CN114115236A - Automatic docking navigation device and method for aircraft tractor based on laser radar - Google Patents
Automatic docking navigation device and method for aircraft tractor based on laser radar Download PDFInfo
- Publication number
- CN114115236A CN114115236A CN202111267533.2A CN202111267533A CN114115236A CN 114115236 A CN114115236 A CN 114115236A CN 202111267533 A CN202111267533 A CN 202111267533A CN 114115236 A CN114115236 A CN 114115236A
- Authority
- CN
- China
- Prior art keywords
- tractor
- laser radar
- airplane
- aircraft
- wheels
- 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.)
- Pending
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims abstract description 31
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 9
- 101100356682 Caenorhabditis elegans rho-1 gene Proteins 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an automatic docking navigation device and method of an aircraft tractor based on a laser radar, belonging to the field of autonomous positioning and navigation control of intelligent robots; the device comprises an aircraft tractor body platform, a laser radar, a data acquisition and calculation platform, an electronic control unit, a travelling wheel electro-proportional valve, a steering angle encoder, a photoelectric alarm module, a voice alarm module and a controller handle; the laser radar is used as a main sensor, and point cloud data are obtained through scanning; the data acquisition and calculation platform is used for extracting the position information of the aircraft landing gear and generating an automatic navigation route; the electronic control unit controls the opening degrees of the walking wheels and the electric proportional valves of the steering wheels, and a double closed-loop control loop is formed by real-time feedback of the position of an aircraft undercarriage and real-time feedback of the steering angle of the tractor. The method adopts the 2D point cloud data of the laser radar, combines a clustering algorithm and pattern matching, accurately identifies the airplane wheel, and directly obtains the declination angle and the declination distance information of the airplane wheel.
Description
Technical Field
The invention belongs to the field of autonomous positioning and navigation control of intelligent robots, and particularly relates to an automatic docking navigation device and method of an aircraft tractor based on a laser radar.
Background
When the airplane is maintained on the ground, the airplane needs to be moved by the steering and power provided by the airplane tractor because the airplane cannot back to turn. The rodless aircraft tractor lifts the front wheels of the aircraft through the clamping lifting mechanism, enables the front wheels to leave the ground, and drags the aircraft to a specified position through self-traction power. In the operation process of the tractor, the butt joint of the clamping and lifting mechanism and the front airplane wheel of the airplane is a key link, the technical requirement on a driver is extremely high, the risk of collision and scratch exists, and the operation efficiency is influenced. Therefore, an automatic docking auxiliary device is urgently needed to guide the tractor to perform autonomous docking. The invention applies the target sensing technology based on the laser radar to the tractor, so that the butt joint process is automated, and the unmanned driving of the tractor is realized on the basis.
The rodless aircraft tractor applied to the market at present adopts a manual operation butt joint mode, is complex to operate, has high technical requirements on drivers, and has the risks of rubbing and collision. The research on automatic docking of the aircraft tractor is less, wherein in the intelligent rodless aircraft tractor vision positioning algorithm (34 th volume of computer engineering, 2008/8 th 23), a monocular machine vision system is adopted to acquire images of front wheels of the aircraft, and offset distance and offset angle information are calculated by using the shape and position of tires of the aircraft in the images. However, the method is greatly influenced by the environment, only computer simulation is carried out, and how to control the movement of the tractor to complete the docking process is not researched.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides an automatic docking navigation device and method of an aircraft tractor based on a laser radar, which integrates the laser radar, a data acquisition and calculation platform, an Electronic Control Unit (ECU) and a navigation device of an electric proportional hydraulic valve, identifies an aircraft undercarriage (wheel), calculates the relative position and posture between the aircraft tractor and the aircraft through 2D point cloud data of the laser radar, plans a navigation route by using a control law of a boundary judgment condition, and controls the movement of the tractor through the electronic control unit and the electric proportional valve; the position of the aircraft landing gear and the steering angle of the tractor are fed back in real time to form a double closed-loop control loop, and the functions of autonomous navigation and automatic butt joint of the aircraft landing gear of the tractor are realized through unique control logic design.
