CN113344368A - Refueling operation scheduling method and system - Google Patents
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Abstract
The application provides a refueling operation scheduling method and a refueling operation scheduling system, wherein the method comprises the steps of monitoring refueling truck information, wherein the refueling truck information comprises the current positions of a plurality of refueling trucks; acquiring airplane information of an airplane to be filled, wherein the airplane information comprises a parking space; determining at least one of the plurality of refueling vehicles as an oil supply vehicle according to the refueling vehicle information and the airplane information; generating an automatic driving route according to the current position of the oil supply vehicle and the stand, wherein the automatic driving route is a route from the current position of the oil supply vehicle to the stand of the airplane to be filled; and issuing a refueling task to the fuel supply vehicle so that the fuel supply vehicle runs to the stand of the airplane to be refueled according to the automatic driving route to refuel the airplane to be refueled, wherein the refueling task comprises the automatic driving route. To save labor costs.
Description
Technical Field
The invention relates to the technical field of airport vehicle scheduling, in particular to a refueling operation scheduling method and a refueling operation scheduling system.
Background
In recent years, with the rapid development of national economic construction, the economic and technical communication between countries and cities is increasingly expanded, and the unified scheduling management of the transportation flow of the airlines is required. The scheduling work of the refueling operation of the aircraft refueling truck is a relatively critical part in scheduling management.
Disclosure of Invention
The application provides a refueling operation scheduling method and system, which save labor cost.
The application provides a refueling operation scheduling method, which comprises the following steps:
monitoring refueling truck information, wherein the refueling truck information comprises the current positions of a plurality of refueling trucks;
acquiring airplane information of an airplane to be filled, wherein the airplane information comprises a parking space;
determining at least one of the plurality of refueling vehicles as an oil supply vehicle according to the refueling vehicle information and the airplane information;
generating an automatic driving route according to the current position of the oil supply vehicle and the stand, wherein the automatic driving route is a route from the current position of the oil supply vehicle to the stand of the airplane to be filled;
and issuing a refueling task to the fuel supply vehicle so that the fuel supply vehicle runs to the stand of the airplane to be refueled according to the automatic driving route to refuel the airplane to be refueled, wherein the refueling task comprises the automatic driving route.
Further, the refueling truck information comprises state information of the refueling truck, the state information of the refueling truck comprises idle state information and operation state information, the idle state information indicates that the refueling truck is not assigned with a refueling task currently, the operation state information indicates that the refueling truck is assigned with the refueling task, and the operation state information comprises an operation state and an operation duration;
the airplane information comprises historical homing duration, and the historical homing duration is the duration from the beginning of the received taxi instruction of the airplane entering the runway to the end of the airplane returning to the stand;
the determining that at least one of the plurality of refueling vehicles is an oil supply vehicle according to the refueling vehicle information and the airplane information comprises the following steps:
determining the residual refueling time of the refueling truck according to the operation time of the refueling truck and the total refueling time of the refueling truck;
and determining at least one of the plurality of refueling vehicles as an oil supply vehicle according to the historical homing duration, the refueling residual duration, the current position and the stand.
Further, after the automatic driving route is generated according to the current position of the fuel delivery vehicle and the stand, the fuel delivery operation scheduling method further includes:
and if the automatic driving route comprises a part of runway of the aircraft runway, issuing a pause waiting instruction to the oil supply vehicle, wherein the pause waiting instruction is used for indicating the oil supply vehicle to pause and wait before the part of runway.
Further, the refueling task comprises the pause waiting instruction; the refueling operation scheduling method further comprises the following steps: if the taxi instruction that the airplane enters the airplane runway is not received before the oil supply vehicle reaches the intersection where the traffic lane and the partial runway intersect, issuing a passing instruction to the oil supply vehicle to indicate the oil supply vehicle to continue running;
and/or the presence of a gas in the gas,
the said part runway according to said runway of said aircraft that the said automatic driving route includes, issue and suspend and wait for the order to the fuel delivery truck, including:
if a taxi instruction that an airplane enters an airplane runway is received before the oil supply vehicle reaches an intersection where a traffic lane and the partial runway intersect, issuing a pause waiting instruction to the oil supply vehicle so that the oil supply vehicle pauses and waits before reaching the partial runway;
the refueling operation scheduling method further comprises the following steps:
and when the passing information that the airplane passes through the partial runway is acquired, issuing a passing instruction to the oil supply vehicle so as to enable the oil supply vehicle to continue running.
Further, the issuing a pause waiting instruction to the fuel supply vehicle according to a part of runways of the runway included in the automatic driving route includes:
if a taxi instruction that an airplane enters an airplane runway is received in a notification time period before the oil supply vehicle reaches an intersection where a traffic lane and the part of the runway intersect, determining whether the oil supply vehicle can pass through the part of the runway before the airplane enters the airplane runway according to the taxi instruction and the current position of the oil supply vehicle;
if the situation that the fuel supply vehicle cannot pass through the part of the runway before the airplane enters the runway is determined, the pause waiting instruction is issued to the fuel supply vehicle, and the fuel filling operation scheduling method further comprises the following steps: and when the passing information that the airplane passes through the partial runway is acquired, issuing a passing instruction to the oil supply vehicle to indicate the oil supply vehicle to continue running.
Further, the refueling operation scheduling method further includes:
and if the situation that the oil supply vehicle can pass through the part of the runway before the airplane enters the runway is determined, issuing the passing instruction to the oil supply vehicle so as to indicate the oil supply vehicle to continue running.
