted mobile terminal; the monitoring data acquisition subsystem is used for positioning airplanes/vehicles on the airport scene and transmitting the obtained positioning information to the data processing subsystem in the form of IP network data; the optical camera and the laser radar are used for detecting the surrounding environment condition of the vehicle in real time and sending detection data to the vehicle-mounted terminal in the form of IP network data;
the vehicle-mounted terminal comprises an edge cloud computing conflict early warning processing module and a warning module; the system is mainly used for data interaction between the running vehicles in the airport scene and the data processing subsystem and the data storage system, detecting the surrounding environment of the vehicles, monitoring the working state of the vehicles, calculating the collision possibility of the vehicles, and warning the possible collision events to avoid collision;
the operation management subsystem is used for man-machine interaction used for a data processing system and comprises a display module, a data processing module and an alarm module.
Wherein the edge cloud computing collision early warning processing module establishes the vehicle periphery through the data of the vehicle-mounted sensor
Environmental information, detecting airplanes, vehicles, people, buildings and the like in the surrounding environment of the vehicle according to data of the vehicle-mounted sensor, calculating the possibility of collision of the vehicle, giving a warning to a collision event, and avoiding collision, namely realizing collision early warning and evaluation of the vehicle, wherein the schematic implementation flow is shown in fig. 11, and the steps are as follows:
1) the method comprises the steps that an edge cloud computing conflict early warning processing module obtains optical camera data, structured road detection is carried out by using airport scene background colors and scene road virtual and solid lines, and meanwhile, a vehicle surrounding environment model is established by combining various modes such as road sign recognition and the like;
2) the 'edge cloud computing collision early warning processing module' judges the conditions of airplanes, vehicles, people and buildings around the vehicle by using the data of the optical camera;
3) the 'edge cloud set calculation conflict early warning processing module' receives laser radar data, confirms airplanes, vehicles, people and buildings, and positions the targets by combining optical data;
4) the edge cloud set calculation collision early warning processing module analyzes the moving state of the target relative to the vehicle by using the difference of data of the optical radar and the laser radar at different time, and analyzes the collision possibility of the target and the vehicle and the predicted collision time;
5) when the time of possible collision is below a certain threshold value, the edge cloud computing collision early warning module sends a warning instruction to the warning module;
6) the 'edge cloud set calculation collision early warning processing module' continuously tracks, stops sending instructions to the warning module when collision early warning is eliminated, and continuously warns and changes if the collision early warning is not eliminated (such as more urgency and the like).
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (6)
1. An airport scene target operation management method is characterized in that: data acquisition and data processing are included;
the data acquisition instruction
Collecting real-time data of a management target in an airport scene and scene environment real-time data; calling data in an existing GIS map information storage module;
the data processing comprises:
carrying out fusion processing on the collected real-time positioning data of the management targets in the scene to obtain the unique real-time position information of each target in the scene;
updating data in a GIS map information storage module in real time according to the collected vehicle surrounding environment data;
generating a work task and issuing the work task for the management target in the scene, and simultaneously monitoring the work state of the management target in real time; then judging whether each management target of the scene needs to move according to the work task, planning a path of the management target according to the operation rule of the scene target and the data in the latest GIS map information storage module, and sending a moving route to the management target;
the data processing also comprises the step of constructing an airport scene airplane/vehicle three-dimensional operation model according to the airplane/vehicle position state information, the GIS map information storage module data, the airplane/vehicle three-dimensional data model and the airport three-dimensional data model;
and the data processing also comprises the steps of calculating the conflicts among the aircrafts on the scene, among the vehicles, between the aircrafts and the vehicles and between the aircrafts/the vehicles and the surrounding buildings based on the airport scene aircraft/vehicle three-dimensional operation model, obtaining an early warning scheme and sending out the early warning scheme.
2. The airport surface target operation management method of claim 1, wherein:
the data acquisition comprises the acquisition of self health data of the vehicle and the data of the current work task of the vehicle;
the data processing comprises one or more of:
judging whether the state of the vehicle is healthy or not; if the vehicle is healthy, issuing corresponding vehicle health state data; otherwise, issuing an alarm instruction;
judging whether the current situation of the vehicle is competent for the current work task; if the function is qualified, an execution instruction is issued; otherwise, issuing a vehicle replacing instruction;
judging whether the vehicle accords with airport scene operation rules or not; and when the vehicle is not in accordance with the preset condition, issuing a warning instruction to the vehicle.
