CN113970933B - Water plane water surface landing auxiliary system and control method - Google Patents
Water plane water surface landing auxiliary system and control method Download PDFInfo
- Publication number
- CN113970933B CN113970933B CN202111238199.8A CN202111238199A CN113970933B CN 113970933 B CN113970933 B CN 113970933B CN 202111238199 A CN202111238199 A CN 202111238199A CN 113970933 B CN113970933 B CN 113970933B
- Authority
- CN
- China
- Prior art keywords
- landing
- water
- environment monitoring
- water environment
- processing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 108
- 238000012545 processing Methods 0.000 claims abstract description 57
- 230000000875 corresponding effect Effects 0.000 claims abstract description 20
- 238000003384 imaging method Methods 0.000 claims abstract description 4
- 230000007613 environmental effect Effects 0.000 claims description 31
- 238000004891 communication Methods 0.000 claims description 23
- 230000003287 optical effect Effects 0.000 claims description 16
- 230000001276 controlling effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 8
- 230000008054 signal transmission Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 6
- 230000006378 damage Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000016776 visual perception Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a water surface landing auxiliary system and a control method of a water plane, wherein the auxiliary system comprises a control processing device and a plurality of water environment monitoring bodies; the control processing device is used for receiving an airplane landing instruction and sending a working instruction to the water environment monitoring body, wherein the working instruction comprises a navigation instruction and a sensing instruction, landing track information is preset in the control processing device, the landing track information is configured to be adjustable in parameters, and the navigation instruction comprises landing track information; the system is also used for receiving the sensing data sent by the water environment monitoring body and carrying out imaging display according to the sensing data; the water environment monitoring body receives the working instruction and executes corresponding actions, the actions comprise a sailing action and a sensing action, the sailing action is configured to enable the water environment monitoring body to sail according to preset parameters according to landing track information, and the sensing action is configured to enable the water environment monitoring body to acquire landing auxiliary information of the water environment. The safety of the water surface landing of the water plane is guaranteed, and the safety risk is reduced.
Description
Technical Field
The invention belongs to the technical field of aviation guarantee, and particularly relates to a water surface landing auxiliary system and a control method of a water plane.
Background
At present, the seaplane is developed more and more rapidly, a great amount of seaplane flight tests, flight training and relevant aviation operation are required to be carried out, at present, in order to ensure the security of the seaplane, the seaplane is mainly driven by the ship to patrol, bird strike events are avoided, meanwhile, relevant weather hydrologic information is inquired to a nearby weather detection mechanism, and no relevant special water surface landing auxiliary system is used for carrying out flight guarantee.
The two traditional guarantee modes have the defects that the bird group can only be temporarily driven away by means of ship patrol, the ship leaves quickly and returns, the water-free bird state of the landing area cannot be kept for a long time, meanwhile, for an airplane, the running ship is an obstacle in the landing area, and the safety of the airplane can be threatened; the related weather hydrologic information monitored by the nearby weather detection mechanism is not monitored in real time in the field, certain hysteresis exists, the accuracy is low, and potential safety hazards exist when the aircraft lands.
Therefore, the existing guarantee mode needs a large amount of manpower and material resources to support, is poor in instantaneity and safety, cannot provide a good water surface landing auxiliary function of the seaplane, and is difficult to comprehensively guarantee flight safety.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a water surface landing auxiliary system and a control method thereof, which are mainly used for solving the problems of insufficient auxiliary guarantee, inconvenient control and the like for water surface landing of a water plane in the prior art.
In a first aspect, the invention provides a water surface landing auxiliary system of a water plane, which comprises a control processing device and a plurality of water environment monitoring bodies, wherein the water environment monitoring bodies are respectively connected with a wireless network signal of the control processing device, and the control processing device is also connected with the wireless network signal of the plane;
The control processing device is used for receiving an airplane landing instruction and sending a working instruction to the water environment monitoring body, wherein the working instruction at least comprises one or more of a navigation instruction and a sensing instruction, landing track information is preset in the control processing device, the landing track information is configured to be adjustable in parameters, and the navigation instruction comprises the landing track information; the system is also used for receiving the induction data sent by the water environment monitoring body and carrying out imaging display according to the induction data;
The water environment monitoring body receives the working instruction and executes corresponding actions, the actions at least comprise one or more of sailing actions and sensing actions, the sailing actions are configured to enable the water environment monitoring body to sail according to preset parameters according to landing track information, and the sensing actions are configured to enable the water environment monitoring body to acquire landing auxiliary information of the water environment.