The technical scheme of the invention is as follows: the utility model provides an automatic navigation head that docks of aircraft tractor based on laser radar, includes aircraft tractor automobile body platform, its characterized in that: the aircraft tractor body platform is provided with a laser radar, a data acquisition and calculation platform, an electronic control unit, a travelling wheel electric proportional valve, a steering angle encoder, a photoelectric alarm module, a voice alarm module and a controller handle; the laser radar is used as a main sensor, and point cloud data are obtained through scanning; the data acquisition and calculation platform is used for extracting the position information of the aircraft landing gear and generating an automatic navigation route; the electronic control unit controls the opening degrees of the walking wheels and the electric proportional valves of the steering wheels, and a double-closed-loop control loop is formed by real-time feedback of the position of an aircraft undercarriage and real-time feedback of the steering angle of the tractor; the controller handle and the photoelectric alarm and voice alarm module realize information interaction with an operator.
The further technical scheme of the invention is as follows: the laser radar is arranged right behind the clamping and lifting mechanism of the aircraft tractor body platform, so that the scanning surface of the laser radar is guaranteed to be horizontal, and the scanning height is consistent with the height of the aircraft landing gear.
The further technical scheme of the invention is as follows: the data acquisition and calculation platform, the electronic control unit, the photoelectric alarm module and the voice alarm module are installed in a control cabinet of the aircraft tractor body platform, and all the unit modules are interconnected through cables.
The further technical scheme of the invention is as follows: the overall dimension of the data acquisition and calculation platform is less than 140mmx100mmx50mm, the power consumption is less than 10W, the CPU dominant frequency is more than 1.0GHz, the data acquisition and calculation platform is provided with a 100M network communication interface and an RS422 communication interface, the working temperature range is-20-65 degrees, laser radar point cloud data can be acquired through a network port, an airplane landing gear identification and positioning algorithm can be executed, a tractor navigation control algorithm can be executed, and an automatic navigation instruction can be sent to an electronic control unit through the RS422 interface.
The further technical scheme of the invention is as follows: the electronic control unit carries a microprocessor, is provided with 2 paths of analog voltage continuous output channels ranging from-10V to +10V, is provided with RS485, RS232 and RS422 communication interfaces, can receive data acquisition and automatic navigation instructions sent by a computing platform through the RS422 interface, and can execute a tractor motion control algorithm.
The further technical scheme of the invention is as follows: the traveling wheel electric proportional valve and the steering wheel electric proportional valve can receive analog voltage input of-10V- + 10V; adjusting the opening of the valve according to the voltage amplitude, wherein the larger the amplitude is, the larger the opening is; and controlling the conduction direction of the valve according to the voltage polarity, wherein the positive voltage is conducted in the positive direction, and the negative voltage is conducted in the reverse direction.
An automatic docking method of an aircraft tractor based on a laser radar is characterized by comprising the following specific steps:
the method comprises the following steps: scanning by the laser radar to obtain point cloud data, wherein the point cloud data is used as original data for identifying the aircraft landing gear;
step two: firstly, the data acquisition and calculation platform receives point cloud data, and polar coordinate values of 3 landing gears of the airplane are obtained through identification and positioning calculation; then according to the strategy of eliminating the deviation of the yaw distance firstly and then eliminating the deviation of the yaw angle, a navigation route is generated, so that the automatic running track of the tractor is ensured to be smooth, and the speed is free from sudden change; finally, an automatic navigation instruction is sent to the electronic control unit;
step three: the electronic control unit and the electric proportional valve are adopted to complete the direct control of the driving of the tractor; the electronic control unit receives the navigation route generated in the step two, distributes the control quantity to the travelling wheel electro-proportional valve and the steering wheel electro-proportional valve, and controls the motion track of the tractor; the position information and the angle information of the steering angle encoder are obtained by the laser radar to realize double closed-loop control, so that the control error is reduced;
step four: the working state of the automatic tractor docking navigation device is presented to an operator through the photoelectric warning module and the voice warning module; and the operator controls the navigation device through the control handle.