Further, after the automatic driving route is generated according to the current position of the fuel delivery vehicle and the stand, the fuel delivery operation scheduling method further includes:
if the automatic driving route comprises a part of runways of an airplane runway, and a taxi instruction of an airplane entering the airplane runway is received in a notification time period before the oil supply vehicle reaches an intersection of a traffic lane and the part of runways, acquiring the waiting time of the oil supply vehicle, the re-routing running time of the oil supply vehicle and the running time of other refueling vehicles, wherein the waiting time is the time for the oil supply vehicle to wait for the airplane to pass through the part of runways, the re-routing running time is the running time for the oil supply vehicle to reach the parking space after the automatic driving route is re-routed, and the running time of the other refueling vehicles is the time for the positions of the other refueling vehicles to reach the parking space of the airplane to be refilled;
and re-determining the automatic driving route and the fuel delivery vehicles according to the waiting time, the lane changing running time and the running time of the other fuel delivery vehicles.
Further, the current location of the delivery vehicle comprises a current location indicated by an airport dispatch map;
the stand of the aircraft to be filled comprises a stand of the aircraft to be filled indicated by the airport dispatch map;
the airport dispatch map includes: an airport map containing road information generated by measuring a flight area and each area of an airport in advance in an equal proportion;
the determining that at least one of the plurality of refueling vehicles is an oil supply vehicle according to the refueling vehicle information and the airplane information comprises the following steps:
determining the time duration of the driving distance of the refueling truck of each path according to the path from the current positions of the refueling trucks to the stand of the airplane to be refueled in the airport map;
and determining the oil supply vehicle at least according to the length of the journey.
Further, the aircraft information comprises the oil demand of the aircraft to be filled;
confirm according to distance length of use at least the fuel feeding car includes:
acquiring the oil storage amount of the oil material of each refueling truck which is shortest in the using time of the route;
and determining the oil supply vehicle according to the length of the journey time, the oil storage quantity and the oil demand quantity.
Further, at least according to the length of journey time, confirm the fuel delivery car includes:
acquiring the shortest oil storage time of the oil materials of each refueling truck in the distance;
and determining the oil supply vehicle according to the length of the distance and the length of the oil storage time.
Further, after the automatic driving route is generated according to the current position of the fuel delivery vehicle and the stand, the fuel delivery operation scheduling method further includes:
acquiring obstacle information detected by a detection device carried by the fuel supply vehicle;
and if the obstacle is determined to be in the automatic driving route of the oil supply vehicle according to the obstacle information, updating the automatic driving route of the oil supply vehicle.
Further, the refueling truck information comprises environmental information of the refueling truck; the obstacle information includes a location of the obstacle; the determining that the obstacle is in the automatic driving route of the oil supply vehicle according to the obstacle information and updating the automatic driving route of the oil supply vehicle comprises: if the obstacle is determined to be not driven and located in the automatic driving route of the oil supply vehicle according to the position of the obstacle, planning a temporary driving route according to the position of the obstacle and the environment information of the oil supply vehicle, so that the oil supply vehicle drives into the automatic driving route after bypassing the obstacle according to the temporary driving route;
and/or the refueling truck information comprises the environmental information of the refueling truck; the obstacle information comprises environment information where the obstacle is located; the determining that the obstacle is in the automatic driving route of the oil supply vehicle according to the obstacle information and updating the automatic driving route of the oil supply vehicle comprises: determining the driving track of the obstacle according to the environment information of the obstacle; if the obstacle driving track is in the automatic driving route of the oil supply vehicle, planning a temporary driving route according to the environment information of the oil supply vehicle and the environment information of the obstacle, so that the oil supply vehicle drives into the automatic driving route or continues to follow the vehicle after bypassing the obstacle according to the temporary driving route.
Further, the airplane information comprises historical homing duration and the current position of the airplane, and the historical homing duration is the duration from the beginning of the received taxi instruction of the airplane entering the runway to the end of the airplane returning to the stand;
the issuing of the refueling task to the fuel delivery vehicle comprises the following steps:
determining a homing time point when the airplane reaches the parking space according to the historical homing duration and the current position of the airplane;
and issuing an oiling task to the oil supply vehicle before the homing time point.
Further, the current position of the oil supply vehicle is determined in the following mode:
acquiring real-time coordinates of the oil supply vehicle based on a geodetic coordinate system by adopting a satellite positioning mode;
sending the real-time coordinates to a differential data resolving center through a mobile communication network;
and obtaining the real-time coordinates corrected by the differential data resolving center by using a differential algorithm, and determining the current position of the oil supply vehicle.
There is provided a fueling job scheduling system comprising one or more processors configured to implement the method as claimed in any one of the above.
The present application provides a computer readable storage medium having stored thereon a program which, when executed by a processor, implements a method as described in any one of the above.
In some embodiments, the refueling operation scheduling method determines the fuel delivery vehicle according to the refueling information and the airplane information, further determines the automatic driving route, and then issues the refueling task to the fuel delivery vehicle. Therefore, the fuel supply vehicle can drive to the stand of the airplane to be filled according to the automatic driving route so as to fill the airplane to be filled with fuel, the fuel supply vehicle can be timely and efficiently distributed by considering the fuel filling vehicle information and the airplane information, the automatic driving route can be automatically planned, the driving route is not determined by the past experience of a driver of the fuel filling vehicle, the efficiency of obtaining the automatic driving route is improved, and the labor cost is saved.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a fueling job scheduling method in accordance with an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating an embodiment of determining an oil supply vehicle in the oil filling job scheduling method according to the embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an embodiment of determining an oil supply vehicle in the oil filling job scheduling method according to the embodiment of the present application;
fig. 4 is a schematic flow chart illustrating an embodiment of determining an oil supply vehicle in the oil filling job scheduling method according to the embodiment of the present application;
fig. 5 is a schematic flow chart illustrating an embodiment of updating an automatic driving route of a fuel delivery vehicle in the fuel delivery job scheduling method according to the embodiment of the present application;
fig. 6 is a schematic flowchart illustrating an example of issuing a fueling task in the fueling job scheduling method according to the embodiment of the present application;
fig. 7 is a schematic flowchart illustrating an embodiment of determining a current position of a fuel delivery vehicle in the fuel delivery job scheduling method according to the embodiment of the present disclosure;
fig. 8 is a block diagram illustrating a fueling job scheduling system according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of one or more embodiments of the specification, as detailed in the claims which follow.
