CN114299761B - Unmanned guided vehicle-based aircraft guiding method and system - Google Patents
Unmanned guided vehicle-based aircraft guiding method and system Download PDFInfo
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Abstract
The invention discloses an aircraft guiding method and system based on an unmanned guided vehicle, comprising the following steps of: controlling the idle unmanned guided vehicles to respectively run to the corresponding standby positions; driving a target unmanned guide vehicle corresponding to the standby position to a machine connecting position of a target aircraft according to the control instruction; the unmanned target guiding vehicle is controlled to dock with the target aircraft, and the unmanned target guiding vehicle is controlled to guide the docked target aircraft to the target position; and dispatching the target unmanned guided vehicle to a new standby position. According to the invention, the unmanned vehicle dispatching system and the A-SMGCS system are mutually interacted, and the unmanned guiding vehicle is used for automatically guiding the aircraft to enter and leave the port, so that a driver does not need to look at a display screen at a low head or speak with a tower continuously, the sliding speed and smoothness of the aircraft are improved, and the efficient, orderly and safe guidance of the aircraft in an airport is realized.
Description
Technical Field
The invention relates to the field of aviation, in particular to an aircraft guiding method and system based on an unmanned guided vehicle.
Background
At present, in the field of civil aviation, the guidance modes of aircrafts in airports mainly comprise lamplight guidance, aeroMACS system guidance and the like. The stability of the light guiding mode is insufficient, the light guiding transformation needs to open a road, the construction cost is high, the construction is irreversible, and meanwhile, a pilot can feel that the advancing speed is low and the pause feeling is strong, so that the pilot is influenced to obtain the driving experience. The aeroMACS system is used for transmitting the real-time running state of the current scene to the on-board and vehicle-mounted equipment for displaying, so that the construction cost is high, a display screen is required to be installed in the cockpit of the aircraft to directly guide a pilot, and the pilot needs to look at the display screen at low head in the guiding process, so that the safe driving is influenced.
Disclosure of Invention
The invention provides an unmanned guided vehicle-based aircraft guiding method and system, which solve the technical problems in the prior art.
The technical scheme for solving the technical problems is as follows: an aircraft guiding method based on an unmanned guided vehicle is applied to an unmanned guided vehicle dispatching system and comprises the following steps:
step 1, controlling idle unmanned guided vehicles in an airport to respectively run to corresponding standby positions;
Step 2, a control instruction sent by an upper computer is obtained, a target unmanned guide vehicle corresponding to a standby position is driven to travel to a connection position of a target aircraft according to the control instruction, and the control instruction comprises the connection position and the target position of the target aircraft;
step 3, controlling the target unmanned guiding vehicle to dock with the target aircraft, and controlling the target unmanned guiding vehicle to guide the docked target aircraft to the target position;
and 4, acquiring a new standby position, and dispatching the target unmanned guided vehicle to the new standby position.
A second aspect of an embodiment of the present invention provides an unmanned guided vehicle-based aircraft guidance system, comprising an unmanned guided vehicle scheduling system and a plurality of unmanned guided vehicles, the unmanned guided vehicle scheduling system comprising a control module, a standby guidance module, a docking guidance module and a backhaul guidance module,
the control module is used for controlling idle unmanned guided vehicles in the airport to respectively run to corresponding standby positions;
the standby guide module is used for acquiring a control instruction sent by the upper computer, driving the target unmanned guide vehicle corresponding to the standby position to travel to the connection position of the target aircraft according to the control instruction, wherein the control instruction comprises the connection position and the target position of the target aircraft;
The docking guide module is used for controlling the target unmanned guide vehicle to dock with the target aircraft and controlling the target unmanned guide vehicle to guide the docked target aircraft to the target position;
the return guide module is used for acquiring a new standby position and dispatching the target unmanned guide vehicle to the new standby position.
A third aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the unmanned guided vehicle-based aircraft guidance method described above.
A fourth aspect of an embodiment of the present invention provides an unmanned guided vehicle-based aircraft guidance terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the unmanned guided vehicle-based aircraft guidance method described above when executing the computer program.
The invention provides an aircraft guiding method, system, storage medium and equipment based on an unmanned guided vehicle, which not only reasonably plan and layout the ground traffic in an airport, but also adopt a method of mutual interaction of an unmanned vehicle dispatching system and an A-SMGCS system, and automatically guide the aircraft entering and leaving the port through the unmanned guided vehicle, so that a driver does not need to look at a display screen at a low head or speak with a tower continuously, the sliding speed and smoothness of the aircraft are improved, and the efficient, orderly and safe guidance of the aircraft in the airport is realized.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an unmanned guided vehicle-based aircraft guidance method provided in embodiment 1;
fig. 2 is a schematic structural view of an unmanned guided vehicle-based aircraft guidance system provided in embodiment 2;
fig. 3 is a schematic circuit configuration diagram of a controller in an unmanned guided vehicle-based aircraft guidance terminal provided in embodiment 3.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. 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.