The further technical scheme of the invention is as follows: in the second step, the data acquisition and calculation platform carries out the identification and positioning calculation method of the aircraft landing gear, and the specific steps are as follows:
firstly, a sector scanning interval is defined according to the relative angle relation between the landing gear of the airplane and a laser radar, and the three landing gears of the airplane in the area are scanned and identified simultaneously;
then, the scanned data points are clustered one by one: comparing the depth values of the data points, classifying data point sets with the depth information deviation not exceeding 30% of the diameter of the airplane wheel of the airplane into the same cluster, and marking the cluster as the airplane wheel;
finally, to 3 clusters of marking in proper order, carry out the pattern matching, further judge whether accord with the characteristic of 3 wheels: the pattern matching algorithm is characterized in that geometrical characteristics that airplane wheels are distributed in an isosceles triangle shape are utilized, if 3 clusters form the isosceles triangle shape and the length of three sides is consistent with the actual data of the airplane wheels, matching is successful, and the airplane wheels are judged to be 3.
The further technical scheme of the invention is as follows: in the second step, the data acquisition and calculation platform tractor navigation control algorithm specifically comprises the following steps:
firstly, based on the polar coordinate information of three landing gears of the airplane, namely left rear wheels W1 (rho 1, theta 1), right rear wheels W2 (rho 2, theta 2) and front wheels W0 (rho 3, theta 3), wherein rho 1-rho 3 are distances from the three wheels to the laser radar respectively, and theta 1-theta 3 are deflection angles of the three wheels relative to the laser radar respectively; calculating a distance deviation Δ ρ (Δ ρ ═ ρ 2 — ρ 1) between the left and right landing gears;
then, the electronic control unit calculates a traveling speed control voltage V1 and a steering speed control voltage V2 of the tractor at a control cycle of 100ms, and outputs to the power wheels and the steered wheels, respectively: for V1: v1 is K (ρ 3-0.5), that is, the closer the tractor is to the front wheel of the airplane, the slower the walking speed is, and the tractor stops moving until the distance between the tractor and the front landing gear of the airplane is less than 0.5 m; for V2: when the Δ ρ is greater than 0.1m, V2 is K1 (150 ° - θ 1), and when the Δ ρ is less than-0.1 m, V2 is K2 (30 ° - θ 2), so that the tractor returns to the front of the central axis of the airplane as soon as possible due to the fact that the yaw distance is eliminated; when the delta rho is between-0.1 m and 0.1m, V2 is K3 (90 degrees to theta 3), and the tractor is gradually aligned to the nose landing gear of the airplane mainly by eliminating the yaw angle; k, K1, K2 and K3 are control parameters and are set on site according to the movement rule of the tractor.
Advantageous effects
The invention has the beneficial effects that: the method adopts the 2D point cloud data of the laser radar, combines a clustering algorithm and pattern matching, accurately identifies the airplane wheel, and directly obtains the declination angle and the declination distance information of the airplane wheel. Compared with a monocular vision positioning algorithm, the method has the advantages that the deflection angle and the deflection distance are calculated through the projection mapping relation, the algorithm complexity is low, the influence of ambient illumination is avoided, the engineering is simpler to realize, and the system reliability is high. Meanwhile, the device and the method of the invention design the tractor motion control law according to the airplane positioning result. The invention has the advantages that the control on the motion track of the aircraft tractor is realized, the butt joint process with the aircraft nose landing gear (aircraft wheel) is automatically completed, compared with the traditional manual butt joint mode, the operation efficiency is higher, and the scratch and collision of the aircraft caused by manual misoperation are avoided.