It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described herein. In some other embodiments, the method may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.
The airplane refueling operation is a key link for guaranteeing the flight punctuality and is very important for guaranteeing the flight safety. The general aircraft is short in airport station-passing time and short in aircraft aviation oil filling time, so that a refueling truck for reasonably deploying aircraft refueling operation is needed.
In order to meet the requirements, in the refueling operation scheduling method in the related art, a management scheduling system receives an airplane issued by an empty pipe system and applies for refueling, the management scheduling system dispatches a refueling truck driver, a refueling worker and a refueling truck (called as a refueling truck) capable of supplying fuel, issues a refueling task to the refueling truck, and then the refueling truck driver drives to a parking place of the airplane applying for refueling according to the indication of the refueling task to refuel the airplane. However, the management and dispatching system dispatches the refueling truck driver, and the refueling truck driver can determine the driving route through past experience and drive to the stand of the airplane applying for refueling, so that the labor cost is increased.
In order to solve the technical problem, the refueling operation scheduling method provided by the embodiment of the application can be applied to a scheduling system, such as a refueling truck commanding and scheduling system. In some embodiments, the tank truck commander and dispatch system can monitor tank truck information in real time, as well as current and up-to-date status of the tank trucks. In some embodiments, the refueling truck commanding and dispatching system can interact with other information systems such as an air traffic control system to obtain airplane information so as to realize functions of planning an automatic driving route, issuing a refueling task, dispatching a refueling truck and the like.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating an embodiment of a fueling job scheduling method according to an embodiment of the present application. The method may include steps 101 to 105 as follows.
The information of the refueling truck can reflect the current latest condition of the refueling truck in time. In some embodiments, the bowler information may include bowler type and/or bowler location information. In some embodiments, the tanker types may include tanker trucks that carry their own oil and/or pipeline trucks that use wells at the stand to refuel. Therefore, the type of the needed refueling truck can be dispatched by the dispatching system according to actual requirements. In some embodiments, the bowser location information may include the current location of the bowser, so that the dispatch system can timely master the current location of the bowser.
102, acquiring airplane information of an airplane to be filled, wherein the airplane information comprises a parking space.
The parking space can be a position where the airplane needs to be refueled when the airplane is parked. Therefore, the scheduling system can timely master the condition that the airplane needs to be refueled and can timely master the position of the airplane to be dispatched to the airport for specific refueling.
In some embodiments, the aircraft information may include an aircraft model, an aircraft number, an aircraft flight number, an affiliated airline, a predicted landing time, a predicted landing location, a current status of the aircraft, a current location of the aircraft, whether to apply for fueling, an amount of fueling applied for the aircraft to be fueled, a time of application for fueling for the aircraft to be fueled, and/or a stand of the aircraft to be fueled.
The airplane to be filled in the embodiment of the application can be the airplane applying for filling. The specific application is not limited. In some embodiments, the step 102 may further include obtaining aircraft information of the aircraft to be filled received by the air traffic control system or other information system in real time, so that the aircraft information may be obtained in real time by cooperating with other systems.
And 103, determining at least one of the plurality of refueling vehicles as an oil supply vehicle according to the refueling vehicle information and the airplane information.
The fuel supply vehicle can be a vehicle which can be used for refueling the airplane and selected by the scheduling system.
And 104, generating an automatic driving route according to the current position and the stand of the oil supply vehicle, wherein the automatic driving route is a route from the current position of the oil supply vehicle to the stand of the airplane to be added.
And 105, issuing a refueling task to the fuel supply vehicle so that the fuel supply vehicle runs to the stand of the airplane to be refueled according to the automatic driving route to refuel the airplane to be refueled, wherein the refueling task comprises the automatic driving route.
The refueling task refers to a task of assigning an oil supply vehicle to an airplane to be refueled by a scheduling system. In some embodiments, step 105 may further include the scheduling system issuing a fueling task to the fueling vehicle, and the scheduling system may control the fueling vehicle to travel to the stand of the aircraft to be fueled according to the autopilot route to refuel the aircraft to be fueled. Therefore, the dispatching system can not only finish planning an automatic driving route, but also control the refueling truck to finish automatic driving. The step 105 may further include the scheduling system issuing a fueling task to the fueling vehicle, where the fueling task is used to instruct the fueling vehicle to travel to a stand of the aircraft to be fueled according to the autopilot route by the autopilot system, so as to refuel the aircraft to be fueled. Therefore, the dispatching system and the automatic driving system cooperate to finish the refueling of the airplane to be refueled.
In the embodiment of the application, the fuel supply vehicle is determined according to the refueling information and the airplane information, an automatic driving route is further determined, and then a refueling task is issued to the fuel supply vehicle. Therefore, the fuel supply vehicle can drive to the stand of the airplane to be filled according to the automatic driving route so as to fill the airplane to be filled with fuel, the fuel supply vehicle can be timely and efficiently distributed by considering the fuel filling vehicle information and the airplane information, the automatic driving route can be automatically planned, the driving route is not determined by the past experience of a driver of the fuel filling vehicle, the efficiency of obtaining the automatic driving route is improved, and the manpower cost is saved by automatic driving.
Fig. 2 is a schematic flow chart illustrating an embodiment of determining an oil supply vehicle in the oil filling job scheduling method according to the embodiment of the present application. In one embodiment, the refueler information includes a status information of the refueler, which is used to reflect whether the refueler can be assigned a refuelling task. The state information of the refueling truck comprises idle state information and operation state information, wherein the idle state information indicates that the refueling truck is not assigned with a refueling task currently, so that the refueling truck which is not assigned with the refueling task currently can be a refueling truck which is parked and standby in a parking space and can also be a refueling truck which refuels in a return journey. In some embodiments, the refueling vehicles not currently assigned a refueling task may be failed repair condition refueling vehicles, and may be assigned a refueling task after waiting for the refueling vehicles to recover from normal repair. The job status information indicates that the refueler has been assigned a refuel task. In this way, the fueling vehicle to which the fueling task has been assigned may be a fueling vehicle that stops at the stand or a fueling vehicle that is on the way to refuel at the stand. The step 103 further comprises the following steps:
The operation duration can be the duration that the refueling truck starts refueling the airplane to be refueled.
