CN112767728A - A autopilot guide car for airport - Google Patents
A autopilot guide car for airport Download PDFInfo
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- CN112767728A CN112767728A CN202110127536.XA CN202110127536A CN112767728A CN 112767728 A CN112767728 A CN 112767728A CN 202110127536 A CN202110127536 A CN 202110127536A CN 112767728 A CN112767728 A CN 112767728A
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
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Abstract
The invention relates to an autopilot lead vehicle for airports, comprising: a vehicle body; the main laser radar is arranged at the top of the vehicle body; the guide screen is arranged outside the vehicle body and faces the direction opposite to the running direction of the vehicle; the control module is arranged in the vehicle body and used for interacting with the upper system and controlling the automatic pilot vehicle to drive; high definition camera of setting in the automobile body periphery. This automatic pilot aircraft guide car, main laser radar, guide screen, control module and high definition camera on the automobile body can discern road conditions, barrier etc. around the automobile body, and can interact with the upper system at airport to the content that shows on the control vehicle goes and the guide screen realizes the function of automatic pilot aircraft. The automatic piloting aircraft guide vehicle has the characteristics of quick response, high efficiency, low cost and the like, is controlled by an upper system of an airport, and can automatically, efficiently and safely complete the operation of guiding an aircraft.
Description
Technical Field
The invention relates to the field of aviation, in particular to an autopilot guiding vehicle for an airport.
Background
When an airplane lands at an airport, the airplane needs to be guided to safely slide to an apron to finish the landing. At present, the guidance modes of an airport for an airplane mainly comprise: light guide, marker guide, manual guide and manned vehicle guide. The guiding of the light and marker equipment has the defects of low precision and reliability and incapability of timely interacting information with the whole airport vehicle dispatching system. And the stability of light guide is not enough, the reconstruction of light guide needs to open a road and break the way, the manufacturing cost is high, and the construction is irreversible.
The manual guidance mainly depends on the communication between the interphone and the tower, so that misreading and mislistening are easy to occur, and the reliability is low; in the manual driving guiding mode, the traffic safety excessively depends on the state and the reaction of a driver, certain errors are inevitable, and uncontrollable factors are too many. In addition, the two guidance modes are seriously influenced by weather, and under the severe environment condition, the sight of guidance personnel is blocked, and the pilot can not receive guidance information in time, so that the berth route deviates. At present, in an airport in the field of civil aviation, a device capable of guiding an airplane safely and efficiently does not exist.
Disclosure of Invention
The invention aims to provide equipment for efficiently and safely guiding an airplane in an airport by matching with an upper system of the airport.
In order to solve the above problems, the present invention provides an autopilot guidance vehicle for an airport, for guiding an airplane in the airport, comprising:
a vehicle body;
the main laser radar is arranged on the top of the vehicle body;
the guide screen is arranged on the external screen of the vehicle body and faces to the direction opposite to the running direction of the vehicle;
the control module is arranged in the vehicle body and used for interacting with an upper system and controlling the autopilot to guide the vehicle to run;
and the high-definition camera is arranged on the periphery of the vehicle body.
Preferably, blind-repairing laser radars are further arranged on the periphery of the vehicle body.
Preferably, the vehicle body is provided with vehicle-mounted equipment for interacting with roadside equipment.
Preferably, a millimeter wave radar is further arranged on the vehicle body.
Preferably, the millimeter wave radar is arranged at the head and the tail of the vehicle body.
Preferably, the control module comprises a network communication device, a bus data recording device, a main computing unit and a navigation device.
Preferably, the network communication device, the bus data recording device, the main computing unit, and the navigation device are integrally installed at a front end of the vehicle body.
Preferably, the top of the vehicle body is provided with a mounting bracket, and the main laser radar is mounted on the mounting bracket.
Preferably, the installing support includes fixed part and regulating part, the fixed part is installed the top of automobile body, the regulating part is installed on the fixed part, main lidar installs on the regulating part, and can pass through regulating part adjustment mounting height.
Preferably, an auxiliary sensor is further disposed on the vehicle body.