3. The airport surface target operation management method of claim 1 or 2, wherein:
the data processing also comprises the step of comprehensively processing the data according to the collected data comprising the positioning data, the working state data, the health state data of each vehicle, the GIS map information, the airport scene operation rule data and the airport three-dimensional data to obtain the thermodynamic diagram of the airport scene and the future thermodynamic diagram trend prediction.
4. An airport scene target operation management device, comprising
Positioning data fusion processing module: the system is used for fusing real-time positioning data of management targets in the scene to obtain unique real-time position information of each target in the scene;
artificial intelligence deep learning module: the airport map model is updated in real time according to the acquired data of the surrounding environment of the vehicle;
the work process data processing module: the system is used for generating and issuing work tasks for the management targets in the scene and monitoring the working state of the management targets in real time; then judging whether each management target of the scene needs to move according to the work task, planning a path of the management target according to the operation rule of the scene target and the data in the latest GIS map information storage module, and sending a moving route to the management target;
the cloud computing conflict early warning processing module is used for constructing an airport scene airplane/vehicle three-dimensional operation model according to airplane/vehicle position state information, GIS map information, an airplane/vehicle three-dimensional data model and an airport three-dimensional data model, calculating conflicts among the scene airplanes, among the vehicles, between the airplanes and the vehicles and between the airplanes/vehicles and surrounding buildings based on the airport scene airplane/vehicle three-dimensional operation model, obtaining an early warning scheme and sending the early warning scheme;
and the vehicle health state processing module is used for monitoring whether the vehicle runs normally or not in real time according to the collected vehicle health state data and the working state of the vehicle, and issuing a warning instruction to the unfinishable working plan or the abnormal data of the health state.
5. The apparatus of claim 4, wherein:
the system also comprises an airport surface operation situation processing module which is used for carrying out comprehensive processing on the data according to the collected data comprising the positioning data, the working state data, the health state data of each vehicle, the GIS map information, the airport surface operation rule data and the airport three-dimensional data to obtain the thermodynamic diagram of the airport surface and the future thermodynamic diagram dynamic analysis.
6. An airport scene target operation management and early warning system, characterized by comprising a data storage subsystem connected by data transmission through a system gateway, wherein the data processing subsystem adopts the device of claim 4 or 5, a data acquisition subsystem, an airport scene wireless communication subsystem, a vehicle-mounted mobile terminal and an operation management subsystem;
the data storage subsystem comprises a three-dimensional data model storage module, a vehicle health state data storage module, a scene target operation rule storage module, a GIS map information storage module, an airplane/vehicle working state storage module and an airplane/vehicle position state storage module; the data storage or retrieval is carried out by other subsystems;
the data acquisition subsystem comprises a monitoring data acquisition subsystem, an optical camera and a laser radar, wherein the optical camera and the laser radar are connected with the vehicle-mounted mobile terminal; the monitoring data acquisition subsystem is used for positioning airplanes/vehicles on the airport scene and transmitting the obtained positioning information to the data processing subsystem in the form of IP network data; the optical camera and the laser radar are used for detecting the surrounding environment condition of the vehicle in real time and sending detection data to the vehicle-mounted terminal in the form of IP network data;
the vehicle-mounted terminal comprises an edge cloud computing conflict early warning processing module and a warning module; the system is mainly used for data interaction between the running vehicles in the airport scene and the data processing subsystem and the data storage system, detecting the surrounding environment of the vehicles, monitoring the working state of the vehicles, calculating the collision possibility of the vehicles, and warning the possible collision events to avoid collision;
the operation management subsystem is used for man-machine interaction oriented to the use of the data processing system and comprises a display module, a data processing module and an alarm module.
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| CN114187783B (en) * | 2021-12-06 | 2023-10-31 | 中国民航大学 | Method for analyzing and predicting potential conflict in airport flight area |
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