In some embodiments, the water environmental monitoring body comprises an acquisition processor, a sensor module, an acousto-optic module, a communication module and a DME ranging module, wherein the acquisition processor is respectively in signal connection with the sensor module, the acousto-optic module and the DME ranging module, the communication module is in signal connection with the acquisition processor, the communication module is in signal connection with a wireless network of the control processing device, the sensor module is used for acquiring weather hydrological information of the position of the water environmental monitoring body, the acousto-optic module is used for carrying out corresponding acoustic signal transmission and optical signal transmission according to an instruction of the control processing device, and the DME ranging module is used for receiving and responding to a distance inquiry instruction of the aircraft and providing distance information for the aircraft.
In some embodiments, the collecting processor is in signal connection with the communication module through an RS232 bus, a CF card for storing collected data is arranged in the collecting processor, and an RS232 expansion interface is reserved in the collecting processor.
In some embodiments, the sensor modules include, but are not limited to, wind sensors for monitoring wind direction and wind speed information, wave sensors for monitoring wave height and gush height hydrologic information, position sensors for monitoring directional position location information, ultrasonic sounding sensors for monitoring water depth information, and a current meter for monitoring speed and direction of current.
In some embodiments, the water environment monitoring bodies further comprise unmanned ship navigation modules, the unmanned ship navigation modules are in signal connection with the communication modules, the unmanned ship navigation modules navigate according to navigation instructions sent by the control processing device, and landing track information in the navigation instructions comprises navigation end positions, navigation directions, navigation speeds and navigation routes of each water environment monitoring body.
In some embodiments, the acousto-optic module is further configured to make an optical path connection with other aquatic environment monitoring bodies.
In some embodiments, the control processing device is in signal connection with a plurality of communication modules through a wireless network communication mode of GPRS, CDMA or 5G, and processes and stores the weather and hydrologic information, and the control processing device further comprises a display control module, wherein the display control module is used for receiving manual operation instructions and sending corresponding control instructions.
In some embodiments, the display control module is configured to display an image of a landing track formed by each of the above-water environmental monitoring bodies in the working water area, and the control processing device corrects the landing track information according to the actual position of the above-water environmental monitoring body and sends the landing track information to the aircraft.
In a second aspect, the present invention also provides a control method for a water surface landing auxiliary system of a water plane, including the following steps:
the control processing device receives an airplane landing instruction, controls the water environment monitoring bodies to navigate according to preset landing track information, and the display control module displays navigation tracks and position points of the water environment monitoring bodies in real time;
Controlling a sensor module corresponding to each water environment monitoring body to acquire landing auxiliary information of the water environment;
If the depth of the water area meets the take-off and landing requirements of the aircraft, controlling the water environment monitoring body to be anchored in the corresponding take-off and landing area through the anchor hook; if the depth of the water area does not meet the taking-off and landing requirements of the airplane, controlling the water area position of the water environment monitoring body to be replaced, and collecting landing auxiliary information again and judging;
Controlling an acousto-optic module to emit an acoustic signal and an optical signal, wherein the acoustic signal comprises a plurality of bird sounds, and the optical signal comprises flickering lamplight;
After the actual landing track information is determined, the acousto-optic modules of the water environment monitoring bodies are connected and displayed in an optical path according to a preset mode to realize landing indication, and the corrected landing track information is sent to an airplane through a control processing device;
during the landing of an aircraft, the DME ranging module of each water environment monitoring body responds to the distance inquiry command of the aircraft and provides distance information for the aircraft.
In some embodiments, the control processing device sends out an audible and visual alarm when the water environment monitoring body finds any condition that the taking-off and landing requirements of the aircraft are not met, and sends an alarm instruction to the aircraft.