According to the automatic piloting aircraft guide vehicle for the airport, the main laser radar, the guide screen, the control module and the high-definition camera are arranged on the vehicle body, so that road conditions, obstacles and the like around the vehicle body can be identified, and interaction can be carried out between the main laser radar and the upper system arranged on the airport, so that the running of the vehicle and the content displayed on the guide screen are controlled, and the function of automatically guiding the aircraft is realized. The automatic piloting aircraft guide vehicle has the characteristics of quick response, high efficiency, low cost and the like, is controlled by an upper system of an airport, and can automatically, efficiently and safely complete the operation of guiding an aircraft.
Drawings
FIG. 1 is a schematic structural view of an autopilot lead vehicle for an airport of the present invention;
FIG. 2 is a schematic view of another angle configuration of the drone aircraft lead vehicle for airports in accordance with the present invention;
fig. 3 is a control structure view of an autopilot lead vehicle for an airport according to the present invention.
Detailed Description
Referring to fig. 1 to 3, an embodiment of the present invention provides an autopilot guidance vehicle for an airport, which is used for guiding an airplane in the airport, and interacts with an upper system inside the airport in a matching manner during guidance, and the autopilot guidance vehicle includes a vehicle body 1, a main laser radar 2, a guidance screen 4, a control module 8, and a high definition camera 5. Main laser radar 2 sets up at the top of automobile body 1 to the condition around the 360 monitoring vehicles, high definition camera 5 sets up in the periphery of automobile body 1, can monitor the condition around the car, and the width of concrete monitoring are decided according to the equipment model of actual selection. Preferably, the main lidar 2 selects 128 lines of lidar to enable 3D modeling of the surrounding environment, making monitoring more accurate. The guide screen 4 is provided on the outside of the vehicle body 1 with the screen facing the side opposite to the direction of travel of the vehicle, i.e. facing the cockpit of the aircraft, so that the pilot can see the guide screen 4 on the vehicle clearly.
In order to better determine the surrounding situation, in one embodiment of the present application, blind-fill laser radars 3 are further disposed on the periphery of the vehicle body 1. Because the main laser radar 2 at roof portion is when gathering information, and the car week scope has certain blind area, is difficult to gather the information of vehicle height and following within range, consequently, sets up this mend blind laser radar 3 in the car week, supplements the collection to the specific conditions around the automobile body 1 to make the collection scope more comprehensive, information is more accurate, provides more reliable guarantee for the vehicle traveles. Preferably, the blind-fill laser radar 3 may employ a 32-line laser radar.
In the process of driving a vehicle at an airport, the driving route of the vehicle also needs to be detected in real time so as to avoid collision with other vehicles or airplanes in the driving process, therefore, a plurality of road side devices 10 (road side RSU devices) are arranged at intervals on the side of a road, and vehicle-mounted devices 9 (vehicle-mounted OBU devices) used for interacting with the road side devices 10 are arranged on the vehicle body 1. The interaction between the roadside apparatus 10 and the on-board apparatus 9 enables the host system to accurately determine the specific position and the driving direction of the vehicle. For example, through interaction between two adjacent roadside sets 10 and the on-board device 9 in the form process, the driving direction and the position of the vehicle can be determined, and a host system in one airport can better control the vehicle. Preferably, the in-vehicle device 9 is mounted on the front end of the vehicle, but may be mounted inside the vehicle body 1 or outside the vehicle body 1. Mounting at the top end of the body 1 is also possible, the front end being only one of the preferred options.
The control module 8 is provided to interact with the upper system on one hand and control the driving state of the vehicle on the other hand, and of course, the control module 8 can also interact with the main laser radar 2 and the high definition camera 5 on the vehicle to acquire the collected information thereon and feed back the collected information to the upper system. In addition, the control module 8 can also control the display state and content of the guide screen 4 to clearly and accurately display the guide information. The installation position of the control module 8 on the vehicle body 1 is not specifically limited, and the control module can be selected according to actual requirements, can be installed at a center console in the vehicle, and can also be installed at other parts such as the vehicle roof.
Specifically, the control module 8 includes a network communication device, a bus data recording device, a main computing unit and a navigation device, which can be installed together to make the installation more compact and the space more compact, such as being integrally installed at the front end or the rear end of the vehicle body 1. Of course, the control module 8 may be installed at different positions of the vehicle body 1, and preferably, all the devices included in the control module are installed at one position, so as to save space and facilitate centralized management. The bus data recording device can record the running information of the vehicle in the whole course, the navigation equipment can guide the vehicle to run according to the route planned by the upper system, and preferably, the navigation equipment is selected as four-in-one combined navigation equipment and can perform four-in-one fusion positioning. The main computing unit and the network communication equipment can interact with an upper system, monitor the running state of the vehicle in real time and receive task information.