It should be noted that, if not in conflict, the features of the embodiments of the present invention may be combined with each other, which is within the protection scope of the present invention. In addition, while functional block division is performed in a system diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the system or the order in the flowchart. Furthermore, the words "first," "second," "third," and the like as used herein do not limit the order of data and execution, but merely distinguish between identical or similar items that have substantially the same function and effect.
Referring to fig. 1, a flow chart of an aircraft guiding method based on an unmanned guided vehicle is provided in embodiment 1 of the present invention, and the method is applied to an unmanned guided vehicle dispatching system. The unmanned guided vehicle is an abbreviation of the unmanned aerial vehicle ground sliding guided vehicle, and can be abbreviated as the unmanned guided vehicle in the following technical scheme description, and all the unmanned guided vehicles have the same meaning. As shown in fig. 1, the method comprises the steps of:
and step 1, controlling idle unmanned guided vehicles in the airport to respectively run to corresponding standby positions by the unmanned guided vehicle dispatching system. In a specific embodiment, 1 or more standby positions may be set according to an airport layout or the like, and the number of unmanned guided vehicles that can be parked at each standby position is set in combination with the number of airport take-off and landing flights.
For example, in one embodiment, the taxiing distance from the furthest crossing to the furthest tarmac is 5.2km, and the taxiing distance from the nearest crossing to the nearest tarmac is about 0.6km, thus, the average taxi guidance distance per flight is estimated to be (5200-600)/2+600=3 km. At an average taxi speed of 30km/h, the taxi time per pass is 3km/30 km/h=0.1h=6 minutes. The average distance from the machine position to the crossing is 3km, and the speed of the guide vehicle in running is controlled to be 20km/h regulated by an airport during returning, so that the total time is needed: 3km/20 km/h=0.15h=9 minutes. Thus, each guidance task takes up 6+9=15 minutes for each guidance vehicle, and each vehicle can complete 60/15=4 guidance tasks per hour. Assuming 41 flights in peak hours, 41 flights require 41/4=11 guided vehicles, and considering that the need to provide redundant vehicles on 6 departure crossings of two runways to ensure timely guidance, 5-7 guided vehicles can be added, so the total guided vehicle demand can be set to 11+7=18. At this time, corresponding standby positions of the unmanned guided vehicles can be arranged outside each escape road junction, three or more parking spaces are arranged at each standby position of the unmanned guided vehicle for the unmanned vehicle to stand by, and when the unmanned guided vehicle performs the guiding task and does not need to be charged, the unmanned guided vehicle can stop at the corresponding standby positions to wait for the next guiding task.
In an alternative embodiment, the unmanned vehicle dispatching system may assign a corresponding unmanned guiding vehicle to each aircraft first, and guide the unmanned guiding vehicle to a corresponding standby position according to the routing information of the aircraft. The method specifically comprises the following steps:
s101, the unmanned vehicle dispatching system acquires state information of idle unmanned guided vehicles in an airport and routing information of an aircraft, wherein the routing information, namely an estimated taxi route of the aircraft, at least comprises a starting position, a receiving position and a target position. The starting position is here the guiding starting position of the aircraft and the target position is the target apron position of the aircraft. The machine-connecting position is the position where the target unmanned guide vehicle is parked when being in butt joint with the aircraft, and at least one machine-connecting position can be set at the crossing of a certain quick-release passage according to the selectable number of the guide directions after the aircraft usually falls and enters the quick-release passage, so that the unmanned guide vehicle can be conveniently in butt joint with the aircraft and can be guided subsequently. The unmanned vehicle dispatching system can obtain the routing information of the aircrafts and the state information of the idle unmanned guided vehicles, including the positions, the task states, the electric quantity and the like, by communicating with an upper computer, such as an A-SMGCS system for tower control, an ORMS system and a FIMS system for airport command, a field monitoring radar for detecting the positions of the aircrafts and vehicles in the airport and the like.
S102, the unmanned vehicle scheduling system distributes corresponding target unmanned guided vehicles for each aircraft according to the routing information of the aircraft and the state information of the idle unmanned guided vehicles.
And S103, the unmanned vehicle dispatching system generates path guiding information and controls the target unmanned guided vehicle to automatically travel to a first standby position corresponding to the receiver position according to the path guiding information. After the vehicle is selected, the unmanned vehicle dispatching system calculates a vehicle route and predicted running time according to the current position and the receiving position of the vehicle, and the vehicle mainly uses a service lane, so that the taxi resource is not continuously occupied. And then calculating the time for the aircraft to reach the guiding starting position according to the real-time position and the sliding route of the target aircraft, so as to calculate the departure time of the target unmanned guided vehicle and ensure that the vehicle is in place before the aircraft arrives. In the running process of the unmanned guided vehicle, the vehicle normally runs on a lane according to the self safety strategy, the unmanned vehicle scheduling system acquires the position information of other aircrafts on a scene output by the A-SMGCS system in real time, and if the running route crosses the taxiway and needs to pass through the taxiway and the intersection conflict is generated with the aircrafts, the unmanned vehicle scheduling system adopts the safety strategy of the priority of the aircrafts to decelerate and stop waiting, and after the aircrafts pass, the unmanned vehicle scheduling system passes through the taxiway to continue running.