In step 201, there are various ways to determine the refueling remaining time of the refueling truck, and the determining way is not limited to one of the following ways: and taking the difference between the total refueling time of the refueling truck and the operation time of the refueling truck as the refueling residual time of the refueling truck. So, can confirm the refueling residual time of tank service truck fast.
In step 202, there are multiple determining manners for at least one of the plurality of refueling vehicles as a refueling vehicle, and the determining manners are not limited to the following determining manners:
in some embodiments, if the refueling residual time of the refueling truck is less than a preset value, the refueling truck judges whether the refueling task of the aircraft to be refueled can be completed; if yes, the refueling truck can be used as a standby vehicle for selecting whether to be used as a fuel supply truck or not; if not, the fuelling vehicle is not selected as the fuelling vehicle. Therefore, the present refueling task of the refueling truck is finished quickly, whether a new refueling task can be accepted or not can be determined in advance, the scheduling time is saved, and the scheduling efficiency of the refueling truck is improved.
In other embodiments, the running time of the refueler when the current position of the refueler reaches the stand is determined according to the current position and the stand; determining whether the sum of the running time of the current position of the refueler reaching the stand and the refueling residual time is less than or equal to the historical homing time; if yes, the refueling truck can be used as a standby vehicle for selecting whether to be used as a fuel supply truck or not; if not, the fuelling vehicle is not selected as the fuelling vehicle. Therefore, the selection range of the fuel feeding vehicle can be added to the fuel feeding vehicle with the finish of fast refueling, the selectivity of the fuel feeding vehicle is improved, and the requirement of large-scale fuel feeding scheduling or the requirement of emergency scheduling can be met conveniently.
In the embodiment of the application, the refueling vehicles assigned with the tasks can be scheduled, so that the advance scheduling and overall planning are facilitated. Furthermore, the refueling vehicles which are not assigned with tasks and the refueling vehicles which are assigned with the tasks are scheduled to be added into the selection range of the refueling vehicles, so that the selection range of scheduling is expanded, and overall scheduling is facilitated.
Fig. 3 is a schematic flowchart illustrating a process of determining an oil supply vehicle in the oil filling job scheduling method according to an embodiment of the present application. In one embodiment, the current location of the delivery vehicle includes a current location indicated by an airport dispatch map.
The stand of the aircraft to be filled comprises the stand of the aircraft to be filled indicated by the airport dispatch map.
The airport dispatch map includes: an airport map containing road information generated by measuring in advance a flight area and each area of an airport in an equal proportion. In some embodiments, the road information is provided by traffic management regulations in the airport, and the road attributes in the airport map are manually set, so that roads allowing the refueling vehicle to run are configured.
The step 103 further comprises the following steps:
and step 211, determining the time consumption of the driving routes of the refueling trucks on each route according to the routes of the current positions of the refueling trucks in the airport map to the parking positions of the airplanes to be filled.
The airport scheduling map is used for storing a flight area and a map of scheduling information of each area of the airport, and comprises received taxi instructions of an airplane entering an airplane runway, a scheduled driving road condition of an oil supply vehicle and information of the airport map. In some embodiments, an airport dispatching map is generated by measuring the dispatching information of the flight area and each area of the airport in advance and is stored in a dispatching system, so that the airport dispatching map is convenient to use at a later stage. In some embodiments, the airport dispatch map may be updated in real time, facilitating up-to-date information. The airport map may include, among other things, road information within the airport. In some embodiments, the road information may include a start point position, an end point position, a width, a road health degree, a road congestion degree, and a height and speed limiting requirement, so that the airport information can be conveniently and comprehensively grasped macroscopically, and an airport dispatching map can clearly grasp paths where the current positions of a plurality of refueling trucks reach the parking lot of the airplane to be refueled, so as to facilitate subsequent determination of the refueling trucks.
And 212, determining the oil supply vehicle at least according to the length of the journey. Therefore, the oil supply vehicle can be dispatched more efficiently so as to supply oil to the airplane to be filled.
In some embodiments, step 212 further comprises determining the fuel truck that is the shortest when traveling as the fuel truck. Therefore, an oil supply vehicle can be quickly selected to refuel the airplane to be refueled.
In some embodiments, the fueling vehicle information includes carried oil information that may provide oil to the aircraft. In some embodiments, the carried-oil information includes a current oil type, an oil amount, an oil storage time, a current oil batch number, a current oil replenishment time, and/or a current oil replenishment location. In some embodiments, the aircraft information includes a fuel demand of the aircraft to be filled; the step 212 further includes obtaining the oil storage amount of the oil of each refueling truck which is shortest when the refueling truck is used in the distance; and determining the oil supply vehicle according to the length of the time of the journey, the oil storage quantity and the oil demand. Therefore, the dispatching system distributes according to supply and demand, the effectiveness of refueling is improved, and the fuel delivery vehicle can be determined more efficiently. In some embodiments, the refueling truck with the shortest time length and the largest oil storage amount in each route is selected as the oil supply truck according to the time length, the oil storage amount and the oil demand of the route, so that the oil supply truck can efficiently finish an oil supply task. For example, the refueling truck which is shortest in use in each route and has the oil storage capacity meeting the oil demand as little as possible can be selected as the oil supply truck.
In some embodiments, the step 212 further includes obtaining the shortest oil retention time of each fuelling vehicle when used on the journey; and determining the oil supply vehicle according to the time length of the journey and the oil storage time length. Therefore, the dispatching system can timely update the oil storage time of the oil supply vehicles, can improve the oiling quality of the airplane to be filled, and can more effectively and conveniently manage the oil supply vehicles. Meanwhile, the refueling truck with redundant oil can be emptied in time, and the safety of the refueling truck is improved. In some embodiments, the refueling truck with the shortest travel time length and the longest oil storage time is selected as the oil supply truck according to the travel time length and the oil storage time length.