In addition, cameras 6 can be arranged at the front and the rear of the vehicle body on the automatic pilot aircraft guided vehicle to display and record the surrounding conditions of the front and the rear of the vehicle. Specifically, the camera 6 may be a mobiley camera. In order to enable the vehicle to monitor the surrounding situation more accurately in the driving process and further improve the driving safety of the vehicle, the millimeter wave radar 7 can be arranged on the periphery of the vehicle body 1. Specifically, the millimeter wave radar 7 may be provided in plurality and installed at the head and tail of the vehicle body 1, respectively.
According to the automatic piloting aircraft guide vehicle provided by the embodiment of the invention, the main laser radar 2, the guide screen 4, the control module 8 and the high-definition camera 5 are arranged on the vehicle body 1, so that road conditions, obstacles and the like around the vehicle body can be identified, and interaction with an upper system arranged at an airport can be carried out, thus the running of the vehicle and the content displayed on the guide screen are controlled, and the function of automatically guiding the aircraft is realized. The automatic piloting aircraft guide vehicle has the characteristics of quick response, high efficiency, low cost and the like, is controlled by an upper system of an airport, and can automatically, efficiently and safely complete the operation of guiding an aircraft.
In one embodiment of the present application, the top of the vehicle body 1 is provided with a mounting bracket on which the primary lidar 2 is mounted.
Preferably, the mounting bracket includes a fixing portion and an adjusting portion, and the adjusting portion is capable of achieving height adjustment in the vertical direction. The fixed part is arranged on the top of the vehicle body 1 to provide stable support for installation; the regulating part is installed on the fixed part, and main lidar 2 is installed on the regulating part to can adjust mounting height through the regulating part, with the mounting height to main lidar 2 is adjusted as required according to the monitoring.
In addition, an auxiliary sensor may be provided on the vehicle body 1. The auxiliary sensor can judge the lane more accurately when extreme conditions such as severe weather, obstacles and other vehicle shelters exist, and therefore the safety of guiding is further improved.
When the piloted automatic aircraft guided vehicle waits at an airport, an upper system in the airport can send different task instructions to the piloted automatic aircraft guided vehicle according to actual task requirements. The vehicle may be a guided task or a non-guided task such as changing a stop point or moving to a refueling station. Specifically, the upper system comprises a task issuing platform, a task execution platform and a vehicle scheduling management platform.
The platform sending under the task comprises a tower control module, an airport command module, a navigation department operation control module and a transfer module, and the platform sending under the task generates airport vehicle using requirements. The task issuing platform transmits the airport vehicle using requirements to the vehicle dispatching management platform, and the vehicle dispatching management platform issues a driving path to the automatic pilot aircraft guided vehicle so that the automatic pilot aircraft guided vehicle can reach a target position to execute the vehicle using task according to the driving path.
The different task instruction information comprises different path planning and road condition information, and after receiving the relevant information, the automatic piloting aircraft guide vehicle responds to the instruction of the vehicle dispatching management platform and executes the corresponding automatic piloting task. In the process, the main laser radar 2, the high-definition camera 5 and the control module 8 on the vehicle body 1 work in a combined mode, the conditions around the vehicle body are monitored in real time and fed back to the vehicle dispatching management platform, the vehicle dispatching management platform plans a proper route and an accurate instruction, and therefore driving information is fed back to the control module 8 to enable the control module to monitor safe and efficient running of the vehicle.
And if the task instruction is a guidance task, the automatic piloting aircraft guide vehicle guides the aircraft according to the path information given by the vehicle scheduling management platform. When the airplane is guided, the automatic piloting airplane guide car firstly needs to carry out an appointed airplane receiving position according to a preset path, and the airplane also needs to enter the preset guide position, so that the vehicle dispatching management platform receives in-place information, and the vehicle dispatching management platform is triggered to send a task starting instruction.