And then executing step 2, wherein the unmanned vehicle scheduling system acquires a control instruction sent by the upper computer, and drives the target unmanned guided vehicle corresponding to the standby position to travel to the aircraft receiving position of the target aircraft according to the control instruction, wherein the control instruction comprises the aircraft receiving position and the target position of the target aircraft. The following description will be made of an approach guidance method of an aircraft, and an departure guidance method of an aircraft is similar to the approach guidance method, and will not be described in detail here.
In an alternative embodiment, the steps specifically include the following steps:
s201, the A-SMGCS system collects state information of a target aircraft, and when the target aircraft is judged to be landed according to the state information, a first command is generated and sent to an unmanned guided vehicle dispatching system; the unmanned guided vehicle dispatching system receives a first command and controls the target unmanned guided vehicle at the first standby position to enter a standby state according to the first command.
S202, the A-SMGCS system continuously collects state information of a target aircraft, and when judging that the target aircraft enters a first quick departure channel corresponding to the initial position according to the state information, a second command is generated and sent to an unmanned guided vehicle dispatching system; the unmanned guided vehicle dispatching system receives a second command, controls the target unmanned guided vehicle to run from the first standby position to the corresponding machine receiving position according to the second command, and simultaneously controls the target unmanned guided vehicle to display the flight information corresponding to the target aircraft through the roof display screen, so that a driver on the aircraft can conveniently find the unmanned guided vehicle for guiding in an airport in time.
In another embodiment, the aircraft may miss the first quick-release path corresponding to the start position, and the following specific scheme is adopted:
s203, the A-SMGCS system collects state information of a target aircraft, and when judging that the target aircraft misses a first quick departure corresponding to the initial position according to the state information, a third command is sent to the unmanned guided vehicle dispatching system. The unmanned guided vehicle dispatching system receives a third command, releases the standby state of the prior target unmanned guided vehicle according to the third command, and controls any unmanned guided vehicle which is adjacent to at least one quick-release road in the sliding direction and corresponds to the second standby position to be used as a new target unmanned guided vehicle to enter the standby state.
S204, the A-SMGCS system continuously collects state information of the target aircraft, and when the target aircraft is judged to enter a second quick departure channel according to the state information, a fourth command is sent to the unmanned guided vehicle dispatching system. And the unmanned guided vehicle dispatching system receives a fourth command, controls the new target unmanned guided vehicle to run from a second standby position corresponding to the second quick-release path to a docking position according to the fourth command, and docks with the target aircraft.
In another preferred embodiment, the unmanned vehicle dispatching system may further acquire a distance between a current position of the idle unmanned guided vehicle and each standby position, and control the idle unmanned guided vehicle to travel to the standby position closest to the idle unmanned guided vehicle. At this time, the unmanned guiding vehicle is in butt joint with the target aircraft, and specifically comprises the following steps:
s206, the unmanned aerial vehicle dispatching system obtains route information of the target aircraft through an upper computer, such as an A-SMGCS system, wherein the route information at least comprises a starting position, a target position and at least one alternative receiver position. The alternative contact point positions can be arranged in a plurality, namely, the alternative contact point positions and the unmanned guide vehicles are arranged at all the alternative quick-release roads of each aircraft, so that the aircraft is prevented from missing the quick-release roads.
S207, the unmanned vehicle scheduling system acquires the quantity information of idle unmanned guided vehicles at each standby position and distributes an alternative unmanned guided vehicle to each alternative receiver position of at least one alternative receiver position.
S208, the A-SMGCS system collects state information of a target aircraft, and when the target aircraft is judged to be landed according to the state information, a fifth command is generated and sent to the unmanned guided vehicle dispatching system; and the unmanned vehicle dispatching system receives a fifth command and controls each alternative unmanned guided vehicle to respectively drive from the standby position to the corresponding alternative pickup position according to the fifth command.
S209, the A-SMGCS system continuously collects state information of a target aircraft, and when the target aircraft is judged to enter a third quick departure channel according to the state information, a sixth command is generated and sent to an unmanned guided vehicle dispatching system; and the unmanned guided vehicle dispatching system receives a sixth command, controls the alternative unmanned guided vehicle at the third rapid departure position according to the sixth command to display the flight information corresponding to the target aircraft through the roof display screen, and performs docking with the target aircraft, and the other alternative unmanned guided vehicles return to the corresponding initial standby positions.