With reference to fig. 1 and 4, fig. 4 is a schematic flowchart illustrating an embodiment of determining an oil supply vehicle in the oil filling operation scheduling method according to the embodiment of the present application. In some embodiments, after step 104 above, step 105 may be performed directly if the autopilot route does not include a portion of the runway of the airstrip. If the autopilot route includes a portion of the runway, the fueling operation scheduling method may further continue to perform step 105 after determining the fueling vehicle by the following steps, as described in detail below.
And step 111, if the automatic driving route comprises a part of runways of the runways and a taxi instruction that the airplane enters the runways is received in a notification time period before the oil supply vehicles reach intersection intersections of the runways and the part of runways, acquiring the waiting time of the oil supply vehicles, the lane changing running time of the oil supply vehicles and the running time of other oil supply vehicles. The waiting time is the time when the fuel delivery vehicle waits for the airplane to pass through part of the runway, the lane change driving time is the driving time when the fuel delivery vehicle reaches the stop position after the automatic driving route is changed, the driving time of the rest refueling vehicles is the time when the positions of the rest refueling vehicles reach the stop position of the airplane to be refueled, and the rest refueling vehicles are the refueling vehicles except the fuel delivery vehicle.
In some embodiments, the step 111 further includes: and if the waiting time and the lane change driving time are less than or equal to the driving time of the other refueling vehicles, issuing a traffic instruction to the fuel delivery vehicle so that the fuel delivery vehicle drives to the stop position of the airplane to be filled after changing the lane.
And step 112, re-determining the automatic driving route and the fuel supply vehicles according to the waiting time, the lane changing driving time and the driving time of the rest fuel supply vehicles. Therefore, whether the fuel delivery vehicles need to wait for the aircraft to pass through part of the runways can be determined in time, and the dispatching system can more effectively decide whether to change the runways or not and change the fuel delivery vehicles, so that the fuel delivery efficiency of the fuel delivery vehicles can be improved by more efficiently dispatching and coordinating the fuel delivery vehicles. And, can improve the security that the fuel feeding car traveles to, can make the fuel feeding car can in time adapt to the surrounding environment, more accord with the demand of actual scene.
In some embodiments, the step 112 further comprises: and if the waiting time and the diversion driving time are longer than the driving time of the rest refueling vehicles, executing the steps 103 to 104, and re-determining the automatic driving route and the refueling vehicles. In this way, a new refuelling mission can be issued to the re-determined fuel delivery vehicle, so that the re-determined fuel delivery vehicle travels to the stand of the aircraft to be refuelled according to the re-determined autopilot route, wherein the new refuelling mission comprises the re-determined autopilot route.
In some embodiments, the refueler information includes a failed state when the refueler is in the failed state. After the refueling task is issued to the refueling truck in the step 105, the refueling operation scheduling method further comprises monitoring refueling truck information; and (4) determining whether the oil supply vehicle is in a fault state, and if so, executing the step 103 and the step 104 to re-determine the automatic driving route and the oil supply vehicle. And if not, continuing to drive the oil supply vehicle to the stand of the airplane to be filled according to the automatic driving route so as to fill the airplane to be filled with oil. Therefore, the fault of the oil supply vehicle can be met in an emergency, a new oil supply vehicle can be dispatched in time, and the flexibility and the emergency capacity of the dispatching system are improved.
In some embodiments, the aircraft information includes an indication to replace the stand. After the refueling task is issued to the fuel delivery vehicle in the step 105, the refueling operation scheduling method further comprises the step of receiving an instruction for replacing the stand of the aircraft, wherein the instruction for replacing the stand comprises the replaced stand, and the step 103 and the step 104 are executed according to the replaced stand to re-determine the automatic driving route and the fuel delivery vehicle; and issuing a stop instruction to the oil supply vehicle and simultaneously issuing a refueling task to the re-determined oil supply vehicle so that the re-determined oil supply vehicle runs to the replaced stand of the airplane to be refueled according to the re-determined automatic driving route to refuel the airplane to be refueled, wherein the refueling task comprises re-determining the automatic driving route. Therefore, the emergency of the aircraft parking space can be emergently changed, and a new oil supply vehicle can be scheduled around the replaced parking space macroscopically, so that the new oil supply vehicle can rapidly reach the replaced parking space, and the time is saved.
Referring to fig. 1 and 4, in some embodiments, after step 104, if the autopilot route includes a portion of a runway of the runway, the refueling operation scheduling method may further perform the following steps to schedule the fuel delivery vehicle:
and if the automatic driving route comprises a part of runway of the runway, issuing a pause waiting instruction to the oil supply vehicle, wherein the pause waiting instruction is used for indicating the oil supply vehicle to pause and wait before the part of runway. Therefore, the oil supply vehicles can be instructed to pause and wait before part of the runways through the pause waiting instruction, and the safety of the airport is further improved.
In some embodiments, the fueling task includes a pause wait instruction; the refueling operation scheduling method further comprises the following steps: and if the taxi instruction that the airplane enters the runway is not received before the oil supply vehicle reaches the intersection where the traffic lane and part of the runway intersect, issuing a passing instruction to the oil supply vehicle to instruct the oil supply vehicle to continue running. Therefore, the dispatching system can know the condition of the automatic driving route when determining the refueling task, and can issue a pause waiting instruction to the oil supply vehicle along with the refueling task if the automatic driving route comprises part of runways of the runways, the pause waiting instruction is not required to be issued in real time, the subsequent oil supply vehicle can automatically pause and wait before reaching the part of the runways until receiving the passing instruction, the oil supply vehicle continues to pass, and the interactive information of monitoring whether the part of the runways are reached in real time and whether the pause waiting instruction is required to be issued is reduced.