Drawings
FIG. 1 is a schematic diagram of the automatic docking guidance device for an aircraft tractor according to the present invention;
FIG. 2 is a schematic diagram of a double closed loop control loop for an aircraft tractor according to the present invention;
FIG. 3 is a schematic representation of a three-dimensional model of the aircraft tractor of the present invention;
FIG. 4 is a schematic diagram of the automatic docking motion trajectory of the aircraft tractor according to the present invention;
FIG. 5 is a flow chart of the automatic docking operation of the aircraft tractor of the present invention;
description of reference numerals: 1. a controller handle; 2. a data acquisition and computing platform; 3. an electronic control unit; 4. a laser radar; 5. a voice alarm module; 6. an aircraft tractor body platform; 7. a steering wheel and a steering wheel electro-proportional valve; 8. road wheel and road wheel electric proportional valve.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1 and 3, the automatic docking navigation device for the aircraft tractor based on the laser radar comprises an aircraft tractor body platform, and a laser radar, a data acquisition and calculation platform, an electronic control unit, a travelling wheel electro-proportional valve, a steering angle encoder, a photoelectric warning module, a voice warning module and a controller handle which are arranged on the aircraft tractor body platform; the laser radar is used as a main sensor and is arranged right behind a clamping and lifting mechanism of a platform of a tractor body of the aircraft tractor, so that the scanning surface of the laser radar is ensured to be horizontal, the scanning height is consistent with the height of an undercarriage of the aircraft, and point cloud data are obtained through scanning; the data acquisition and calculation platform, the electronic control unit, the photoelectric alarm module and the voice alarm module are installed in a control cabinet of the aircraft tractor body platform, and all the unit modules are interconnected through cables.
The data acquisition and calculation platform is used for extracting the position information of the aircraft landing gear and generating an automatic navigation route; the aircraft landing gear recognition and positioning system has the advantages that the overall dimension is less than 140mmx100mmx50mm, the power consumption is less than 10W, the CPU main frequency is more than 1.0GHz, the aircraft landing gear recognition and positioning system is provided with a 100M network communication interface and an RS422 communication interface, the working temperature range is-20-65 degrees, laser radar point cloud data can be collected through a network port, an aircraft landing gear recognition and positioning algorithm can be executed, a tractor navigation control algorithm can be executed, and an automatic navigation instruction can be sent to an electronic control unit through the RS422 interface.
The electronic control unit carries a microprocessor, is provided with 2 paths of analog voltage continuous output channels ranging from-10V to +10V, is provided with RS485, RS232 and RS422 communication interfaces, can receive data acquisition and automatic navigation instructions sent by a computing platform through the RS422 interface, and can execute a tractor motion control algorithm.
The traveling wheel electric proportional valve and the steering wheel electric proportional valve can receive analog voltage input of-10V- + 10V; adjusting the opening of the valve according to the voltage amplitude, wherein the larger the amplitude is, the larger the opening is; and controlling the conduction direction of the valve according to the voltage polarity, wherein the positive voltage is conducted in the positive direction, and the negative voltage is conducted in the reverse direction.
The steering angle encoder is used for feeding back the steering angle of the tractor to the electronic control unit.
The electronic control unit controls the opening degrees of the walking wheels and the electric proportional valves of the steering wheels, and a double-closed-loop control loop is formed by real-time feedback of the position of an aircraft undercarriage and real-time feedback of the steering angle of the tractor;
the controller handle, the photoelectric alarm and voice alarm module realize information interaction with an operator.
The invention relates to an automatic docking method of an aircraft tractor based on a laser radar, which comprises the following specific steps:
the method comprises the following steps: scanning by the laser radar to obtain point cloud data, wherein the point cloud data is used as original data for identifying the aircraft landing gear;
step two: firstly, the data acquisition and calculation platform receives point cloud data, and polar coordinate values of 3 landing gears of the airplane are obtained through identification and positioning calculation; then according to the strategy of eliminating the deviation of the yaw distance firstly and then eliminating the deviation of the yaw angle, a navigation route is generated, so that the automatic running track of the tractor is ensured to be smooth, and the speed is free from sudden change; finally, an automatic navigation instruction is sent to the electronic control unit;
step three: the electronic control unit and the electric proportional valve are adopted to complete the direct control of the driving of the tractor; the electronic control unit receives the navigation route generated in the step two, distributes the control quantity to the travelling wheel electro-proportional valve and the steering wheel electro-proportional valve, and controls the motion track of the tractor; the position information and the angle information of the steering angle encoder are obtained by the laser radar to realize double closed-loop control, so that the control error is reduced;
step four: the working state of the automatic tractor docking navigation device is presented to an operator through the photoelectric warning module and the voice warning module; and the operator controls the navigation device through the control handle.
Referring to fig. 2, the steps of the method for performing the identification and positioning calculation of the aircraft landing gear by the data acquisition and calculation platform are as follows:
firstly, a sector scanning interval is defined according to the relative angle relation between the landing gear of the airplane and a laser radar, and the three landing gears of the airplane in the area are scanned and identified simultaneously;
then, the scanned data points are clustered one by one: comparing the depth values of the data points, classifying data point sets with the depth information deviation not exceeding 30% of the diameter of the airplane wheel of the airplane into the same cluster, and marking the cluster as the airplane wheel;
finally, to 3 clusters of marking in proper order, carry out the pattern matching, further judge whether accord with the characteristic of 3 wheels: the pattern matching algorithm is characterized in that geometrical characteristics that airplane wheels are distributed in an isosceles triangle shape are utilized, if 3 clusters form the isosceles triangle shape and the length of three sides is consistent with the actual data of the airplane wheels, matching is successful, and the airplane wheels are judged to be 3.
The data acquisition and calculation platform tractor navigation control algorithm comprises the following steps:
firstly, based on the polar coordinate information of three landing gears of the airplane, namely left rear wheels W1 (rho 1, theta 1), right rear wheels W2 (rho 2, theta 2) and front wheels W0 (rho 3, theta 3), wherein rho 1-rho 3 are distances from the three wheels to the laser radar respectively, and theta 1-theta 3 are deflection angles of the three wheels relative to the laser radar respectively; calculating a distance deviation Δ ρ (Δ ρ ═ ρ 2 — ρ 1) between the left and right landing gears;
then, the electronic control unit calculates a traveling speed control voltage V1 and a steering speed control voltage V2 of the tractor at a control cycle of 100ms, and outputs to the power wheels and the steered wheels, respectively: for V1: v1 is K (ρ 3-0.5), that is, the closer the tractor is to the front wheel of the airplane, the slower the walking speed is, and the tractor stops moving until the distance between the tractor and the front landing gear of the airplane is less than 0.5 m; for V2: when the Δ ρ is greater than 0.1m, V2 is K1 (150 ° - θ 1), and when the Δ ρ is less than-0.1 m, V2 is K2 (30 ° - θ 2), so that the tractor returns to the front of the central axis of the airplane as soon as possible due to the fact that the yaw distance is eliminated; when the delta rho is between-0.1 m and 0.1m, V2 is K3 (90 degrees to theta 3), and the tractor is gradually aligned to the nose landing gear of the airplane mainly by eliminating the yaw angle; k, K1, K2 and K3 are control parameters and are set on site according to the movement rule of the tractor.
Referring to fig. 5, the automatic docking navigation process of the aircraft tractor according to the present invention is shown.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (9)
1. The utility model provides an automatic navigation head that docks of aircraft tractor based on laser radar, includes aircraft tractor automobile body platform, its characterized in that: the aircraft tractor body platform is provided with a laser radar, a data acquisition and calculation platform, an electronic control unit, a travelling wheel electric proportional valve, a steering angle encoder, a photoelectric alarm module, a voice alarm module and a controller handle; the laser radar is used as a main sensor, and point cloud data are obtained through scanning; the data acquisition and calculation platform is used for extracting the position information of the aircraft landing gear and generating an automatic navigation route; the electronic control unit controls the opening degrees of the walking wheels and the electric proportional valves of the steering wheels, and a double-closed-loop control loop is formed by real-time feedback of the position of an aircraft undercarriage and real-time feedback of the steering angle of the tractor; the controller handle and the photoelectric alarm and voice alarm module realize information interaction with an operator.