In the guiding process, it is necessary to ensure that a corresponding safety distance is kept between the guiding vehicle of the autopilot and the aircraft, and the acceleration, deceleration and braking states are kept synchronous, so as to ensure the safe and stable operation of the whole guiding process. Namely, when the automatic piloting plane guides the vehicle to run at a constant speed, the plane also advances at a constant speed; when the vehicle accelerates, the airplane also accelerates; when the vehicle decelerates, the airplane also decelerates, and the whole course of the airplane and the vehicle are controlled in a synchronous state. At this time, the guide screen 4 on the vehicle body 1 can provide precise and detailed running instructions for the aircraft, so that the aircraft driver can drive according to the instructions and always keep a synchronous advancing state with the automatic pilot aircraft.
A certain preset distance exists between the aircraft-receiving position and the guiding position, so that the piloted vehicle of the automatic piloted aircraft is ensured to be within the sight range of a pilot on one hand, and the safe driving distance between the piloted vehicle of the automatic piloted aircraft and the aircraft is ensured on the other hand.
And if the received task is not a guide task, the automatic piloting aircraft guide vehicle executes the automatic piloting task according to the instruction of the vehicle dispatching management platform. And the vehicle dispatching management platform sends a preset driving scheme according to the information of the initial position of the airplane and the position of the target end point, and the automatic piloting airplane guide vehicle automatically pilots according to the preset scheme according to the received information and the task instruction.
And when the automatic piloting plane guide vehicle reaches the planned path end point, the plane is safely stopped at the parking position, and the guiding task is completed. At the moment, the piloted automatic plane vehicle sends the information of task completion to the upper system, transmits the information of task completion, and automatically drives to a temporary stop point to wait for a subsequent instruction sent by the upper system. Or monitoring the execution condition of the piloted automatic plane guide vehicle on the guide task through the task execution platform, generating task feedback information according to the execution condition, sending the task feedback information to the vehicle dispatching management platform, and generating a new guide requirement by the vehicle dispatching management platform according to the task feedback information.
In the process of guidance, various road conditions can be met on roads in an airport, and the automatic pilot aircraft guide vehicle is required to perform different operations. At this time, the road information of the position of the vehicle needs to be determined through interaction among the roadside device 10, the vehicle-mounted device 9 and an upper system in the airport, so as to be fed back to the upper system and request the upper system to send specific road information, such as traffic light color and time information. When different road conditions are encountered, such as:
1) when the vehicle runs straight, the automatic driving preset scheme is kept, and if the vehicle runs straight, a pedestrian or an obstacle is met, the vehicle needs to stop for waiting, and the vehicle continues to run after the pedestrian passes or the obstacle is eliminated.
2) When the front is a turning road, the upper system decelerates the vehicle through interaction with the control module 8 to ensure that the vehicle turns at a safe speed. And secondly, the upper system sends deflection information required by the turning according to the position information, and the automatic pilot aircraft guided vehicle deflects a proper angle according to the deflection information and finishes turning at a proper angle and speed. When the autopilot is guiding the vehicle to decelerate, the aircraft also needs to decelerate according to the traveling speed of the aircraft to ensure that the two always travel synchronously.
3) When the front is a crossroad, the control module 8 on the automatic pilot aircraft guided vehicle interacts with the road side equipment 10, the upper system receives vehicle end GPS information, monitoring information of the road side equipment 10 and the vehicle-mounted equipment 9 at preset intervals, and determines the vehicle running direction and the specific position according to the two data information received in adjacent time. And the position information and the like are sent to an upper system, the upper system sends the color and the time information of the traffic light at the position to the automatic piloting aircraft guide vehicle, and the automatic piloting aircraft guide vehicle judges whether to continue driving according to the color and the time information of the traffic light.
In addition, at the intersection, if another vehicle or an airplane transversely passes through the road, the upper system sends the passing information to the roadside device 10, the roadside device 10 sends a notification that the vehicle at the intersection stops to allow the vehicle to pass, and after the other vehicle or the airplane passes through the intersection, the upper system sends a command that the automatic pilot airplane guides the vehicle to continue to pass.
4) When the place ahead is the crosswalk, control module 8 receives the crosswalk pedestrian information that sends from the upper system to judge according to crosswalk pedestrian information and go or give the passerby or detour. Or the judgment can be made according to the information monitored by the self-control module 8.
During the running process of the vehicle, the surrounding conditions of the vehicle need to be monitored all the time. If the front of the driving direction of the piloted automatic plane is monitored to determine whether pedestrians or obstacles exist, if not, the piloted automatic plane is automatically driven when the color of the traffic light is green; if so, waiting until the obstacle is cleared or re-planning the route after the preset waiting time is exceeded.