The invention has at least the following beneficial effects:
1. The system controls a plurality of water environment monitoring bodies to navigate and fix points according to preset landing track information through the control processing device, acquires landing auxiliary information of the water environment, images sensing data in the control processing device, facilitates visual viewing of staff, simultaneously sends related data to an airplane, and ensures the safety of landing of the water plane on the water surface;
2. The ultrasonic sounding sensor is used for measuring the water depth information of the landing area of the aircraft, so that the aircraft is prevented from being mistakenly put into a dangerous area to cause aircraft damage and crew injury; the weather hydrologic information such as surge, wind speed, wind direction and the like of the landing area of the aircraft is monitored in real time by utilizing a wind sensor, a wave sensor, a current meter and the like, information support is provided for whether the aircraft can land in time, and the landing safety of the aircraft is ensured; the acousto-optic module is utilized to send out corresponding acoustic signals and optical signals, birds can be repelled before the aircraft lands on the water surface, the risk of bird strike is reduced, no additional obstacle is added to influence the safety of the aircraft, visual reference and lamplight warning can be provided for an onboard pilot, an aircraft landing track optical channel is intuitively formed, the visual perception of the onboard pilot is facilitated, the pilot is assisted to land in a preset area accurately when the visibility is poor, lamplight warning whether the ground is safe or not is provided, and the safety risk is reduced;
3. The DME ranging module provides ranging information for the aircraft, so that a pilot on the aircraft can accurately judge the distance between the take-off and landing area and the aircraft, and timely adjusts the glide height of the aircraft to assist the pilot in piloting the aircraft to the take-off and landing area on water in a strange water area;
4. The invention provides more ground information for the pilot on the aircraft to help the pilot to make a decision, drives out the flying bird, greatly lightens the pressure of water floor manager for guaranteeing work, greatly improves the working efficiency, greatly lightens the safety risk of the aircraft landing on the water surface, enables the aircraft to land in a preset area more accurately and safely, and fills the blank of special equipment for guaranteeing the water surface of the water aircraft in China.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is an overall schematic diagram of a water plane surface landing assistance system of the present disclosure.
FIG. 2 is a schematic diagram of a water environmental monitoring body in one embodiment of a water plane surface landing assistance system of the present disclosure.
Fig. 3 is a schematic view of a water environment monitoring body in another embodiment of a water plane surface landing assistance system according to the present disclosure.
Fig. 4 is a schematic flow chart of a control method of a water plane water surface landing auxiliary system disclosed by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, when it is described that a specific device is located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to the other devices without intervening devices, or may be directly connected to the other devices without intervening devices.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
Applicants' studies found that:
At present, in order to ensure the safety of the water flight of the water plane, the bird swarm is mainly driven by the ship tour, so that the bird strike event is avoided, meanwhile, related weather hydrologic information is inquired to a nearby weather detection mechanism, and no related special water surface landing auxiliary system is used for carrying out flight guarantee.
The two traditional guarantee modes have the defects that the bird group can only be temporarily driven away by means of ship patrol, the ship leaves quickly and returns, the water-free bird state of the landing area cannot be kept for a long time, meanwhile, for an airplane, the running ship is an obstacle in the landing area, and the safety of the airplane can be threatened; the related weather hydrologic information monitored by the nearby weather detection mechanism is not monitored in real time in the field, certain hysteresis exists, the accuracy is low, and potential safety hazards exist when the aircraft lands.
In view of this, referring to fig. 1 to 2, in the present disclosure, there is provided a water plane water surface landing auxiliary system, including a control processing device and a plurality of water environment monitoring bodies, wherein the plurality of water environment monitoring bodies are respectively connected with the control processing device through wireless network signals, and the control processing device is also connected with the aircraft through wireless network signals, wherein the control processing device can be arranged on shore or on a specific ship, far from a water landing area of the aircraft, the control processing device is a control terminal which directly interacts with an operator, and the water environment monitoring bodies are concentrated to form a buoy integrated body which can navigate on the water surface along with towing or automatic running of other ships;
The control processing device is used for receiving an airplane landing instruction and sending a working instruction to the water environment monitoring body, wherein the working instruction at least comprises one or more of a navigation instruction and a sensing instruction, landing track information is preset in the control processing device, the landing track information is configured to be adjustable in parameters, and the navigation instruction comprises the landing track information; the system is also used for receiving the induction data sent by the water environment monitoring body and carrying out imaging display according to the induction data;
The water environment monitoring body receives the working instruction and executes corresponding actions, the actions at least comprise one or more of sailing actions and sensing actions, the sailing actions are configured to enable the water environment monitoring body to sail according to preset parameters according to landing track information, and the sensing actions are configured to enable the water environment monitoring body to acquire landing auxiliary information of the water environment.
It should be noted that, after receiving the landing instruction of the aircraft, the control processing device determines the position where each water environmental monitoring body needs to be placed according to the landing track information preset in the control processing device, controls the water environmental monitoring bodies to navigate to the appointed place so as to form a water area channel allowing the aircraft of different sizes and models to land, and in the initially formed water area channel, controls the water environmental monitoring bodies to collect landing auxiliary information of the water environment, wherein the water area channel not only comprises the boundaries of two sides, but also comprises the area inside the enclosed runway, namely, covers all the areas in the required area when the aircraft lands, and the water environmental monitoring bodies are not required to monitor the two sides of the channel, but also monitor the internal area of the channel.