In other embodiments, issuing a pause wait command to the supply vehicle if the autopilot route includes a portion of a runway of the runway, includes:
and if the taxi instruction that the airplane enters the runway is received before the oil supply vehicle reaches the intersection where the traffic lane and part of the runway intersect, issuing a pause waiting instruction to the oil supply vehicle so that the oil supply vehicle pauses and waits before reaching part of the runway. Therefore, whether the oil supply vehicle reaches the traffic lane can be determined in real time, and a pause waiting instruction is issued to the oil supply vehicle in real time according to the actual airplane condition, so that the scheduling instantaneity is improved.
In some embodiments, the dispatch system receives a taxi instruction sent by the air traffic control system to the runway, so that the dispatch system can cooperate with other systems to grasp the message of the airplane, thereby reducing the processing capacity of the dispatch system.
In some embodiments, the fueling job scheduling method further comprises:
and when the passing information of the airplane passing through part of the runway is acquired, issuing a passing instruction to the oil supply vehicle so as to enable the oil supply vehicle to continue running. Therefore, the passing instruction can be issued in time after the airplane passes through part of the runway. In some embodiments, after the airplane passes through a part of the runway, the air management system sends a message that the airplane passes through the part of the runway, such as passing time, passing location, etc., and the scheduling system receives the passing information that the airplane sent by the air management system enters the part of the runway, so that the scheduling system can cooperate with other systems to master the message of the airplane, and the processing amount of the scheduling system is reduced.
In still other embodiments, issuing a pause wait command to the supply vehicle if the autopilot route includes a portion of a runway of the runway, includes:
if a taxi instruction that the airplane enters the runway is received in a notification time period before the oil supply vehicle reaches an intersection where the traffic lane and part of the runway intersect, whether the oil supply vehicle can pass through the part of the runway before the airplane enters the runway is determined according to the taxi instruction and the current position of the oil supply vehicle.
If the situation that the fuel supply vehicle cannot pass through part of the runway before the airplane enters the runway is determined, a pause waiting instruction is issued to the fuel supply vehicle, and the fuel filling operation scheduling method further comprises the following steps: and when the passing information that the airplane passes through part of the runway is acquired, issuing a passing instruction to the oil supply vehicle to indicate the oil supply vehicle to continue running.
The notification time period may be set according to the user requirement.
In some embodiments, the fueling job scheduling method further comprises: and if the situation that the fuel supply vehicle can pass through part of the runway before the airplane enters the runway is determined, issuing a passing instruction to the fuel supply vehicle so as to indicate the fuel supply vehicle to continue running.
Fig. 5 is a schematic flow chart illustrating an embodiment of updating an automatic driving route of an oil supply vehicle in the oil filling job scheduling method according to the embodiment of the present application. After the above step 104, the following steps are performed, and then step 105 may be performed:
In some embodiments, the detection device may be a lidar, a vision detection camera, or a vision sensor onboard the fuel delivery vehicle. In this step 301, a laser radar and a visual inspection camera carried by an oil supply vehicle are acquired to detect surrounding obstacles, and obstacle information is acquired. In some embodiments, the obstacle information includes at least: the current position, speed, direction, kind and/or size of the obstacle.
And 302, if the obstacle is determined to be in the automatic driving route of the oil supply vehicle according to the obstacle information, updating the automatic driving route of the oil supply vehicle. Therefore, the obstacles are detected, whether the driving strategy is changed or not is determined, and the traffic safety is improved.
In some embodiments, the refueler information includes information about an environment in which the refueler is located; the obstacle information includes a position of the obstacle. In some embodiments, the environmental information of the fuel delivery vehicle may include information according to real-time environment, local road information and on-site regulations.
Step 302 further includes, if it is determined that the obstacle does not travel and is located in the automatic driving route of the oil supply vehicle according to the position of the obstacle, planning a temporary driving route according to the position of the obstacle and the environmental information of the oil supply vehicle, so that the oil supply vehicle travels into the automatic driving route after bypassing the obstacle according to the temporary driving route;
in some embodiments, the refueler information includes information about an environment in which the refueler is located; the obstacle information comprises environment information of the obstacle; the step 302 further includes determining the driving track of the obstacle according to the environment information of the obstacle; if the driving track of the obstacle is in the automatic driving route of the oil supply vehicle, planning a temporary driving route according to the environment information of the oil supply vehicle and the environment information of the obstacle, so that the oil supply vehicle drives into the automatic driving route or continues to follow the vehicle after bypassing the obstacle according to the temporary driving route.
In some embodiments, the oil supply vehicle decision-making system or the scheduling system may control the oil supply vehicle to drive into the automatic driving route or continue to follow the vehicle after driving around the obstacle according to the temporary driving route, so that the decision-making system of the oil supply vehicle autonomously determines and adopts the following, parking, bypassing and other strategies.
Fig. 6 is a schematic flowchart illustrating an embodiment of issuing a fueling task in the fueling job scheduling method according to the embodiment of the present application. In some embodiments, the airplane information includes a historical homing duration and a current position of the airplane, and the historical homing duration is a duration from the beginning of a received taxi instruction of the airplane entering the runway to the end of the airplane returning to the stand; the step 105 of issuing the fueling task to the fuel delivery vehicle may further include:
The historical homing duration is recorded in a database which is pre-established in the scheduling system. In some embodiments, the database information may include an airline flight number, an airplane number, a affiliated airline company, a landing runway number, a landing time, an apron number, an airplane parking time, a historical homing duration, and a total homing duration. Therefore, the information of the airplane can be conveniently and comprehensively controlled, and along with the continuous expansion of the data quantity in the database, the accuracy of the subsequent prejudgment of the total homing time can be more and more accurate.
And 402, before the homing time point, issuing a refueling task to the oil supply vehicle. Therefore, the aircraft drives into the parking space in advance to wait for refueling the aircraft to be refueled, and the refueling efficiency is improved.
