CN114397882B - Berth guiding method and device of aircraft, medium and unmanned guiding vehicle - Google Patents
Berth guiding method and device of aircraft, medium and unmanned guiding vehicle Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/02—Control of position or course in two dimensions
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to a berthing guiding method, a berthing guiding device, a medium and an unmanned guiding vehicle of an aircraft, wherein the method comprises the following steps: acquiring berth information of a target aircraft; acquiring an environment image of a target stand, and generating a target guiding position of a target aircraft according to the berth information and the environment image; controlling the self-vehicle to travel to the target guiding position; a first distance of a target aircraft from a target berthing stop line is calculated and displayed in real time to berth guidance of a pilot of the target aircraft through the first distance. According to the method, the guiding position of the unmanned guiding vehicle and the display position of the guiding information on the unmanned guiding vehicle can be flexibly set according to the airport layout situation, so that a pilot can be helped to more accurately stop the aircraft on the corresponding stop line of the stand, the airport layout requirement is smaller, and the application range is wider; meanwhile, the unmanned guide vehicle can leave or execute the next task after the guide task is completed, so that the occupied space of fixed equipment on an airport is reduced, and the airport utilization rate is improved.
Description
Technical Field
The invention relates to the field of aircrafts, in particular to a berthing guiding method, a berthing guiding device, a berthing guiding medium and an unmanned guiding vehicle of an aircraft.
Background
At present, airports at home and abroad generally adopt a mode of manual command or automatic berthing system to guide an aircraft to stop on a stop line of a corresponding stand. The manual command is that a crew person commands a pilot of the aircraft by using a baton according to a specified action, and the pilot is easy to stop to an optimal position, such as the passing of the aircraft, due to different control degrees of each person on speed and deviation understood by different pilots of the aircraft. The handling of the line is typically done by moving the aircraft to a prescribed stop line using a trailer, causing delays in the aircraft and increasing personnel effort. The automatic berthing system utilizes a fixedly installed sensor to collect the distance between the aircraft and a corresponding stop line in real time, and displays the distance through a fixedly installed indication screen, so that the aircraft stays on the stop line by a flight personnel depending on a brake system. In the mode, the sensor and the indication screen are fixedly installed, and certain requirements are met on airport layout in order to ensure the indication effect, so that the applicability is difficult to meet the requirements.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a berth guiding method, a berth guiding device, a berth guiding medium and an unmanned guiding vehicle of an aircraft, and solves the technical problems of the berth guiding method of the aircraft, such as insufficient flexibility and the like.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: a berthing guiding method of an aircraft is applied to an unmanned guiding vehicle and comprises the following steps:
step 1, acquiring berth information of a target aircraft, wherein the berth information comprises an aircraft model, a target stand number and a target berth stop line number;
step 2, acquiring an environment image of the target stand, and generating a target guiding position corresponding to the target aircraft according to the berth information and the environment image;
step 3, controlling the self vehicle to travel to the target guiding position;
and 4, calculating and displaying a first distance between the target aircraft and a target berth stop line in real time so as to conduct berth guiding on a pilot of the target aircraft through the first distance.
In order to solve the technical problem, a second aspect of the embodiments of the present invention provides a berth guiding device for an aircraft, which includes an acquisition module, a guiding position generating module, a control module and a guiding module,
the acquisition module is used for acquiring berth information of the target aircraft, wherein the berth information comprises an aircraft model, a target stand number and a target berth stop line number;
the guiding position generation module is used for acquiring an environment image of the target stand and generating a target guiding position corresponding to the target aircraft according to the berth information and the environment image;
the control module is used for controlling the self vehicle to travel to the target guiding position;
the guiding module is used for calculating and displaying a first distance between the target aircraft and a target berth stopping line in real time so as to conduct berth guiding on a pilot of the target aircraft through the first distance.
A third aspect of an embodiment of the invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the berthing guidance method of an aircraft described above.
A fourth aspect of the embodiments of the present invention provides an unmanned guided vehicle, comprising the computer readable storage medium and a processor, wherein the processor implements the steps of the berthing guidance method of an aircraft described above when executing a computer program on the computer readable storage medium.
The invention provides a berthing guiding method, a berthing guiding device, a berthing guiding medium and an unmanned guiding vehicle, which can flexibly set the guiding position of the unmanned guiding vehicle and the display position of guiding information on the unmanned guiding vehicle according to the airport layout situation, can help a pilot to more accurately park the aircraft on a corresponding stop line of a stand, and has smaller requirements on the airport layout and wider application range; meanwhile, the unmanned guide vehicle can leave or execute the next task after the guide task is completed, so that the occupied space of fixed equipment on an airport is reduced, and the airport utilization rate is improved.
Drawings
Fig. 1 is a schematic flow chart of a berth guiding method of an aircraft according to embodiment 1 of the present invention;
fig. 2 is a schematic view of berthing of an aircraft with a target guiding position in front of the berthing guiding method according to embodiment 1 of the present invention;
fig. 3 is a schematic view of berthing of an aircraft with a target guiding position on the right left side in the berthing guiding method according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a berth guiding device of an aircraft according to embodiment 2 of the present invention;
fig. 5 is a circuit configuration diagram of a controller in an unmanned guided vehicle according to embodiment 3 of the present invention.
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 device 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 device, or 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.
The unmanned guided vehicle of the embodiment of the invention generally comprises a vehicle body, a movement device, a sensor, a roof display screen and a controller. The sensor unit is used for collecting some motion parameters of the unmanned guided vehicle and various data of the environmental space. In some embodiments, the sensor unit includes at least one lidar mounted to various portions of the body of the guided vehicle for detecting an obstacle distance between the guided vehicle and the obstacle so as to avoid various obstacles during traveling. In this embodiment, the laser radar is further used to scan the aircraft during berthing guidance of the aircraft, so as to obtain laser point cloud information of the front wheel of the aircraft, for example, and laser point cloud information of the whole aircraft. In the preferred embodiment, a plurality of laser radars can be arranged on the body of the unmanned guided vehicle, so that data acquired by the plurality of laser radars are fused, and a more prepared distance detection result is obtained. In some embodiments, the sensor unit may also include an inertial measurement unit, a gyroscope, a magnetic field meter, an accelerometer or speedometer, an optical camera, and the like.
The controller is electrically connected with the motion device, the sensor, the display screen and the like respectively. The controller is used as a control core of the unmanned guided vehicle and is used for controlling the unmanned guided vehicle to walk, retreat and some business logic processes. In some embodiments, the controller may be a general purpose processor, a Digital Signal Processor (DSP), an application specific integrated circuit (AS ic), a Field Programmable Gate Array (FPGA), a single chip, AR (AcornR I SCMach I ne) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the controller may be any conventional processor, controller, microcontroller, or state machine. A controller may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP and/or any other such configuration.
Referring to fig. 1, a schematic flow chart of a berth guiding method of an aircraft is provided in embodiment 1 of the present invention, which is applied to a ground taxi guiding vehicle of an unmanned aircraft, and is referred to as an unmanned guiding vehicle for short, as shown in fig. 1, and the method includes the following steps:
step 1, an unmanned guided vehicle acquires berth information corresponding to a target aircraft, wherein the berth information comprises an aircraft model, a target stand number, a target berth stop line number and the like. Specifically, each flight is assigned a stand after entering the port according to the aircraft model, airport schedule, etc. In a preferred embodiment, the vehicle dispatch management platform assigns aircraft guidance tasks to each idle unmanned guided vehicle based on the task status, self status (e.g., continuous on time, power, etc.) of all unmanned guided vehicles in the current airport. At this time, the unmanned guided vehicle can communicate with an upper system of an airport, such as an A-SMGCS system for tower control, an ORMS system and an FI MS system for airport command, a vehicle dispatching management platform and the like under the action of a vehicle road cloud cooperative system, so as to obtain a target stand number, a target aircraft number, a model number, a target berth stop line number and the like of a target stand to be berthed. In a preferred embodiment, one stand is parked for more than one model of aircraft, so that a plurality of berthing lines may be provided per stand, one for each model of aircraft.
And then executing step 2, the unmanned guided vehicle acquires an environment image of the target stand and generates a target guiding position corresponding to the target aircraft according to the berth information and the environment image. The advantage of this embodiment is based on unmanned guiding vehicle position flexible changeable characteristics to the guiding position of aircraft is set up in a flexible way to the overall arrangement condition of different airports or the different states of use of same airport, even weather condition, thereby obtains the berth guiding effect that is widely suitable for.
In a preferred embodiment, the step 2 of obtaining an environmental image of the target stand, and generating the target guiding position corresponding to the target aircraft according to the berth information and the environmental image specifically includes the following steps:
step 201, an unmanned guided vehicle acquires an environment image of the target stand through an upper system. The upper system collects an environment image of the target stand by a site sensor or other image collection device arranged at a corresponding position in the airport, and then remotely transmits the environment image to the unmanned guided vehicle.
In step 202, the unmanned guided vehicle performs recognition analysis on the environmental image, and generates site characteristic parameters of the target stand, such as available space size in front of, on the left side of, on the right side of and/or behind the target stand, and the like.
And 203, generating a target guiding position corresponding to the target aircraft by the unmanned guiding vehicle according to the site characteristic parameters and the berth information. In a preferred embodiment, the method specifically comprises the following steps:
step 2031, determining that the target stand is a far stand or a near stand according to the berth information, and obtaining a corresponding preset position scheme according to the determination result.
Step 2032, generating a plurality of primary selected guiding positions arranged right in front of, left of and/or left of the target berth stopping line according to the preset position scheme. In a specific embodiment, different or the same guiding position setting schemes may be set for the far-range or the near-range, for example, for the far-range, a plurality of primary guiding positions may be set at different distances right in front of the target berth stop line and/or a plurality of primary guiding positions may be set at different distances right left, left front and left rear of the target berth stop line. For the near-range position, namely the corridor bridge position, because the space right in front is smaller, a plurality of primary selection guiding positions can be arranged at different distances only right left, left front and left back of the target berth stopping line.
Then, step 2033 is executed to delete the primary selected guiding positions not matched with the site characteristic parameters, that is, the primary selected guiding positions which are judged to have no space clearly according to the site characteristic parameters and can park the unmanned guiding vehicle from all the primary selected guiding positions with different distances right in front of, right left of, left of and left of the stop line of the target berth, so as to generate the preferred guiding positions.
Then, step 2034 is executed, where a score of each preferred guiding position is generated according to the display effect of the first distance, and the preferred guiding position with the highest score is selected as the target guiding position corresponding to the target aircraft. The display effect can be measured according to the setting angle, the height, the display definition and the like of the display screen. For example, a display screen for displaying the first distance is arranged on the roof of the unmanned guided vehicle, and if the display angle of the display screen cannot be adjusted and only the front and rear sides can display the first distance information, the score of the preferable guiding position right in front is higher. If the display screen can be displayed on four sides, the score of the preferable guiding position right in front and right in side is higher. If the display angle of the display screen can be adjusted, the score can be preset for the preferred guiding positions in different directions according to the display effect of each angle.
In step 2034 of another preferred embodiment, a score adjustment step is further included, specifically: and the unmanned guiding vehicle acquires the current visibility of the airport, if the current visibility is smaller than a preset value, the score of each preferred guiding position is adjusted according to the current visibility, and the target guiding position is generated according to the adjusted score. For example, when using a remote berth, there is a preferred guidance position C1 immediately in front of the target berth stop line, scoring A1; there is one preferred guidance position C2 on the positive side, scored as A2. Wherein the C1 is relatively far from the target berth stopping line, but because the formula for calculating the first distance is simpler, the calculation speed is faster, and the information directly in front of the aircraft driver is more intuitive and convenient, the score A1 of the C1 position is set to be larger than the score of the C2 position in the conventional case, and berth guidance is generally performed directly in front. However, when the visibility of the airport in foggy weather is low, the driver has difficulty in quickly acquiring the first distance information as the distance is further. At this time, the scores of A1 and A2 may be adjusted, for example, a score may be compensated for A2 to be larger than A1, so that the aircraft may be parked to the target stop line by the positive side guidance.
In a preferred embodiment, a schematic representation of the berth with the target guiding position located directly in front of the target berth stopping line is shown in fig. 2. After an unmanned guiding vehicle acquires a guiding task and a target guiding position, a controller of the unmanned guiding vehicle can adopt a preset port entering guiding process to guide a target aircraft to the preset position and then immediately drive the target aircraft to the target guiding position, so that berth guiding of the aircraft is completed. In another preferred embodiment, when a corresponding unmanned guiding vehicle executing the preset port entry guiding process fails or has insufficient electric quantity, a berth guiding command may be issued to another idle unmanned guiding vehicle, and the idle unmanned guiding vehicle travels to the target guiding position according to the berth guiding command and according to a moving path from the current position to the target guiding position, thereby completing a berth guiding task. Specifically, in this embodiment, calculating the first distance between the target aircraft and the target berth stop line is specifically:
step 401, performing laser scanning on a target aircraft at the rear in real time through at least one first laser radar arranged on an unmanned guide vehicle, and acquiring a basic distance between the unmanned guide vehicle and the forefront position of the target aircraft according to a scanning result;
step 402, inquiring a preset corresponding relation table, and generating front wheel position information of the target aircraft according to the aircraft model;
step 403, calculating the distance between the unmanned guided vehicle and the front wheel of the target aircraft according to the front wheel position information and the basic distance, and using the distance as a third distance d between the unmanned guided vehicle and the target aircraft a ；
Step 404, obtaining a second distance d between the target guiding position and the target berth stop line p According to the third distance d a And a second distance d p Calculating a first distance d between the target aircraft and the target berth stop line, wherein a calculation formula is that the first distance d=a third distance d a -a second distance d p 。
The preferred embodiment further comprises the step of error calibrating the first distance d between the target aircraft and the target stand. Specifically, after the first distance is calculated in the steps 401-404 for each model, the actual distance between the front wheel of the target aircraft and the target stand is measured manually, so as to obtain the calibration error corresponding to each model. And then, when berthing is conducted, obtaining a corresponding calibration error according to the actual model of the to-be-berthed, and carrying out error compensation on the calculated first distance d through the calibration error, so that the aircraft can stay at the optimal position when berthing is conducted each time.
In another preferred embodiment, a schematic representation of the berth with the target guiding position located directly to the left of the target berth stop line is shown in fig. 3. At this time, the first distance between the target aircraft and the target berth stop line is calculated specifically as follows:
step 406, performing laser scanning on the target aircraft on the side in real time through at least one second laser radar arranged on the unmanned guided vehicle, and generating laser point cloud data of the target aircraft;
step 407, generating a clustering image corresponding to the front wheel of the target aircraft from the laser point cloud data by a preset clustering method;
step 408, generating front wheel coordinates (Xa, ya) of the target aircraft in the airport global coordinate system based on the clustered images and the position and direction of the unmanned guided vehicle in the airport global coordinate system;
step 409, calculating a first distance d between the target aircraft and the target berth stop line according to the front wheel coordinates (Xa, ya) of the target aircraft and preset coordinates (Xp, yp) of the target berth stop line in an airport global coordinate system, where the calculation formula is as follows:
in other embodiments, the first distance may be calculated by using the methods 406-409 and the berthing guidance may be performed on the aircraft by the first distance when the target stand is located at the left front side or the left rear side of the target berthing stop line.
The embodiment provides the berth guiding method of the aircraft, which can flexibly set the guiding position of the unmanned guiding vehicle and the display position of the guiding information on the unmanned guiding vehicle according to the airport layout condition, can help a pilot to more accurately park the aircraft on the corresponding stop line of the stand, has smaller requirements on the airport layout and has wider application range; meanwhile, the unmanned guide vehicle can leave or execute the next task after the guide task is completed, so that the occupied space of fixed equipment on an airport is reduced, and the airport utilization rate is improved.
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 embodiment of the present invention, the embodiment of the present invention further provides a berth guiding device of an aircraft. The berthing guiding device of the aircraft may be a software module, where the software module includes several instructions, which are stored in a memory, and the processor may access the memory and call the instructions to execute, so as to complete the berthing guiding method of the aircraft set forth in the foregoing embodiments.
In some embodiments, the berthing guidance device of the aircraft may also be built by hardware devices, for example, the berthing guidance device of the aircraft may be built by one or more than two chips, and the chips may work in coordination with each other to complete the berthing guidance method of the aircraft described in the above embodiments. As another example, the berth guiding device of an aircraft 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 microprocessors, ARM (AcornRISCMachine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.
Fig. 4 is a schematic structural view of a berthing guiding device of an aircraft according to embodiment 2 of the present invention, and as shown in fig. 4, includes an acquisition module 100, a guiding position generation module 200, a control module 300 and a guiding module 400,
the acquiring module 100 is configured to acquire berth information of a target aircraft, where the berth information includes an aircraft model number, a target stand number, and a target berth stop line number;
the guiding position generating module 200 is configured to obtain an environmental image of the target stand, and generate a target guiding position corresponding to the target aircraft according to the berth information and the environmental image;
the control module 300 is configured to control the own vehicle to travel to the target guiding position;
the guiding module 400 is configured to calculate and display, in real time, a first distance between the target aircraft and a target berth stop line, so as to perform berthing guiding on a pilot of the target aircraft through the first distance.
In a preferred embodiment, the guiding position generation module 200 specifically includes:
an image acquisition unit 201, configured to acquire an environmental image of the target stand through an upper system;
an analysis and identification unit 202, configured to perform identification and analysis on the environmental image, and generate a site feature parameter of the target stand;
and the guiding position generating unit 203 is configured to generate a target guiding position corresponding to the target aircraft according to the site feature parameter and the berth information.
In another preferred embodiment, the guiding position generating unit 203 specifically includes:
a determining unit 2031, configured to determine that the target stand is a far stand or a near stand according to the berth information, and obtain a corresponding preset position scheme according to a determination result;
a generating unit 2032 for generating a plurality of preliminary selection guide positions provided right in front of, left in front of, and/or left behind the target berth stop line according to the preset position scheme;
a first screening unit 2033, configured to delete a primary selected guiding location that does not match the site feature parameter, and generate a preferred guiding location;
the second screening unit 2034 is configured to generate a score of each preferred guidance position according to the display effect of the first distance, and select a preferred guidance position with the highest score as a target guidance position corresponding to the target aircraft.
In another preferred embodiment, the method further includes a score adjustment unit 2035, configured to obtain a current visibility of the airport, and if the current visibility is smaller than a preset value, adjust a score of each preferred guiding location according to the current visibility, and generate a target guiding location according to the adjusted score.
In another preferred embodiment, the guiding module 400 specifically includes:
a first obtaining unit 401, configured to perform laser scanning on a target aircraft at the rear in real time by using at least one first laser radar disposed on an unmanned guiding vehicle, and obtain a basic distance between the unmanned guiding vehicle and a forefront position of the target aircraft according to a scanning result;
a second obtaining unit 402, configured to query a preset correspondence table, and generate front wheel position information of the target aircraft according to the aircraft model;
a first calculating unit 403, configured to calculate a distance between the guided vehicle and a front wheel of a target aircraft according to the front wheel position information and the base distance, and serve as a third distance d between the guided vehicle and the target aircraft a ；
A second calculation unit for obtaining a second distance d between the target guiding position and the target berth stop line p According to the third distance d a And a second distance d p Calculating a first distance d between the target aircraft and the target berth stop line, wherein a calculation formula is that the first distance d=a third distance d a -a second distance d p 。
In another preferred embodiment, the guiding module 400 further comprises:
a scanning unit 406, configured to generate laser point cloud data of a target aircraft by performing laser scanning on the target aircraft on a side of the target aircraft in real time through at least one second laser radar disposed on the unmanned guided vehicle;
a clustering unit 407, configured to generate a clustered image corresponding to a front wheel of the target aircraft from the laser point cloud data by using a preset clustering method;
a third calculation unit 408 for generating front wheel coordinates (Xa, ya) of the target aircraft in the airport global coordinate system based on the clustered images and the position and orientation of the unmanned guided vehicle in the airport global coordinate system;
a fourth calculating unit 409, configured to calculate a first distance d between the target aircraft and the target berth stop line according to a front wheel coordinate (Xa, ya) of the target aircraft and a preset coordinate (Xp, yp) of the target berth stop line, where a calculation formula is:
the embodiment provides the berth guiding device of the aircraft, which can flexibly set the guiding position of the unmanned guiding vehicle and the display position of the guiding information on the unmanned guiding vehicle according to the airport layout condition, can help a pilot to more accurately park the aircraft on the corresponding stop line of the stand, has smaller requirements on the airport layout and has wider application range; meanwhile, the unmanned guide vehicle can leave or execute the next task after the guide task is completed, so that the occupied space of fixed equipment on an airport is reduced, and the airport utilization rate is improved.
It should be noted that, the berth guiding device of the aircraft can execute the berth guiding method of the aircraft 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 embodiments of the berthing guidance device for an aircraft can be seen in the berthing guidance method for an aircraft provided by the embodiments of the present invention.
Fig. 5 is a schematic circuit diagram of a controller in an unmanned guided vehicle according to an embodiment of the present invention. As shown in fig. 5, the controller 600 includes one or more processors 61 and a memory 62. One processor 61 is taken as an example in fig. 5.
The processor 61 and the memory 62 may be connected by a bus or otherwise, for example in fig. 5.
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 berth guiding method of an aircraft in an embodiment of the invention. The processor 61 executes various functional applications and data processing of the berth guiding device of the aircraft by running non-volatile software programs, instructions and modules stored in the memory 62, i.e. implements the berth guiding method of the aircraft provided by the above method embodiments and the functions of the various modules or units of the above device 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 berthing guidance method of an aircraft in any of the method embodiments described above.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer executable instructions for execution by one or more processors, such as the one processor 61 of fig. 5, to cause the one or more processors to perform the berth guidance method of an aircraft in any of the method embodiments described above.
Embodiments of the present invention also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by an electronic device, cause the electronic device to perform the berth guidance method of an aircraft of any of the above.
The above-described embodiments of the apparatus or device 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 for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in 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 described above, which are not provided in detail 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 (8)
1. The berth guiding method of the aircraft is applied to the unmanned guided vehicle and is characterized in that a plurality of berth stopping lines are arranged on each berth, and each berth stopping line corresponds to one type of aircraft and comprises the following steps:
step 1, acquiring berth information of a target aircraft, wherein the berth information comprises an aircraft model, a target stand number and a target berth stop line number;
step 2, acquiring an environment image of the target stand, carrying out recognition analysis on the environment image, generating a site characteristic parameter of the target stand, and generating a target guiding position corresponding to the target aircraft according to the site characteristic parameter and the berth information;
step 3, controlling the self vehicle to travel to the target guiding position;
step 4, calculating and displaying a first distance between the target aircraft and a target berth stop line in real time so as to conduct berth guidance on a pilot of the target aircraft through the first distance;
generating a target guiding position corresponding to a target aircraft according to the site characteristic parameters and the berth information, wherein the target guiding position comprises the following specific steps:
step 2031, judging whether the target stand is a far stand or a near stand according to the berth information, and acquiring a corresponding preset position scheme according to a judging result;
step 2032, generating a plurality of primary selection guiding positions arranged right in front of, on the left side of, on the front left side of and/or on the rear left side of the target berth stopping line according to the preset position scheme;
step 2033, deleting the primary selected guiding position which is not matched with the site characteristic parameter, and generating a preferred guiding position;
step 2034, generating a score of each preferred guiding position according to the display effect of the first distance, and selecting the preferred guiding position with the highest score as the target guiding position corresponding to the target aircraft.
2. The berth guiding method of an aircraft according to claim 1, wherein in step 4, the first distance is displayed by a display screen arranged at a roof position of the unmanned guided vehicle, and the display position, the display angle and/or the display height of the display screen of the first distance are generated according to the target guiding position.
3. The berthing guidance method of aircraft according to claim 1 or 2, further comprising a score adjustment step, in particular: and acquiring the current visibility of the airport, if the current visibility is smaller than a preset value, adjusting the score of each preferred guiding position according to the current visibility, and generating a target guiding position according to the adjusted score.
4. The berthing guidance method of aircraft according to claim 1 or 2, wherein when the target aircraft is located directly in front of a target berthing stop line, calculating the first distance of the target aircraft from the target berthing stop line is specifically:
step 401, performing laser scanning on a target aircraft at the rear in real time through at least one first laser radar arranged on an unmanned guide vehicle, and acquiring a basic distance between the unmanned guide vehicle and the forefront position of the target aircraft according to a scanning result;
step 402, inquiring a preset corresponding relation table, and generating front wheel position information of the target aircraft according to the aircraft model;
step 403, calculating the distance between the unmanned guided vehicle and the front wheel of the target aircraft according to the front wheel position information and the basic distance, and using the distance as a third distance d between the unmanned guided vehicle and the target aircraft a ；
Step 404, obtaining a second distance d between the target guiding position and the target berth stop line p According to the third distance d a And (d)Two distances d p Calculating a first distance d between the target aircraft and the target berth stop line, wherein a calculation formula is that the first distance d=a third distance d a -a second distance d p 。
5. The berthing guidance method of aircraft according to claim 1 or 2, wherein when the target aircraft is located on the right left, front left or rear left side of a target berthing stop line, calculating the first distance of the target aircraft from the target berthing stop line is specifically:
step 406, performing laser scanning on the target aircraft on the side in real time through at least one second laser radar arranged on the unmanned guided vehicle, and generating laser point cloud data of the target aircraft;
step 407, generating a clustering image corresponding to the front wheel of the target aircraft from the laser point cloud data by a preset clustering method;
step 408, generating front wheel coordinates (Xa, ya) of the target aircraft in the airport global coordinate system based on the clustered images and the position and direction of the unmanned guided vehicle in the airport global coordinate system;
step 409, calculating a first distance d between the target aircraft and the target berth stop line according to the front wheel coordinates (Xa, ya) of the target aircraft and the preset coordinates (Xp, yp) of the target berth stop line, where the calculation formula is as follows:
。
6. a berthing guidance arrangement for an aircraft, based on a berthing guidance method according to any of claims 1-5, characterized in that it comprises an acquisition module, a guidance position generation module, a control module and a guidance module,
the acquisition module is used for acquiring berth information of the target aircraft, wherein the berth information comprises an aircraft model, a target stand number and a target berth stop line number;
the guiding position generation module is used for acquiring an environment image of the target stand, carrying out recognition analysis on the environment image, generating a site characteristic parameter of the target stand, and generating a target guiding position corresponding to the target aircraft according to the site characteristic parameter and the berth information;
the control module is used for controlling the self vehicle to travel to the target guiding position;
the guiding module is used for calculating and displaying a first distance between the target aircraft and a target berth stop line in real time so as to conduct berth guiding on a pilot of the target aircraft through the first distance;
the guiding position generating module comprises a guiding position generating unit, and the guiding position generating unit specifically comprises:
the judging unit is used for judging whether the target stand is a far stand or a near stand according to the berth information, and acquiring a corresponding preset position scheme according to a judging result;
a generating unit for generating a plurality of primary selection guiding positions arranged right in front of, left side of, left front side of and/or left rear side of the target berth stopping line according to the preset position scheme;
the first screening unit is used for deleting the primary selected guiding position which is not matched with the site characteristic parameters and generating a preferred guiding position;
and the second screening unit is used for generating a score of each preferable guiding position according to the display effect of the first distance and selecting the preferable guiding position with the highest score as the target guiding position corresponding to the target aircraft.
7. A computer-readable storage medium, characterized in that a computer program is stored, which computer program, when being executed by a processor, implements the berthing guidance method of an aircraft according to any of claims 1-5.
8. An unmanned guided vehicle comprising the computer readable storage medium of claim 7 and a processor that when executing a computer program on the computer readable storage medium performs the steps of the berthing guidance method of an aircraft of any of claims 1-5.
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