Optionally, environmental information of the internal area of the channel is collected, and a plurality of water environmental monitoring bodies can be arranged side by side to navigate in the same direction so as to cover the internal area of the channel; and the environmental information on two sides of the channel is collected, and each side can form a queue of the water environmental monitoring body at certain intervals to limit the boundary of the channel.
Referring to fig. 2, in this embodiment, the above-water environmental monitoring body includes an acquisition processor, a sensor module, an acousto-optic module, a communication module and a DME ranging module, where the acquisition processor is respectively in signal connection with the sensor module, the acousto-optic module and the DME ranging module, the communication module is in signal connection with the acquisition processor, the communication module is in signal connection with the control processing device wireless network, and the sensor module is used for acquiring weather hydrological information of a position where the above-water environmental monitoring body is located, and sending acquired sensing data to the acquisition processor, where the acquisition processor collects and processes the sensing data, and then transmits the sensing data to a remote control processing device through the communication module; the acousto-optic module is used for carrying out corresponding acoustic signal transmission and optical signal transmission according to the instruction of the control processing device, wherein the acoustic signal is mainly used for dispelling birds and beasts, is sent out in a horn mode, simulates the sound of a bird, and has a strong waterproof function; the DME ranging module is used for receiving and responding to the distance inquiry command of the aircraft and providing distance information for the aircraft.
As an implementation mode, the acquisition processor is in signal connection with the communication module through an RS232 bus, a CF card for storing acquired data is arranged in the acquisition processor, the CF card stores various sensing data acquired by the sensor module and also stores the moving track and positioning information of the water environment monitoring body, and the acquisition processor is also reserved with an RS232 expansion interface and an interface for communication transmission of other equipment.
As one embodiment, the sensor module includes, but is not limited to, a wind sensor, a wave sensor, a position sensor, an ultrasonic sounding sensor and a current meter, all of which are centrally fixed in the buoy assembly, wherein the wind sensor is used for monitoring wind direction and wind speed information; the wave sensor is an acceleration type wave sensor and is arranged in the center of the buoy integrated body cabin and used for monitoring wave height and surge hydrologic information; the position sensor is used for monitoring direction position positioning information and feeding back the actual position of the water environment monitoring body in real time so as to form a corresponding track diagram in the control processing device; the ultrasonic sounding sensor is arranged at the bottom of the buoy integrated body, emits ultrasonic waves downwards and is used for monitoring the depth information of the water area; the current meter is used for monitoring the speed and direction of current.
Referring to fig. 3, as an implementation manner, the water environment monitoring bodies further include an unmanned ship navigation module, the unmanned ship navigation module is in signal connection with the communication module, the unmanned ship navigation module navigates according to the navigation instruction sent by the control processing device, the landing track information in the navigation instruction includes the navigation end position, the navigation direction, the navigation speed and the navigation route of each water environment monitoring body, relevant parameters of the landing track information can be manually modified in the control processing device to determine the position and the navigation track of each water environment monitoring body, and after the position and the navigation track are determined, the unmanned ship navigation module navigates according to the set navigation route through signal transmission; optionally, the unmanned ship navigation module is equipped with a solar charging module to accommodate long-term outdoor operation of the unmanned ship navigation module. Furthermore, the water environmental monitoring bodies are uniformly collected into an equipment box, when an auxiliary system is required to be started, the equipment box is opened, and each water environmental monitoring body in the equipment box is automatically unfolded according to preset information to form a landing track and acquire environmental information.
As an implementation mode, the acousto-optic module is further used for being connected with other water environment monitoring bodies in a light path mode, namely when the water environment monitoring bodies reach a preset position and meteorological hydrologic information of the monitoring environment meets the landing requirement of an airplane, the acousto-optic module corresponding to the water environment monitoring bodies on two sides of the channel emits light columns, in a queue, the light columns of the latter acousto-optic module strike the former water environment monitoring bodies to form straight lines of two boundaries, an airplane landing track light channel is intuitively formed, visual perception of an on-board pilot is facilitated, the pilot is assisted to accurately land in a preset area when visibility is poor, and lamplight warning whether the ground is safe or not is provided, and safety risks are reduced.
In this embodiment, the control processing device is in signal connection with a plurality of communication modules through a GPRS or CDMA or 5G wireless network communication mode, and processes and stores the weather and hydrologic information, and the control processing device further includes a display control module, where the display control module is used to receive a manual operation instruction and send a corresponding control instruction, and an operator can operate the display control module to further control the loads such as the sensor module, the acousto-optic module, the DME ranging module, and the like.