In some embodiments, before the homing time point of step 402 above, the fueling job scheduling method further comprises determining whether the stand can be normally fueled; if the current refueling task cannot be carried out, sending a notification message for replacing the stand to the aircraft and issuing a termination instruction to the fuel delivery vehicle so that the fuel delivery vehicle terminates the current refueling task and returns to the parking space; acquiring information of an airplane to be filled, wherein the information of the airplane to be filled comprises replaced parking positions; executing the step 103 and the step 104, and re-determining the automatic driving route and the oil supply vehicle; and issuing a refueling task to the re-determined fuel delivery vehicle so that the re-determined fuel delivery vehicle drives to the replaced stand of the aircraft to be refueled according to the re-determined autopilot route to refuel the aircraft to be refueled, wherein the refueling task comprises re-determining the autopilot route. Wherein the notification message is used for notifying the replacement of the stand. Therefore, the emergency of the fault of the aircraft stand (refueling level) can be met, the stand can be replaced in time, an oil supply vehicle is dispatched nearby, time is saved, and the oil supply requirement is responded in time.
Fig. 7 is a schematic flowchart illustrating an embodiment of determining a current position of a fuel delivery vehicle in a fuel delivery job scheduling method according to the embodiment of the present application. In some embodiments, the current position of the fuel delivery vehicle is determined as follows:
and 501, acquiring real-time coordinates of the oil supply vehicle based on a geodetic coordinate system by adopting a satellite positioning mode.
In some embodiments, the satellite positioning method may include beidou, GPS, and glonass.
In some embodiments, the step 501 may further include using a distance between the satellite and the oil supply vehicle in a satellite-based positioning manner, and obtaining real-time coordinates of the oil supply vehicle based on a geodetic coordinate system through a triangulation algorithm.
And 502, transmitting the real-time coordinates to a differential data resolving center through a mobile communication network.
In some embodiments, the mobile communications network may comprise 4G/5G.
And 503, acquiring real-time coordinates corrected by the differential data resolving center by using a differential algorithm, and determining the current position of the oil supply vehicle. Therefore, the real-time coordinate of the oil supply vehicle is obtained in a satellite-based positioning mode, and the coordinate precision is about meter level; and then, the satellite position is corrected in real time by using a differential data resolving center through a 4G/5G network communication network, and the satellite position is fed back to the oil supply vehicle, so that centimeter-level positioning is realized.
In some embodiments, the real-time coordinates of the oil supply vehicle based on the geodetic coordinate system are obtained based on step 501, the environment point cloud information is obtained in real time by the laser radar and the visual inspection camera carried by the oil supply vehicle in a point cloud matching and positioning manner, and the real-time coordinates of the oil supply vehicle in the map coordinate system are obtained by matching with the point cloud map, so that centimeter-level positioning is realized. Generally, point cloud matching positioning needs to utilize a point cloud map which is constructed in advance, and due to the fact that the calculated amount of point cloud matching is large, in order to guarantee the real-time performance and reliability of positioning data, local positioning sensors such as an inertial sensor and a wheel speed meter need to be matched, the position at the last moment is combined to carry out real-time position calculation, the map matching area is reduced, and the positioning real-time performance and reliability are improved.
Therefore, a satellite positioning mode is fused, the map origin and the ground in-situ mapping method are used, the map matching algorithm initial position can be given in the system initialization process, the high-precision initial position and the high-precision attitude are provided for point cloud matching positioning in each matching iteration process, the iteration speed is accelerated, and the matching stability is improved. Compared with a satellite positioning mode, the point cloud matching positioning mode can be suitable for both an unobstructed area with satellite signals and an obstructed area without satellite signals.
Fig. 8 is a block diagram illustrating a fueling job scheduling system according to an embodiment of the present application. The fueling job scheduling system 600 includes one or more processors 601 for implementing the fueling job scheduling method described above.
In some embodiments, the fueling job scheduling system 600 may include a computer-readable storage medium 609, and the computer-readable storage medium 609 may store a program that may be invoked by the processor 601, and may include a non-volatile storage medium. In some embodiments, the fueling job scheduling system 600 may include a memory 608 and an interface 607. In some embodiments, the fueling job scheduling system 600 may also include other hardware depending on the application.
The computer-readable storage medium 609 of the embodiment of the present application stores thereon a program for implementing the fueling job scheduling method as described above when executed by the processor 601.
This application may take the form of a computer program product that is embodied on one or more computer-readable storage media 609 (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-readable storage media 609 include permanent and non-permanent, removable and non-removable media that may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of the computer-readable storage medium 609 include, but are not limited to: phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.
The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A refueling operation scheduling method is characterized by comprising the following steps:
monitoring refueling truck information, wherein the refueling truck information comprises the current positions of a plurality of refueling trucks;
acquiring airplane information of an airplane to be filled, wherein the airplane information comprises a parking space;
determining at least one of the plurality of refueling vehicles as an oil supply vehicle according to the refueling vehicle information and the airplane information;
generating an automatic driving route according to the current position of the oil supply vehicle and the stand, wherein the automatic driving route is a route from the current position of the oil supply vehicle to the stand of the airplane to be filled;
and issuing a refueling task to the fuel supply vehicle so that the fuel supply vehicle runs to the stand of the airplane to be refueled according to the automatic driving route to refuel the airplane to be refueled, wherein the refueling task comprises the automatic driving route.
2. The fueling job scheduling method of claim 1, wherein the fueling vehicle information includes status information of the fueling vehicle, the status information of the fueling vehicle includes idle status information indicating that the fueling vehicle is not currently assigned a fueling task and job status information indicating that the fueling vehicle has been assigned a fueling task, the job status information including a job status and a job duration;
the airplane information comprises historical homing duration, and the historical homing duration is the duration from the beginning of the received taxi instruction of the airplane entering the runway to the end of the airplane returning to the stand;
the determining that at least one of the plurality of refueling vehicles is an oil supply vehicle according to the refueling vehicle information and the airplane information comprises the following steps:
determining the residual refueling time of the refueling truck according to the operation time of the refueling truck and the total refueling time of the refueling truck;
and determining at least one of the plurality of refueling vehicles as an oil supply vehicle according to the historical homing duration, the refueling residual duration, the current position and the stand.