The preset waiting time is set to avoid the influence of long-time waiting on normal shutdown, if the time length is exceeded, the host system replans the shutdown route and sends the route to the control module 8, and the automatic piloting aircraft guide vehicle continues to guide the aircraft to the parking space according to the new route. The monitoring of the color and time information of the traffic lights and the states of pedestrians and other vehicles at the intersection is to ensure the safe and smooth passing of the vehicles and airplanes in the guiding process.
Of course, in the guiding process, a monitoring system is also arranged in the upper system, so that all moving and static vehicles and airplanes can be accurately positioned, and the correction can be timely carried out when the paths of the vehicles and airplanes deviate. The method and the device can be always kept on the correct road, and adverse effects of route deviation on guiding work are avoided.
According to the control method of the automatic piloting aircraft guide vehicle provided by the embodiment of the invention, the automatic control of the vehicle driving can be realized through the interaction between the upper system, the control module 8 and the roadside equipment, so that the vehicle can automatically drive in an airport along a preset path at a preset speed, and the automatic guidance of the aircraft is realized. Not only save the cost of labor, reduced the guide cost, also realized the guide automation for the guide can be more high-efficient and safe going on.
Through the technical scheme, the invention realizes the unified scheduling management and scientific path planning of all the automatic piloting plane guide vehicles in the whole airport range and provides safe, efficient and controllable service guarantee for all the vehicles and planes.
The control module of the tower platform comprises an A-SMGCS system and a weather information system, the airport command module comprises an ORMS system and a FIMS system, the navigation driver operation control module comprises a GHS system and other navigation driver systems, and the transfer module comprises the GHS system and other navigation driver systems.
The advanced scene motion guidance and control system (A-SMGCS) should have multiple monitoring source data receiving and merging functions. Monitoring the cooperative monitoring target by adopting monitoring technologies such as broadcast type automatic correlation monitoring, multipoint positioning, secondary monitoring radar and the like; for non-cooperative monitoring targets, including monitoring targets, obstacles and foreign objects, monitoring technologies such as scene monitoring radar, visual enhancement, runway foreign object detection and the like need to be adopted. The high-level scene activity guiding and controlling system comprises four levels of functions, which are respectively: monitoring, control, routing, and steering.
The monitoring functions include the precise positioning of all moving and stationary aircraft and vehicles within the coverage area; updating the time and position data along the path according to the guidance and control requirements; detecting any intrusion including intrusion of an aircraft moving area, a runway zone and a designated protection area; the monitoring of the airport ground, the initial stage of the flight and the final stage of the flight is completed.
The control functions include maximizing authorized movement speed (dynamic capability); detecting conflicts and providing solutions; providing a longitudinal spacing; providing an alarm for runway or taxiway intrusion and activating a protective device (e.g., stop board or alarm); provide an alert for an emergency intrusion, etc.
The routing function realizes the functions of assigning a driving route, changing a destination and a route to each aircraft or vehicle in a moving area under the condition of a complex airport vehicle density.
The guidance functions primarily include providing clear instructions to the pilot and driver to allow them to follow the assigned path; displaying restricted or unavailable paths and areas; accepting the change of the route at any time; monitoring the operating state of all the guidance aids, etc.
As shown in fig. 3, the piloted autonomous aircraft guided vehicle of the present application is controlled by an upper system of the airport under the effect of the vehicle-road cloud coordination system. In the figure, the vehicle is an automatic pilot aircraft guide vehicle, the road is an airport road and road side equipment on the airport road, and the cloud is an upper system of the airport, so that under the mutual interaction of the three, the uniform dispatching of the automatic pilot aircraft guide vehicle is realized, the ground traffic in the airport is reasonably planned and distributed, the operation safety and the working efficiency are improved, and the efficient, orderly and safe aircraft guide is realized.
The automatic driving guide replaces manned driving, light and marker guide, and saves a large amount of labor and material cost.
Through effective cooperation and data sharing among the piloted plane guide vehicle, the road side equipment and the upper system, the whole real-time monitoring in an airport environment is realized, and the controllability is improved.
The wheels of the ferry vehicle are omitted from the schematic diagrams of fig. 1 to 2, the wheels are located at the bottom of the vehicle body 1, and the specific arrangement structure of the wheels is referred to in the prior art and is not described in detail herein.
It will be apparent to those skilled in the art that various modifications and variations can be made in the above embodiments of the present invention without departing from the spirit of the invention.
Claims (10)
1. An autopilot lead vehicle for use at an airport comprising:
a vehicle body (1);
a main laser radar (2) arranged on the top of the vehicle body (1);
a guide screen (4) arranged on the outer screen of the vehicle body (1) and facing the direction opposite to the running direction of the vehicle;
the control module (8) is arranged in the vehicle body (1) and used for interacting with an upper system and controlling the automatic pilot aircraft to guide the vehicle to run;
and the high-definition camera (5) is arranged on the periphery of the vehicle body (1).
2. Autonomous aircraft guided vehicle for airports according to claim 1, characterised in that the vehicle body (1) is also peripherally provided with a blind-complement lidar (3).
3. Autonomous aircraft guided vehicle for airports according to claim 1, characterised in that on board devices (9) for interaction with roadside devices (10) are provided on the vehicle body (1).
4. Autopilot-guided vehicle for airports as claimed in claim 1, characterised in that a millimeter-wave radar (7) is also provided on the vehicle body (1).
5. The autopilot guidance vehicle for airports according to claim 4, characterized in that the millimeter wave radar (7) is arranged at the nose and tail of the vehicle body (1).
6. The autopilot guidance vehicle for airports according to one of claims 1 to 5, characterized in that the control module (8) comprises a network communication device, a bus data logging device, a main computing unit and a navigation device.
7. The autopilot guidance vehicle for airports of claim 6, characterized in that the network communication device, the bus data logging device, the main computing unit and the navigation device are integrally mounted on the front end of the vehicle body (1).
8. Autonomous aircraft guided vehicle for airports according to any one of claims 1 to 5, characterised in that the top of the vehicle body (1) is provided with a mounting bracket on which the primary lidar (2) is mounted.
9. The autopilot guidance vehicle for airports according to claim 8, characterized in that the mounting bracket comprises a fixing part which is mounted on the top of the vehicle body (1) and an adjusting part on which the primary lidar (2) is mounted and by which the mounting height can be adjusted.
10. The autopilot for airports as claimed in one of claims 1 to 5, characterised in that auxiliary sensors are also provided on the vehicle body (1).
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| CN202110127536.XA CN112767728A (en) | 2021-01-29 | 2021-01-29 | A autopilot guide car for airport |
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| CN202110127536.XA CN112767728A (en) | 2021-01-29 | 2021-01-29 | A autopilot guide car for airport |
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| CN113781843A (en) * | 2021-08-30 | 2021-12-10 | 深圳清航智行科技有限公司 | Scheduling control method and device for airport aircraft guided vehicle and storage medium |
| CN113866758A (en) * | 2021-10-08 | 2021-12-31 | 深圳清航智行科技有限公司 | Scene monitoring method, system, device and readable storage medium |
| CN114187761A (en) * | 2021-11-29 | 2022-03-15 | 福勤智能科技（昆山）有限公司 | Road maintenance operation prompting device, system and method |
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| CN114397882A (en) * | 2021-11-03 | 2022-04-26 | 湖北国际物流机场有限公司 | Berth guiding method, device, medium and unmanned guiding vehicle for aircraft |
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| CN115230707A (en) * | 2022-09-23 | 2022-10-25 | 江苏天一航空工业股份有限公司 | Unmanned control method, device and system for bulk cargo vehicle |
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| CN114187761A (en) * | 2021-11-29 | 2022-03-15 | 福勤智能科技（昆山）有限公司 | Road maintenance operation prompting device, system and method |
| CN114802225A (en) * | 2022-03-04 | 2022-07-29 | 湖北国际物流机场有限公司 | Airplane guide vehicle control method and system and electronic equipment |
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| CN115230707A (en) * | 2022-09-23 | 2022-10-25 | 江苏天一航空工业股份有限公司 | Unmanned control method, device and system for bulk cargo vehicle |
| CN115830922A (en) * | 2023-02-23 | 2023-03-21 | 江苏天一航空工业股份有限公司 | Method for testing vehicle-road cooperative obstacle avoidance capability of civil aviation airport |
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