Furthermore, the display control module is configured to display a landing track image formed by each water environmental monitor on a working water area, including a track during a navigation process and final positioning information after determining a position, and because the process of determining the final position by the water environmental monitor is a dynamic process, it is possible to perform one-step adjustment according to preset landing track information, and it is also possible to perform adjustment, therefore, the control processing device corrects the landing track information according to the actual position of the water environmental monitor and sends the landing track information to an aircraft, so that the aircraft obtains the final determined landing track information, and the pilot can conveniently perform driving judgment.
In a second aspect, referring to fig. 4, the present invention further provides a control method for a water plane water surface landing auxiliary system, including the following steps:
The control processing device receives an airplane landing instruction, controls the water environment monitoring bodies to navigate according to preset landing track information, and the display control module displays navigation tracks and position points of the water environment monitoring bodies in real time; the water environment monitoring body can be towed to a specified position by other ships, and can be driven by an unmanned ship navigation module in the water environment monitoring body;
Controlling a sensor module corresponding to each water environment monitoring body to acquire landing auxiliary information of the water environment;
Controlling an ultrasonic sounding sensor to monitor and measure the depth of a water area; if the depth of the water area meets the take-off and landing requirements of the aircraft, controlling the water environment monitoring body to be anchored in the corresponding take-off and landing area through the anchor hook; if the depth of the water area does not meet the taking-off and landing requirements of the airplane, controlling the water area position of the water environmental monitoring body to be replaced, collecting landing auxiliary information again and judging, and taking care of that the water environmental monitoring body can be recovered and manually placed in another area when the water area is replaced, and also controlling the processing device to remotely adjust the measuring area and controlling the unmanned ship navigation module to automatically navigate according to the position change and the route information; certainly, the depth information of the water area is clear, the airplane take-off and landing can be completely met, and the sounding can be skipped, so that the water environment monitoring body is directly anchored in a preset area; additionally, besides ultrasonic sounding sensor monitoring, other sensors in the sensor module are controlled to acquire and judge the landing auxiliary information of the water environment so as to ensure that various environmental factors are in a controllable safety range;
The sound-light module is controlled to emit sound signals and light signals, the sound signals comprise a plurality of bird-scaring sounds, the light signals comprise flashing lights, the bird-scaring sounds and the flashing lights are emitted to the periphery to expel birds, the bird-scaring lights can be turned off after a certain time, the predetermined landing area is ensured to be free of birds, and once birds are found, a bird-expelling horn and an emergency warning lamp are turned on immediately to expel;
after the actual landing track information is determined, the acousto-optic modules of the water environment monitoring bodies are connected and displayed in an optical path according to a preset mode, landing indicator lamps are turned on, dynamic effects are displayed, landing indication is realized, and the corrected landing track information is sent to an airplane through a control processing device;
In the process of the aircraft executing landing, the DME ranging module of each water environment monitoring body responds to the distance inquiry instruction of the aircraft and provides distance information for the aircraft, so that an on-board pilot can accurately judge the distance between a landing zone and the aircraft, adjust the sliding height of the aircraft in time and assist the pilot in piloting the aircraft to the water landing zone in a strange water area.
In this embodiment, the control processing device sends an audible and visual alarm when the above-mentioned water environmental monitoring body finds any situation that the requirement for taking off and landing of the aircraft is not met, and sends an alarm instruction to the aircraft, that is, if weather, hydrology and bird situation information are abnormal once, for example, the situation that the aircraft is blocked from taking off and landing, such as a surge, a wave height and bird situation is found, the control and display control module turns on a red and blue alarm lamp, and sends a signal to remind a crew member on the aircraft that the crew member cannot land.