In other embodiments, a target unmanned guided vehicle may be disposed only at a target pickup location of an estimated taxi path of an aircraft, and if the aircraft misses a rapid escape path in the estimated taxi path, the target unmanned guided vehicle follows the taxi path of the aircraft and, after the aircraft enters a rapid escape path, interfaces with the aircraft at the pickup location corresponding to the rapid escape path.
In order to find a corresponding unmanned guiding vehicle easier and more efficient for an aircraft pilot, the following three connection schemes are provided in this embodiment:
Scheme one: the aircraft can go backwards in the taxiway, after the fast departure of the taxiway is determined, the tower needs to communicate with the pilot once, the taxiway direction after the fast departure of the taxiway is informed, and the corresponding unmanned guided vehicle is found according to the taxiway direction.
Scheme II: the aircraft cannot travel in reverse on the taxiway, but can directly traverse the taxiway, if no call is made between the tower and the aircraft crew, the pilot is required to visually find the unmanned guided vehicle in the left front or right front direction at the second half of the departure from the crossing to determine the direction of continued taxiing.
Scheme III: the aircraft slides forward from the exit to the unmanned pilot vehicle, without the need for a turret to communicate with the pilot.
When the pilot of the aircraft is docked with the unmanned guided vehicle, the unmanned guided vehicle can be docked with information such as flight information and the like on a display screen of the unmanned guided vehicle. The invention can start from a simpler third scheme, evaluate adjustment improvement after operation for a period of time, and the first effect of the scheme is optimal from the aspect of the efficiency of the sliding path.
And then executing step 3, controlling the target unmanned guided vehicle to dock with the target aircraft by the unmanned guided vehicle dispatching system, and controlling the target unmanned guided vehicle to guide the docked target aircraft to the target position.
Specifically, the a-SMGCS system may send real-time docking information of the target aircraft to the unmanned guided vehicle scheduling system, the real-time docking information including target identity information and target location information. And then the unmanned guided vehicle dispatching system sends the real-time docking information to the corresponding target unmanned guided vehicle and displays the real-time docking information through a display screen on the unmanned guided vehicle dispatching system.
And then the target unmanned guided vehicle detects the actual identity information of all the aircrafts in the corresponding perception range along the flight direction of the target aircrafts through the vehicle-mounted sensor of the target unmanned guided vehicle, matches the actual identity information of all the aircrafts with the target identity information, determines the target aircrafts according to the matching result, and detects the real-time motion information of the target aircrafts through the vehicle-mounted sensor of the target unmanned guided vehicle, wherein the real-time motion information comprises real-time position information, real-time direction and running speed.
And then the target unmanned guide vehicle calculates the real-time distance between the target aircraft and the target unmanned guide vehicle according to the real-time motion information and the target position information, and the target unmanned guide vehicle finishes the butt joint with the target aircraft when the real-time distance is smaller than a first preset threshold value, such as 100 meters.
After the butt joint is finished, the target unmanned guiding vehicle collects real-time motion information of the target aircraft at a preset frequency through a vehicle-mounted sensor of the target unmanned guiding vehicle, predicts a sliding path of the target aircraft according to the real-time motion information, and adjusts the running speed of the target unmanned guiding vehicle according to the sliding path so as to keep the guiding distance, namely the distance between the target unmanned guiding vehicle and the target aircraft in the guiding process, within a preset range, such as 50-80 meters until the target aircraft is guided to a corresponding target parking apron, and the guiding process is finished.
And then the unmanned guided vehicle dispatching system acquires a new standby position and controls the target unmanned guided vehicle to travel to the new standby position. In one embodiment, the method comprises the following steps:
s501, the unmanned guided vehicle dispatching system acquires current position information of the target unmanned guided vehicle and free parking space information of each standby position.
S502, the unmanned guided vehicle dispatching system generates a navigation path from the current position to each free parking space according to a preset path algorithm, and calculates the score of each navigation path. The preset path algorithm preferably selects a traffic lane for the target unmanned guided vehicle when generating the navigation path and traverses the aircraft taxiway only once during the second taxiway. And then calculating the time and/or distance of the target unmanned guided vehicle to the corresponding free parking space according to each navigation path, wherein the score corresponding to the navigation path is higher as the time is smaller and/or the distance is shorter.
S503, the unmanned guided vehicle dispatching system acquires the target navigation path with the highest score and the corresponding target free parking space from all navigation paths, and guides the target unmanned guided vehicle to the target free parking space according to the target navigation path.