3. The fueling operation scheduling method according to claim 1, wherein after the automatic driving route is generated based on the current position of the fuel delivery vehicle and the stand, the fueling operation scheduling method further comprises:
and if the automatic driving route comprises a part of runway of the aircraft runway, issuing a pause waiting instruction to the oil supply vehicle, wherein the pause waiting instruction is used for indicating the oil supply vehicle to pause and wait before the part of runway.
4. The fueling job scheduling method of claim 3, wherein the fueling task includes the suspend waiting instruction; the refueling operation scheduling method further comprises the following steps: if the taxi instruction that the airplane enters the airplane runway is not received before the oil supply vehicle reaches the intersection where the traffic lane and the partial runway intersect, issuing a passing instruction to the oil supply vehicle to indicate the oil supply vehicle to continue running;
and/or the presence of a gas in the gas,
the said part runway according to said runway of said aircraft that the said automatic driving route includes, issue and suspend and wait for the order to the fuel delivery truck, including:
if a taxi instruction that an airplane enters an airplane runway is received before the oil supply vehicle reaches an intersection where a traffic lane and the partial runway intersect, issuing a pause waiting instruction to the oil supply vehicle so that the oil supply vehicle pauses and waits before reaching the partial runway;
the refueling operation scheduling method further comprises the following steps:
and when the passing information that the airplane passes through the partial runway is acquired, issuing a passing instruction to the oil supply vehicle so as to enable the oil supply vehicle to continue running.
5. A fueling operation scheduling method as set forth in claim 3, wherein said issuing a pause waiting instruction to the fueling vehicle according to a portion of said runway included in said autopilot route comprises:
if a taxi instruction that an airplane enters an airplane runway is received in a notification time period before the oil supply vehicle reaches an intersection where a traffic lane and the part of the runway intersect, determining whether the oil supply vehicle can pass through the part of the runway before the airplane enters the airplane runway according to the taxi instruction and the current position of the oil supply vehicle;
if the situation that the fuel supply vehicle cannot pass through the part of the runway before the airplane enters the runway is determined, the pause waiting instruction is issued to the fuel supply vehicle, and the fuel filling operation scheduling method further comprises the following steps: and when the passing information that the airplane passes through the partial runway is acquired, issuing a passing instruction to the oil supply vehicle to indicate the oil supply vehicle to continue running.
6. The fueling operation scheduling method according to claim 1, wherein after the automatic driving route is generated based on the current position of the fuel delivery vehicle and the stand, the fueling operation scheduling method further comprises:
if the automatic driving route comprises a part of runways of an airplane runway, and a taxi instruction of an airplane entering the airplane runway is received in a notification time period before the oil supply vehicle reaches an intersection of a traffic lane and the part of runways, acquiring the waiting time of the oil supply vehicle, the re-routing running time of the oil supply vehicle and the running time of other refueling vehicles, wherein the waiting time is the time for the oil supply vehicle to wait for the airplane to pass through the part of runways, the re-routing running time is the running time for the oil supply vehicle to reach the parking space after the automatic driving route is re-routed, and the running time of the other refueling vehicles is the time for the positions of the other refueling vehicles to reach the parking space of the airplane to be refilled;
and re-determining the automatic driving route and the fuel delivery vehicles according to the waiting time, the lane changing running time and the running time of the other fuel delivery vehicles.
7. The fueling job scheduling method of claim 1, wherein the current location of the fueling vehicle comprises a current location indicated by an airport scheduling map;
the stand of the aircraft to be filled comprises a stand of the aircraft to be filled indicated by the airport dispatch map;
the airport dispatch map includes: an airport map containing road information generated by measuring a flight area and each area of an airport in advance in an equal proportion;
the determining that at least one of the plurality of refueling vehicles is an oil supply vehicle according to the refueling vehicle information and the airplane information comprises the following steps:
determining the time duration of the driving distance of the refueling truck of each path according to the path from the current positions of the refueling trucks to the stand of the airplane to be refueled in the airport map;
and determining the oil supply vehicle at least according to the length of the journey.
8. The fueling operation scheduling method according to claim 1, wherein after the automatic driving route is generated based on the current position of the fuel delivery vehicle and the stand, the fueling operation scheduling method further comprises:
acquiring obstacle information detected by a detection device carried by the fuel supply vehicle;
and if the obstacle is determined to be in the automatic driving route of the oil supply vehicle according to the obstacle information, updating the automatic driving route of the oil supply vehicle.
9. The fueling job scheduling method according to claim 8, wherein the fueling vehicle information includes information on an environment in which the fueling vehicle is located; the obstacle information includes a location of the obstacle; the determining that the obstacle is in the automatic driving route of the oil supply vehicle according to the obstacle information and updating the automatic driving route of the oil supply vehicle comprises: if the obstacle is determined to be not driven and located in the automatic driving route of the oil supply vehicle according to the position of the obstacle, planning a temporary driving route according to the position of the obstacle and the environment information of the oil supply vehicle, so that the oil supply vehicle drives into the automatic driving route after bypassing the obstacle according to the temporary driving route;
and/or the refueling truck information comprises the environmental information of the refueling truck; the obstacle information comprises environment information where the obstacle is located; the determining that the obstacle is in the automatic driving route of the oil supply vehicle according to the obstacle information and updating the automatic driving route of the oil supply vehicle comprises: determining the driving track of the obstacle according to the environment information of the obstacle; if the obstacle driving track is in the automatic driving route of the oil supply vehicle, planning a temporary driving route according to the environment information of the oil supply vehicle and the environment information of the obstacle, so that the oil supply vehicle drives into the automatic driving route or continues to follow the vehicle after bypassing the obstacle according to the temporary driving route.
10. A fueling job scheduling system comprising one or more processors configured to implement the fueling job scheduling method of any one of claims 1-9.
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