Compared with the prior art, the invention provides a water surface landing auxiliary system and a control method for a water plane, wherein a plurality of water environment monitoring bodies are controlled to navigate and fix points according to preset landing track information through a control processing device, landing auxiliary information of the water environment is acquired, sensing data are imaged in the control processing device, visual observation of workers is facilitated, and meanwhile, related data are sent to the plane, so that the safety of water plane landing is ensured;
The ultrasonic sounding sensor is used for measuring the water depth information of the landing area of the aircraft, so that the aircraft is prevented from being mistakenly put into a dangerous area to cause aircraft damage and crew injury; the weather hydrologic information such as surge, wind speed, wind direction and the like of the landing area of the aircraft is monitored in real time by utilizing a wind sensor, a wave sensor, a current meter and the like, information support is provided for whether the aircraft can land in time, and the landing safety of the aircraft is ensured; the acousto-optic module is utilized to send out corresponding acoustic signals and optical signals, birds can be repelled before the aircraft lands on the water surface, the risk of bird strike is reduced, no additional obstacle is added to influence the safety of the aircraft, visual reference and lamplight warning can be provided for an onboard pilot, an aircraft landing track optical channel is intuitively formed, the visual perception of the onboard pilot is facilitated, the pilot is assisted to land in a preset area accurately when the visibility is poor, lamplight warning whether the ground is safe or not is provided, and the safety risk is reduced;
the DME ranging module provides ranging information for the aircraft, so that a pilot on the aircraft can accurately judge the distance between the take-off and landing area and the aircraft, and timely adjusts the glide height of the aircraft to assist the pilot in piloting the aircraft to the take-off and landing area on water in a strange water area;
The invention provides more ground information for the pilot on the aircraft to help the pilot to make a decision, drives out the flying bird, greatly lightens the pressure of water floor manager for guaranteeing work, greatly improves the working efficiency, greatly lightens the safety risk of the aircraft landing on the water surface, enables the aircraft to land in a preset area more accurately and safely, and fills the blank of special equipment for guaranteeing the water surface of the water aircraft in China.
Finally, it should be emphasized that the present invention is not limited to the above-described embodiments, but is merely preferred embodiments of the invention, and any modifications, equivalents, improvements, etc. within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The auxiliary control method for the water surface landing of the water plane is characterized by comprising the following steps of:
the control processing device receives an airplane landing instruction, controls the water environment monitoring bodies to navigate according to preset landing track information, and the display control module displays navigation tracks and position points of the water environment monitoring bodies in real time;
Controlling a sensor module corresponding to each water environment monitoring body to acquire landing auxiliary information of the water environment;
If the depth of the water area meets the take-off and landing requirements of the aircraft, controlling the water environment monitoring body to be anchored in the corresponding take-off and landing area through the anchor hook; if the depth of the water area does not meet the taking-off and landing requirements of the airplane, controlling the water area position of the water environment monitoring body to be replaced, and collecting landing auxiliary information again and judging;
Controlling an acousto-optic module to emit an acoustic signal and an optical signal, wherein the acoustic signal comprises a plurality of bird sounds, and the optical signal comprises flickering lamplight;
After the actual landing track information is determined, the acousto-optic modules of the water environment monitoring bodies are connected and displayed in an optical path according to a preset mode to realize landing indication, and the corrected landing track information is sent to an airplane through a control processing device;
during the landing of an aircraft, the DME ranging module of each water environment monitoring body responds to the distance inquiry command of the aircraft and provides distance information for the aircraft.
2. The method for assisting control of landing of a water plane according to claim 1, wherein the control processing device sends out an audible and visual alarm when the water environment monitoring body finds any condition that the landing requirement of the plane is not met, and sends an alarm instruction to the plane.
3. A system for applying the water surface landing auxiliary control method of the water plane according to claim 1 or 2, which is characterized by comprising a control processing device and a plurality of water environment monitoring bodies, wherein the water environment monitoring bodies are respectively connected with the control processing device through wireless network signals, and the control processing device is also connected with the plane wireless network signals;
The control processing device is used for receiving an airplane landing instruction and sending a working instruction to the water environment monitoring body, wherein the working instruction at least comprises one or more of a navigation instruction and a sensing instruction, landing track information is preset in the control processing device, the landing track information is configured to be adjustable in parameters, and the navigation instruction comprises the landing track information; the system is also used for receiving the induction data sent by the water environment monitoring body and carrying out imaging display according to the induction data;
The water environment monitoring body receives the working instruction and executes corresponding actions, the actions at least comprise one or more of sailing actions and sensing actions, the sailing actions are configured to enable the water environment monitoring body to sail according to preset parameters according to landing track information, and the sensing actions are configured to enable the water environment monitoring body to acquire landing auxiliary information of the water environment.
4. The system of claim 3, wherein the water environmental monitoring body comprises an acquisition processor, a sensor module, an acousto-optic module, a communication module and a DME ranging module, the acquisition processor is respectively in signal connection with the sensor module, the acousto-optic module and the DME ranging module, the communication module is in signal connection with the acquisition processor, the communication module is in signal connection with the control processing device wireless network, the sensor module is used for acquiring weather hydrological information of the position of the water environmental monitoring body, the acousto-optic module is used for carrying out corresponding acoustic signal transmission and optical signal transmission according to the instruction of the control processing device, and the DME ranging module is used for receiving and responding to the distance inquiry instruction of the aircraft and providing distance information to the aircraft.