2. The automatic docking navigation device for the laser radar-based aircraft tractor according to claim 1, is characterized in that: the laser radar is arranged right behind the clamping and lifting mechanism of the aircraft tractor body platform, so that the scanning surface of the laser radar is guaranteed to be horizontal, and the scanning height is consistent with the height of the aircraft landing gear.
3. The automatic docking navigation device for the laser radar-based aircraft tractor according to claim 1, is characterized in that: the data acquisition and calculation platform, the electronic control unit, the photoelectric alarm module and the voice alarm module are installed in a control cabinet of the aircraft tractor body platform, and all the unit modules are interconnected through cables.
4. The automatic docking navigation device for the laser radar-based aircraft tractor according to claim 1, is characterized in that: the overall dimension of the data acquisition and calculation platform is less than 140mmx100mmx50mm, the power consumption is less than 10W, the CPU dominant frequency is more than 1.0GHz, the data acquisition and calculation platform is provided with a 100M network communication interface and an RS422 communication interface, the working temperature range is-20-65 degrees, laser radar point cloud data can be acquired through a network port, an airplane landing gear identification and positioning algorithm can be executed, a tractor navigation control algorithm can be executed, and an automatic navigation instruction can be sent to an electronic control unit through the RS422 interface.
5. The automatic docking navigation device for the laser radar-based aircraft tractor according to claim 1, is characterized in that: the electronic control unit carries a microprocessor, is provided with 2 paths of analog voltage continuous output channels ranging from-10V to +10V, is provided with RS485, RS232 and RS422 communication interfaces, can receive data acquisition and automatic navigation instructions sent by a computing platform through the RS422 interface, and can execute a tractor motion control algorithm.
6. The automatic docking navigation device for the laser radar-based aircraft tractor according to claim 1, is characterized in that: the traveling wheel electric proportional valve and the steering wheel electric proportional valve can receive analog voltage input of-10V- + 10V; adjusting the opening of the valve according to the voltage amplitude, wherein the larger the amplitude is, the larger the opening is; and controlling the conduction direction of the valve according to the voltage polarity, wherein the positive voltage is conducted in the positive direction, and the negative voltage is conducted in the reverse direction.
7. The method for automatically docking the automatic docking navigation device of the laser radar-based aircraft tractor according to claim 1 is characterized by comprising the following specific steps:
the method comprises the following steps: scanning by the laser radar to obtain point cloud data, wherein the point cloud data is used as original data for identifying the aircraft landing gear;
step two: firstly, the data acquisition and calculation platform receives point cloud data, and polar coordinate values of 3 landing gears of the airplane are obtained through identification and positioning calculation; then according to the strategy of eliminating the deviation of the yaw distance firstly and then eliminating the deviation of the yaw angle, a navigation route is generated, so that the automatic running track of the tractor is ensured to be smooth, and the speed is free from sudden change; finally, an automatic navigation instruction is sent to the electronic control unit;
step three: the electronic control unit and the electric proportional valve are adopted to complete the direct control of the driving of the tractor; the electronic control unit receives the navigation route generated in the step two, distributes the control quantity to the travelling wheel electro-proportional valve and the steering wheel electro-proportional valve, and controls the motion track of the tractor; the position information and the angle information of the steering angle encoder are obtained by the laser radar to realize double closed-loop control, so that the control error is reduced;
step four: the working state of the automatic tractor docking navigation device is presented to an operator through the photoelectric warning module and the voice warning module; and the operator controls the navigation device through the control handle.
8. The method of automated docking of claim 7, wherein: in the second step, the data acquisition and calculation platform carries out the identification and positioning calculation method of the aircraft landing gear, and the specific steps are as follows:
firstly, a sector scanning interval is defined according to the relative angle relation between the landing gear of the airplane and a laser radar, and the three landing gears of the airplane in the area are scanned and identified simultaneously;
then, the scanned data points are clustered one by one: comparing the depth values of the data points, classifying data point sets with the depth information deviation not exceeding 30% of the diameter of the airplane wheel of the airplane into the same cluster, and marking the cluster as the airplane wheel;
finally, to 3 clusters of marking in proper order, carry out the pattern matching, further judge whether accord with the characteristic of 3 wheels: the pattern matching algorithm is characterized in that geometrical characteristics that airplane wheels are distributed in an isosceles triangle shape are utilized, if 3 clusters form the isosceles triangle shape and the length of three sides is consistent with the actual data of the airplane wheels, matching is successful, and the airplane wheels are judged to be 3.
9. The method of automated docking of claim 7, wherein: in the second step, the data acquisition and calculation platform tractor navigation control algorithm specifically comprises the following steps:
firstly, based on the polar coordinate information of three landing gears of the airplane, namely left rear wheels W1 (rho 1, theta 1), right rear wheels W2 (rho 2, theta 2) and front wheels W0 (rho 3, theta 3), wherein rho 1-rho 3 are distances from the three wheels to the laser radar respectively, and theta 1-theta 3 are deflection angles of the three wheels relative to the laser radar respectively; calculating a distance deviation Δ ρ (Δ ρ ═ ρ 2 — ρ 1) between the left and right landing gears;
then, the electronic control unit calculates a traveling speed control voltage V1 and a steering speed control voltage V2 of the tractor at a control cycle of 100ms, and outputs to the power wheels and the steered wheels, respectively: for V1: v1 is K (ρ 3-0.5), that is, the closer the tractor is to the front wheel of the airplane, the slower the walking speed is, and the tractor stops moving until the distance between the tractor and the front landing gear of the airplane is less than 0.5 m; for V2: when the Δ ρ is greater than 0.1m, V2 is K1 (150 ° - θ 1), and when the Δ ρ is less than-0.1 m, V2 is K2 (30 ° - θ 2), so that the tractor returns to the front of the central axis of the airplane as soon as possible due to the fact that the yaw distance is eliminated; when the delta rho is between-0.1 m and 0.1m, V2 is K3 (90 degrees to theta 3), and the tractor is gradually aligned to the nose landing gear of the airplane mainly by eliminating the yaw angle; k, K1, K2 and K3 are control parameters and are set on site according to the movement rule of the tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111267533.2A CN114115236A (en) | 2021-10-29 | 2021-10-29 | Automatic docking navigation device and method for aircraft tractor based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111267533.2A CN114115236A (en) | 2021-10-29 | 2021-10-29 | Automatic docking navigation device and method for aircraft tractor based on laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114115236A true CN114115236A (en) | 2022-03-01 |
Family
ID=80377468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111267533.2A Pending CN114115236A (en) | 2021-10-29 | 2021-10-29 | Automatic docking navigation device and method for aircraft tractor based on laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114115236A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108846352A (en) * | 2018-06-08 | 2018-11-20 | 广东电网有限责任公司 | A kind of vegetation classification and recognition methods |
| CN110007316A (en) * | 2019-04-16 | 2019-07-12 | 吉林大学 | A kind of active steering obstacle avoidance system and method based on the identification of laser radar information of road surface |
| FR3095177A1 (en) * | 2019-04-17 | 2020-10-23 | Airbus Operations | Assistance vehicle For assistance with the ground movement of an aircraft |
| CN112009714A (en) * | 2020-08-11 | 2020-12-01 | 北京卫星制造厂有限公司 | Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot |
| CN112356626A (en) * | 2020-12-04 | 2021-02-12 | 顺为智能科技(常州)有限公司 | Method for automatically butting automatic driving tractor and trailer |
| CN112363503A (en) * | 2020-11-06 | 2021-02-12 | 南京林业大学 | Orchard vehicle automatic navigation control system based on laser radar |
| US20210130008A1 (en) * | 2019-11-05 | 2021-05-06 | Axel Schickling | Towing Vehicle for Aircraft and Method for Towing an Aircraft |
| CN112904363A (en) * | 2021-01-19 | 2021-06-04 | 北京九曜智能科技有限公司 | Method for automatically supporting hook of automatic driving vehicle docking trailer |
| CN214216167U (en) * | 2020-11-03 | 2021-09-17 | 宝鸡赫威特机械科技有限公司 | All-dimensional active safety protection system for aircraft tractor |
-
2021
- 2021-10-29 CN CN202111267533.2A patent/CN114115236A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108846352A (en) * | 2018-06-08 | 2018-11-20 | 广东电网有限责任公司 | A kind of vegetation classification and recognition methods |