Before the target unmanned guided vehicle passes through the taxiway, acquiring position information of an aircraft which is transmitted by the A-SMGCS system through an unmanned guided vehicle scheduling system and is transversely passing through the taxiway, detecting barrier information on the taxiway through a vehicle-mounted sensor, judging a safety score of passing through the taxiway according to the position information of the aircraft and the barrier information, and passing through the taxiway when the safety score is larger than a second preset threshold value.
According to the unmanned guided vehicle-based aircraft guiding method, ground traffic in an airport is reasonably planned and laid out, and the unmanned guided vehicle is adopted to automatically guide the aircraft entering and leaving the airport by adopting a mutual interaction method of an unmanned vehicle scheduling system and an A-SMGCS system, so that a driver does not need to look at a display screen at a low head or speak with a tower continuously, the sliding speed and smoothness of the aircraft are improved, and efficient, orderly and safe guidance of the aircraft in the airport is realized.
It should be noted that, in the foregoing embodiments, there is not necessarily a certain sequence between the steps, and those skilled in the art will understand that, in different embodiments, the steps may be performed in different execution sequences, that is, may be performed in parallel, may be performed interchangeably, or the like.
As another aspect of the embodiments of the present invention, the embodiments of the present invention further provide an aircraft guidance system based on an unmanned guided vehicle. The unmanned guided vehicle-based aircraft guidance system may be a software module, where the software module includes several instructions stored in a memory, and the processor may access the memory and call the instructions to execute to complete the unmanned guided vehicle-based aircraft guidance method described in the above embodiments.
In some embodiments, the unmanned guided vehicle-based aircraft guidance system may also be built by hardware devices, for example, the unmanned guided vehicle-based aircraft guidance system may be built by one or more chips, and the chips may work in coordination with each other to complete the unmanned guided vehicle-based aircraft guidance method described in the above embodiments. As another example, unmanned guided vehicle based aircraft guidance systems may also be built from various types of logic devices, such as general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs), single-chip computers, ARM (AcornRISCMachine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combinations of these components.
Fig. 2 is a schematic structural view of an unmanned guided vehicle-based aircraft guidance system according to embodiment 2 of the present invention, and as shown in fig. 2, the unmanned guided vehicle-based aircraft guidance system includes an unmanned guided vehicle scheduling system and a plurality of unmanned guided vehicles, the unmanned guided vehicle scheduling system includes a control module 100, a standby guidance module 200, a docking guidance module 300 and a return guidance module 400,
The control module 100 is used for controlling idle unmanned guided vehicles in an airport to respectively run to corresponding standby positions;
the standby guiding module 200 is configured to obtain a control instruction sent by the upper computer, and drive the target unmanned guiding vehicle corresponding to the standby position to travel to the receiving position of the target aircraft according to the control instruction, where the control instruction includes the receiving position and the target position of the target aircraft;
the docking guidance module 300 is configured to control the target unmanned guiding vehicle to dock with the target aircraft, and control the target unmanned guiding vehicle to guide the docked target aircraft to the target position;
the backhaul guiding module 400 is configured to obtain a new standby position, and schedule the target unmanned guided vehicle to the new standby position.
In a preferred embodiment, the control module 100 specifically includes:
a first obtaining unit 101, configured to obtain state information of an idle unmanned guided vehicle in an airport and route information of an aircraft, where the route information includes at least a start position, an on-hook position, and a target position;
the allocation unit 102 is configured to allocate a corresponding target unmanned guided vehicle to each aircraft according to the routing information of the aircraft and the status information of the idle unmanned guided vehicles;
And the control unit 103 is used for generating path guiding information and controlling the target unmanned guided vehicle to automatically travel to a first standby position corresponding to the receiving position according to the path guiding information.
In a preferred embodiment, the system further comprises an A-SMGCS system connected with the unmanned guided vehicle dispatching system, wherein the A-SMGCS system is used for collecting state information of a target aircraft, and when the target aircraft is judged to be landed according to the state information, a first command is generated and sent to the unmanned guided vehicle dispatching system; and when judging that the target aircraft enters the first quick departure channel corresponding to the initial position according to the state information, generating a second command and sending the second command to an unmanned guided vehicle dispatching system.
At this time, the standby guidance module 200 is configured to receive a first command sent by the a-SMGCS system, and control the target unmanned guided vehicle at the first standby position to enter a standby state according to the first command; and the system is used for receiving a second command sent by the A-SMGCS system, controlling the target unmanned guided vehicle to run from the first standby position to the corresponding pickup position according to the second command, and simultaneously controlling the target unmanned guided vehicle to display flight information corresponding to the target aircraft through a roof display screen.
In another preferred embodiment, the a-SMGCS system is further configured to collect status information of a target aircraft, and send a third command to the unmanned guided vehicle dispatching system when the target aircraft is judged to have missed the first fast departure corresponding to the starting position according to the status information; and the fourth command is sent to the unmanned guided vehicle dispatching system when the target aircraft is judged to enter a second rapid departure channel according to the state information.