5. The system of claim 4, wherein the acquisition processor is in signal connection with the communication module through an RS232 bus, a CF card for storing acquired data is arranged in the acquisition processor, and an RS232 expansion interface is reserved in the acquisition processor.
6. The system of claim 5, wherein the sensor module comprises a wind sensor for monitoring wind direction and wind speed information, a wave sensor for monitoring wave height and surge hydrologic information, a position sensor for monitoring directional position location information, an ultrasonic sounding sensor for monitoring water depth information, and a current meter for monitoring speed and direction of current.
7. The system of claim 6, wherein the water environmental monitoring bodies further comprise unmanned ship navigation modules, the unmanned ship navigation modules are in signal connection with the communication modules, the unmanned ship navigation modules navigate according to navigation instructions sent by the control processing device, and landing track information in the navigation instructions comprises navigation end positions, navigation directions, navigation speeds and navigation routes of each water environmental monitoring body.
8. The system of claim 7, wherein the acousto-optic module is further configured to make an optical path connection with other aquatic environment monitoring bodies.
9. The system according to claim 8, wherein the control processing device is in signal connection with a plurality of communication modules through a wireless network communication mode of GPRS or CDMA or 5G, and processes and stores the weather and hydrologic information, and the control processing device further comprises a display control module, wherein the display control module is used for receiving manual operation instructions and sending corresponding control instructions.
10. The system of claim 9, wherein the display control module is configured to display an image of a landing track formed by each of the above-water environmental monitors in the working water area, and the control processing device corrects the landing track information according to the actual position of the above-water environmental monitor and transmits it to the aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111238199.8A CN113970933B (en) | 2021-10-22 | 2021-10-22 | Water plane water surface landing auxiliary system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111238199.8A CN113970933B (en) | 2021-10-22 | 2021-10-22 | Water plane water surface landing auxiliary system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113970933A CN113970933A (en) | 2022-01-25 |
| CN113970933B true CN113970933B (en) | 2024-04-30 |
Family
ID=79588282
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111238199.8A Active CN113970933B (en) | 2021-10-22 | 2021-10-22 | Water plane water surface landing auxiliary system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113970933B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976278A (en) * | 2010-09-29 | 2011-02-16 | 南京信息工程大学 | Virtual reality technique-based airplane landing aid system and method thereof |
| CN104199462A (en) * | 2014-09-02 | 2014-12-10 | 中国科学院自动化研究所 | Sea wave sensing based water unmanned plane autonomous taking-off and landing control system |
| CN105059558A (en) * | 2015-07-16 | 2015-11-18 | 珠海云洲智能科技有限公司 | Take-off and landing system for unmanned ship-borne unmanned aerial vehicle |
| CN105303899A (en) * | 2015-11-12 | 2016-02-03 | 范云生 | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle |
| CN106103274A (en) * | 2015-07-02 | 2016-11-09 | 深圳市大疆创新科技有限公司 | Unmanned plane, its control system and method, and unmanned plane landing control method |
| CN206615406U (en) * | 2017-03-23 | 2017-11-07 | 泉州装备制造研究所 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
| JP2018024431A (en) * | 2017-10-24 | 2018-02-15 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Unmanned aerial vehicle, control system and method therefor, and landing control method for unmanned aerial vehicle |
| CN107957728A (en) * | 2017-12-15 | 2018-04-24 | 哈尔滨工业大学（威海） | Unmanned plane landing method, unmanned plane and marine floating platform |
| CN108181922A (en) * | 2017-12-01 | 2018-06-19 | 北京臻迪科技股份有限公司 | Unmanned plane landing control method, apparatus and system |
| CN108583920A (en) * | 2018-04-24 | 2018-09-28 | 上海海洋大学 | A kind of control method of unmanned plane marine landing platform and UAV Landing |
| CN109991386A (en) * | 2019-04-17 | 2019-07-09 | 武汉理工大学 | Unmanned boat and unmanned plane Collaborative Control monitoring method, apparatus and system |