| CN110007316A (en) * | 2019-04-16 | 2019-07-12 | 吉林大学 | A kind of active steering obstacle avoidance system and method based on the identification of laser radar information of road surface |
| FR3095177A1 (en) * | 2019-04-17 | 2020-10-23 | Airbus Operations | Assistance vehicle For assistance with the ground movement of an aircraft |
| US20210130008A1 (en) * | 2019-11-05 | 2021-05-06 | Axel Schickling | Towing Vehicle for Aircraft and Method for Towing an Aircraft |
| CN112009714A (en) * | 2020-08-11 | 2020-12-01 | 北京卫星制造厂有限公司 | Automatic sensing system and method for omni-directional mobile rodless traction type mobile robot |
| CN214216167U (en) * | 2020-11-03 | 2021-09-17 | 宝鸡赫威特机械科技有限公司 | All-dimensional active safety protection system for aircraft tractor |
| CN112363503A (en) * | 2020-11-06 | 2021-02-12 | 南京林业大学 | Orchard vehicle automatic navigation control system based on laser radar |
| CN112356626A (en) * | 2020-12-04 | 2021-02-12 | 顺为智能科技(常州)有限公司 | Method for automatically butting automatic driving tractor and trailer |
| CN112904363A (en) * | 2021-01-19 | 2021-06-04 | 北京九曜智能科技有限公司 | Method for automatically supporting hook of automatic driving vehicle docking trailer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110341711B (en) | Traveling track generation system and method based on wharf environment | |
| WO2022033372A1 (en) | Automatic sensing system and method for omnidirectional moving rodless traction-type mobile robot | |
| CN112936275B (en) | Mechanical arm grabbing system based on depth camera and control method | |
| WO2020143288A1 (en) | Autonomous vehicle decision-making system under complex operating conditions, and trajectory planning method therefor | |
| CN111673755B (en) | Picking robot control system and method based on visual servo | |
| CN106950964B (en) | Unmanned electric university student formula racing car and control method thereof | |
| CN106444758B (en) | A kind of road Identification based on machine vision and the preferred AGV transport vehicle in path | |
| CN108088456A (en) | A kind of automatic driving vehicle local paths planning method with time consistency | |
| CN106515722A (en) | Vertical parking track planning method | |
| CN113359710B (en) | LOS theory-based agricultural machinery path tracking method | |
| WO2022252221A1 (en) | Mobile robot queue system, path planning method and following method | |
| CN109808509B (en) | Automatic identification and control system and method for crossing trench of unmanned off-road vehicle | |
| CN107505941B (en) | Centralized-distributed control system of four-wheel independent drive and independent steering electric vehicle | |
| CN114162123B (en) | Automatic in-line running vehicle system and control method | |
| CN109606368A (en) | A kind of intelligent automobile can open up speed adaptive change Trajectory Tracking Control method | |
| WO2024146195A1 (en) | Automatic operation system for electronic guided rubber-tyred tram | |
| CN107146247A (en) | Automobile assistant driving system and method based on binocular camera | |
| CN113589685B (en) | Vehicle moving robot control system and method based on deep neural network | |
| CN110794834A (en) | Carrier vehicle control system based on rear-drive front steering | |
| Jun et al. | Autonomous driving system design for formula student driverless racecar | |
| CN107992039B (en) | Trajectory planning method based on flow field in dynamic environment | |
| CN114115236A (en) | Automatic docking navigation device and method for aircraft tractor based on laser radar | |
| CN113341968A (en) | Accurate parking system and method for multi-axis flat car | |
| CN112141072A (en) | Unmanned vehicle for road surface acceleration loading test | |
| Cui et al. | AGV research based on inertial navigation and vision fusion |
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 |