At this time, the standby guidance module 200 is further configured to receive a third command sent by the a-SMGCS system, and according to the third command, cancel the standby state of the previous target unmanned guidance vehicle, and control any unmanned guidance vehicle in the second standby position to enter the standby state as a new target unmanned guidance vehicle; and the system is used for receiving a fourth command sent by the A-SMGCS system, controlling the new target unmanned guided vehicle to run from a second standby position corresponding to the second quick-release road to a pickup position according to the fourth command, and docking with the target aircraft.
In another preferred embodiment, the control module 100 is further configured to obtain a distance between a current position of the idle unmanned guided vehicle and each standby position, and control the idle unmanned guided vehicle to travel to the standby position closest to the current position.
In another preferred embodiment, the docking guidance module 300 further comprises:
a receiving unit 301, configured to receive real-time docking information of the target aircraft sent by the unmanned guided vehicle dispatching system, where the real-time docking information includes target identity information and target position information;
the first detection unit 302 is configured to detect, by using its own vehicle-mounted sensor, actual identity information of all aircraft within a corresponding sensing range along a flight direction of the target aircraft;
a second detection unit 303, configured to match the actual identity information with the target identity information, determine a target aircraft according to a matching result, and detect real-time motion information of the target aircraft through the vehicle-mounted sensor, where the real-time motion information includes real-time position information, real-time direction and real-time running speed;
a docking unit 304, configured to calculate a real-time distance between the target aircraft and itself according to the real-time motion information and the target position information, and complete docking with the target aircraft when the real-time distance is less than a first preset threshold;
the adjusting unit 305 is configured to collect real-time motion information of the target aircraft at a preset frequency through the vehicle-mounted sensor after docking is completed, predict a taxi path of the target aircraft according to the real-time motion information, and adjust a self-running speed according to the taxi path so as to keep a guiding distance in a preset range until the target aircraft is guided to a corresponding target position;
The guiding distance is the distance between the unmanned guiding vehicle and the target aircraft in the guiding process.
In a preferred embodiment, the backhaul guidance module 400 further comprises:
a second obtaining unit 401, configured to obtain current position information of the target unmanned guided vehicle and free parking space information of each standby position;
a path generation unit 402, configured to generate a navigation path from the current position to each free parking space according to a preset path algorithm, and calculate a score of each navigation path;
a third obtaining unit 403, configured to obtain, from all navigation paths, a target navigation path with a highest score and a corresponding target free parking space;
the return guide unit is used for guiding the target unmanned guide vehicle to the target idle parking space according to the target navigation path;
and when the preset path algorithm generates a navigation path, a lane is preferentially selected for the target unmanned guided vehicle, and the score is higher when the number of the traversed taxiways is smaller.
In a preferred embodiment, the A-SMGCS system and the unmanned guided vehicle dispatching system are communicated by adopting an optical fiber network, and the unmanned guided vehicle dispatching system and the unmanned guided vehicle are communicated by an LTE network. The data transmission protocol of the data sent by the A-SMGCS system to the unmanned guided vehicle dispatching system is CAT-062, and the data transmission protocol of the data sent by the unmanned guided vehicle dispatching system to the A-SMGCS system is CAT-021, so that the stability and timeliness of communication are ensured.
The unmanned aerial vehicle-based aircraft guiding system can execute the unmanned aerial vehicle-based aircraft guiding method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the embodiment of the unmanned guided vehicle-based aircraft guidance system may be found in the unmanned guided vehicle-based aircraft guidance method provided by the embodiment of the invention.
Fig. 3 is a schematic circuit configuration diagram of a controller in an unmanned guided vehicle-based aircraft guidance terminal according to embodiment 3 of the present invention. As shown in fig. 3, the controller 600 includes one or more processors 61 and a memory 62. In fig. 3, a processor 61 is taken as an example.
The processor 61 and the memory 62 may be connected by a bus or otherwise, which is illustrated in fig. 3 as a bus connection.
The memory 62 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to the unmanned guided vehicle-based aircraft guidance method in the embodiments of the present invention. The processor 61 executes various functional applications and data processing of the guided vehicle-based aircraft guidance system by running non-volatile software programs, instructions and modules stored in the memory 62, i.e., implements the guided vehicle-based aircraft guidance method provided by the above-described method embodiments and the functions of the various modules or units of the above-described system embodiments.
The memory 62 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 62 may optionally include memory located remotely from processor 61, which may be connected to processor 61 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The program instructions/modules are stored in the memory 62 and when executed by the one or more processors 61 perform the unmanned guided vehicle-based aircraft guidance method of any of the method embodiments described above.
Embodiments of the present invention also provide a non-transitory computer storage medium having stored thereon computer executable instructions that are executable by one or more processors, such as the one processor 61 of fig. 3, to cause the one or more processors to perform the unmanned guided vehicle-based aircraft guidance method of any of the method embodiments described above.
The embodiment of the invention also provides an unmanned guided vehicle-based aircraft guiding terminal, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the steps of the unmanned guided vehicle-based aircraft guiding method are realized when the processor executes the computer program.
The system or device embodiments described above are merely illustrative, in which the unit modules illustrated as separate components may or may not be physically separate, and the components shown as unit modules may or may not be physical units, may be located in one place, or may be distributed over multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method of the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as above, which are not provided in details for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. The aircraft guiding method based on the unmanned guided vehicle is applied to an unmanned guided vehicle dispatching system, and is characterized in that corresponding unmanned guided vehicle standby positions are arranged outside each off-road junction, three or more parking spaces are arranged at each unmanned guided vehicle standby position for the unmanned guided vehicle to stand by, and the method comprises the following steps:
Step 1, controlling idle unmanned guided vehicles in an airport to respectively run to corresponding standby positions;
step 2, a control instruction sent by an upper computer is obtained, a target unmanned guide vehicle corresponding to a standby position is driven to travel to a connection position of a target aircraft according to the control instruction, and the control instruction comprises the connection position and the target position of the target aircraft;
step 3, controlling the target unmanned guiding vehicle to dock with the target aircraft, and controlling the target unmanned guiding vehicle to guide the docked target aircraft to the target position;
and 4, acquiring a new standby position, and dispatching the target unmanned guided vehicle to the new standby position.
2. The unmanned guided vehicle-based aircraft guidance method according to claim 1, wherein the idle unmanned guided vehicles in the control airport respectively travel to the corresponding standby positions are specifically:
acquiring state information of an idle unmanned guided vehicle in an airport and routing information of an aircraft, wherein the routing information at least comprises a starting position, an aircraft receiving position and a target position;
distributing corresponding target unmanned guided vehicles to each aircraft according to the routing information of the aircraft and the state information of the idle unmanned guided vehicles;
Generating path guiding information and controlling the target unmanned guiding vehicle to automatically travel to a first standby position corresponding to the receiving position according to the path guiding information.
3. The unmanned guided vehicle-based aircraft guidance method of claim 2, wherein the aircraft guidance method is an approach guidance method, and the unmanned guided vehicle scheduling system controls the unmanned guided vehicle to interface with the target aircraft, comprising the steps of:
receiving a first command sent by an A-SMGCS system, and controlling a target unmanned guided vehicle at a first standby position to enter a standby state according to the first command;
receiving a second command sent by the A-SMGCS system, controlling the target unmanned guided vehicle to run from the first standby position to the corresponding machine receiving position according to the second command, and simultaneously controlling the target unmanned guided vehicle to display flight information corresponding to the target aircraft through a roof display screen;
the A-SMGCS system collects state information of a target aircraft, and when the target aircraft is judged to be landed according to the state information, a first command is generated and sent to the unmanned guided vehicle dispatching system; and when judging that the target aircraft enters the first quick departure channel corresponding to the initial position according to the state information, generating a second command and sending the second command to an unmanned guided vehicle dispatching system.
4. An unmanned pilot vehicle-based aircraft guidance method according to claim 3, wherein the unmanned pilot vehicle dispatch system controls the unmanned pilot vehicle to interface with the target aircraft further comprising the steps of:
receiving a third command sent by the A-SMGCS system, releasing the standby state of the prior target unmanned guided vehicle according to the third command, and controlling any unmanned guided vehicle at the second standby position to serve as a new target unmanned guided vehicle to enter the standby state;
receiving a fourth command sent by the A-SMGCS system, controlling a new target unmanned guided vehicle to run from a second standby position corresponding to a second quick-release path to a docking position according to the fourth command, and docking with a target aircraft;
the A-SMGCS system acquires state information of a target aircraft, and when judging that the target aircraft misses a first quick departure corresponding to the starting position according to the state information, a third command is sent to the unmanned guided vehicle dispatching system; and when the target aircraft is judged to have entered a second rapid departure lane according to the state information, a fourth command is sent to the unmanned guided vehicle dispatching system.
5. The unmanned guided vehicle-based aircraft guidance method according to claim 1, wherein the idle unmanned guided vehicles in the control airport respectively travel to the corresponding standby positions are specifically: and acquiring the distance between the current position of the idle unmanned guided vehicle and each standby position, and controlling the idle unmanned guided vehicle to travel to the standby position closest to the idle unmanned guided vehicle.
6. The unmanned guided vehicle-based aircraft guidance method of claim 5, wherein the aircraft guidance method is an approach guidance method, and the unmanned guided vehicle scheduling system controls the unmanned guided vehicle to interface with the target aircraft, comprising the steps of:
acquiring route information of a target aircraft, wherein the route information at least comprises a starting position, a target position and at least one alternative aircraft receiving position;
acquiring the quantity information of idle unmanned guided vehicles at the standby position, and distributing an alternative unmanned guided vehicle for each alternative machine receiving position of at least one alternative machine receiving position;
receiving a fifth command sent by the A-SMGCS system, and controlling each alternative unmanned guided vehicle to respectively run from a standby position to a corresponding alternative machine receiving position according to the fifth command;
receiving a sixth command sent by the A-SMGCS system, controlling the alternative unmanned guided vehicle which is rapidly separated from the road according to the sixth command to display flight information corresponding to the target aircraft through a roof display screen, docking with the target aircraft, and returning the other alternative unmanned guided vehicles to the corresponding initial standby positions;
the A-SMGCS system collects state information of a target aircraft, and generates a fifth command to be sent to the unmanned guided vehicle dispatching system when the target aircraft is judged to be landed according to the state information; and when the target aircraft is judged to have entered a third rapid departure lane according to the state information, generating a sixth command and sending the sixth command to the unmanned guided vehicle dispatching system.
7. The unmanned pilot vehicle-based aircraft guidance method according to any of claims 1 to 6, wherein the target unmanned pilot vehicle guides the target aircraft to a target location, in particular comprising the steps of:
receiving real-time docking information of a target aircraft sent by the unmanned guided vehicle dispatching system, wherein the real-time docking information comprises target identity information and target position information;
detecting actual identity information of all aircrafts in a corresponding perception range along the flight direction of a target aircraft through a vehicle-mounted sensor of the vehicle-mounted aircraft;
the actual identity information and the target identity information are matched, a target aircraft is determined according to a matching result, and real-time motion information of the target aircraft is detected through the vehicle-mounted sensor, wherein the real-time motion information comprises real-time position information, real-time direction and real-time running speed;
calculating the real-time distance between the target aircraft and the target aircraft according to the real-time motion information and the target position information, and completing the docking with the target aircraft when the real-time distance is smaller than a first preset threshold value;
after the docking is completed, acquiring real-time motion information of the target aircraft at a preset frequency through the vehicle-mounted sensor, predicting a sliding path of the target aircraft according to the real-time motion information, and adjusting the self-running speed according to the sliding path to keep the guiding distance in a preset range until the target aircraft is guided to a corresponding target position;
The guiding distance is the distance between the unmanned guiding vehicle and the target aircraft in the guiding process.
8. The unmanned guided vehicle-based aircraft guidance method of claim 7, wherein the unmanned guided vehicle scheduling system acquiring a new standby position and scheduling the target unmanned guided vehicle to the new standby position specifically comprises:
acquiring current position information of the target unmanned guided vehicle and free parking space information of each standby position;
generating a navigation path from the current position to each free parking space according to a preset path algorithm, and calculating the score of each navigation path;
obtaining the target navigation path with the highest score from all navigation paths and a corresponding target free parking space;
guiding the target unmanned guiding vehicle to the target idle parking space according to the target navigation path;
and when the preset path algorithm generates a navigation path, a lane is preferentially selected for the target unmanned guided vehicle, and the score is higher when the number of the traversed taxiways is smaller.
9. The unmanned guided vehicle-based aircraft guiding method according to claim 8, wherein the target unmanned guided vehicle acquires position information of an aircraft which is traversing the taxiway and is sent by the a-SMGCS system through the unmanned guided vehicle dispatching system, meanwhile, obstacle information on the taxiway is detected through an on-board sensor, a safety score of traversing the taxiway is judged according to the position information of the aircraft and the obstacle information, and the taxiway is traversed when the safety score is greater than a second preset threshold value.
10. An aircraft guiding system based on unmanned guided vehicles is characterized in that corresponding unmanned guided vehicle standby positions are arranged outside each separated road junction, three or more parking spaces are arranged at each unmanned guided vehicle standby position for the unmanned guided vehicles to stand by, the system comprises an unmanned guided vehicle dispatching system and a plurality of unmanned guided vehicles, the unmanned guided vehicle dispatching system comprises a control module, a standby guiding module, a docking guiding module and a return guiding module,
the control module is used for controlling idle unmanned guided vehicles in the airport to respectively run to corresponding standby positions;
the standby guide module is used for acquiring a control instruction sent by the upper computer, driving the target unmanned guide vehicle corresponding to the standby position to travel to the connection position of the target aircraft according to the control instruction, wherein the control instruction comprises the connection position and the target position of the target aircraft;
the docking guide module is used for controlling the target unmanned guide vehicle to dock with the target aircraft and controlling the target unmanned guide vehicle to guide the docked target aircraft to the target position;
the return guide module is used for acquiring a new standby position and dispatching the target unmanned guide vehicle to the new standby position.
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| JP2003030800A (en) * | 2001-07-12 | 2003-01-31 | Hitachi Ltd | Method and device for guiding ground travel of aircraft |
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