| WO2020169712A1 (en) * | 2019-02-22 | 2020-08-27 | Thyssenkrupp Marine Systems Gmbh | Method for landing an aircraft on a watercraft |
| CN112776999A (en) * | 2020-12-04 | 2021-05-11 | 中航通飞华南飞机工业有限公司 | Lighting auxiliary system for landing of seaplane at night on water airport |
-
2021
- 2021-10-22 CN CN202111238199.8A patent/CN113970933B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976278A (en) * | 2010-09-29 | 2011-02-16 | 南京信息工程大学 | Virtual reality technique-based airplane landing aid system and method thereof |
| CN104199462A (en) * | 2014-09-02 | 2014-12-10 | 中国科学院自动化研究所 | Sea wave sensing based water unmanned plane autonomous taking-off and landing control system |
| CN106103274A (en) * | 2015-07-02 | 2016-11-09 | 深圳市大疆创新科技有限公司 | Unmanned plane, its control system and method, and unmanned plane landing control method |
| CN105059558A (en) * | 2015-07-16 | 2015-11-18 | 珠海云洲智能科技有限公司 | Take-off and landing system for unmanned ship-borne unmanned aerial vehicle |
| CN105303899A (en) * | 2015-11-12 | 2016-02-03 | 范云生 | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle |
| CN206615406U (en) * | 2017-03-23 | 2017-11-07 | 泉州装备制造研究所 | The automatic auxiliary landing system of rotor wing unmanned aerial vehicle |
| JP2018024431A (en) * | 2017-10-24 | 2018-02-15 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Unmanned aerial vehicle, control system and method therefor, and landing control method for unmanned aerial vehicle |
| CN108181922A (en) * | 2017-12-01 | 2018-06-19 | 北京臻迪科技股份有限公司 | Unmanned plane landing control method, apparatus and system |
| CN107957728A (en) * | 2017-12-15 | 2018-04-24 | 哈尔滨工业大学（威海） | Unmanned plane landing method, unmanned plane and marine floating platform |
| CN108583920A (en) * | 2018-04-24 | 2018-09-28 | 上海海洋大学 | A kind of control method of unmanned plane marine landing platform and UAV Landing |
| WO2020169712A1 (en) * | 2019-02-22 | 2020-08-27 | Thyssenkrupp Marine Systems Gmbh | Method for landing an aircraft on a watercraft |
| CN109991386A (en) * | 2019-04-17 | 2019-07-09 | 武汉理工大学 | Unmanned boat and unmanned plane Collaborative Control monitoring method, apparatus and system |
| CN112776999A (en) * | 2020-12-04 | 2021-05-11 | 中航通飞华南飞机工业有限公司 | Lighting auxiliary system for landing of seaplane at night on water airport |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113970933A (en) | 2022-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11299270B2 (en) | Systems and methods for unmanned aerial vehicles | |
| CN105825713B (en) | The method of operation of vehicle-mounted unmanned aerial vehicle DAS (Driver Assistant System) | |
| CA2954671C (en) | Helicopter hoist systems, devices, and methodologies | |
| US9932110B2 (en) | Method for installing an object using an unmanned aerial vehicle | |
| CN107697286B (en) | Unmanned aerial vehicle, control system and method thereof, and unmanned aerial vehicle landing control method | |
| JP6667590B1 (en) | Aircraft landing support device, aircraft landing support method, and aircraft landing support program | |
| WO2019139172A1 (en) | Information processing system | |
| US20170200380A1 (en) | Airplane collision avoidance | |
| GB2548369A (en) | System for providing land vehicle support operations using an unmanned autonomous vehicle | |
| KR102399982B1 (en) | Ships using the aircraft safe operation support systems | |
| KR102063743B1 (en) | An unmanned surface vehicle searching for drowning people | |
| WO2020000790A1 (en) | Vertical mine shaft detection method and system | |
| JPH1144551A (en) | Mounted-type navigation apparatus including topography display function | |
| US4748569A (en) | Helicopter navigation and location system | |
| KR20160123551A (en) | System and method for controlling video information based automatic of the drone for the inspection of electric power facilities | |
| CN113970933B (en) | Water plane water surface landing auxiliary system and control method | |
| CN205785296U (en) | A kind of Intelligent unattended water area monitoring platform | |
| JP2024061773A (en) | How to inspect water treatment facilities | |
| CN213750759U (en) | Railway tunnel intelligent patrol vehicle based on SLAM technology | |
| IT201900002659A1 (en) | Control system for boats | |
| CN112416020A (en) | Multispectral unmanned aerial vehicle acquisition control system | |
| KR102340589B1 (en) | Ships using the aircraft safe operation support systems | |
| RU8677U1 (en) | SHIP FOR ECOLOGICAL CONTROL OF AQUATIC ENVIRONMENT | |
| CN112212881B (en) | Flight navigator based on big dipper is used | |
| CN213337401U (en) | Unmanned aerial vehicle carries automatic positioning fastener X light detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |