CN116954109A - Parallel steering system of aircraft tractor - Google Patents
Parallel steering system of aircraft tractor Download PDFInfo
- Publication number
- CN116954109A CN116954109A CN202210588651.1A CN202210588651A CN116954109A CN 116954109 A CN116954109 A CN 116954109A CN 202210588651 A CN202210588651 A CN 202210588651A CN 116954109 A CN116954109 A CN 116954109A
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- Prior art keywords
- vehicle
- module
- aircraft
- mounted terminal
- aircraft tractor
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- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 238000004458 analytical method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
- B64F1/228—Vehicles specially adapted therefor, e.g. aircraft tow tractors remotely controlled; operating autonomously
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of parallel steering, in particular to an aircraft tractor parallel steering system, which aims at the problems that in the prior art, the requirements of tractor steering on the experience of a driver are high, and a large part of a towed aircraft or the aircraft is easy to rub with other environmental facilities, and provides the following scheme that: the vehicle body is provided with a vehicle-mounted terminal on the inner side; the external environment monitoring system is arranged on the vehicle body, is used for monitoring the external environment of the vehicle, and is electrically connected with the vehicle-mounted terminal through a wire. The invention has reasonable layout and simple operation, not only scans and detects obstacles around the vehicle in the movement process of the tractor and finely adjusts the movement state in real time, but also corrects the movement tracks of a plurality of tractors in real time through the cloud so as to ensure that the tractors drag large parts of the aircraft or the aircraft to safely move, and is easy to popularize and use.
Description
Technical Field
The invention relates to the field of parallel driving, in particular to a parallel driving system of an aircraft tractor.
Background
The aircraft tractor is a guarantee device for towing an aircraft on the ground of an airport, and can be used for moving large parts of the aircraft or the aircraft in the aircraft manufacturing process. Along with the continuous development of science and technology, the end of parallel driving of automobiles is more and more mature, and the parallel driving is to analyze the running and behavior data of a plurality of vehicles, so as to efficiently and accurately predict the running track of each vehicle, and to guide the safe and efficient driving of physical vehicles through real-time interaction of vehicle information.
When the aircraft tractor in the airport in the prior art is used, a pilot often drives the aircraft or the large part of the aircraft to pull and move, the large part of the aircraft or the volume of the aircraft far exceeds the volume of the tractor body, the pilot needs to consider the multi-azimuth environmental influence in the traction and movement process, especially the judgment of the visual field blind area environment, the experience requirement on the pilot is higher, and the slightly inadvertant can lead to the collision of the large part of the aircraft or the aircraft pulled by the tractor with environmental facilities.
Disclosure of Invention
The parallel steering system of the aircraft tractor solves the problems that in the prior art, the steering of the tractor has high requirements on the experience of a driver, and large parts of the aircraft to be towed or the aircraft is easy to rub against other environmental facilities.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an aircraft tractor parallel steering system comprising:
the vehicle body is provided with a vehicle-mounted terminal on the inner side;
the external environment monitoring system is arranged on the vehicle body, is used for monitoring the external environment of the vehicle and is electrically connected with the vehicle-mounted terminal through a wire;
a vehicle motion control system mounted on the vehicle body for controlling the vehicle to move along a set trajectory;
the cloud control system is used for receiving signals sent by the vehicle-mounted terminal and remotely controlling the vehicle; and
the communication transmission device is used for establishing information interaction between the plurality of vehicle-mounted terminals and the cloud control system, so that data transmission delay is reduced;
the data signals sent by the vehicle-mounted terminal are fed back to the cloud control system through the communication transmission device, and the control signals sent by the cloud control system are transmitted to the vehicle-mounted terminal through the communication transmission device to remotely control the vehicle.
Preferably, the vehicle-mounted terminal is C-V2X.
Preferably, the external environment monitoring system comprises four video acquisition devices, eight radar detection devices, a video data encoder, a detection data encoder and a road side computing unit, wherein four video acquisition devices are connected with the road side computing unit through the video data encoder, eight radar detection devices are connected with the road side computing unit through the detection data encoder, and the computing unit is connected with the vehicle-mounted terminal.
Preferably, the four video acquisition devices are all miniature infrared cameras with a waterproof function, and the four miniature cameras are all installed on a vehicle body and used for monitoring road peripheral conditions of the left front, the right front, the left rear and the right rear of the vehicle respectively, and the monitored video files are transmitted to the road side computing unit after being encoded by the video data encoder.
Preferably, the eight radar detection devices are all ultrasonic radars, and the eight radar detection devices are all installed on the outer wall of the vehicle body and used for detecting objects around the vehicle body, and the detected data files formed after detection are transmitted to the roadside computing unit after being compressed and encoded by the detected data encoder.
Preferably, the vehicle motion control system comprises a vehicle control module, a navigation module, a GPS, a fault monitoring module, a steering module, a power module and a braking module, wherein the navigation module, the GPS and the fault monitoring module are all connected with a vehicle-mounted terminal, and the steering module, the power module and the braking module are all connected with the vehicle control module.
Preferably, the cloud control system comprises a server, a control host and an operator, wherein the control host is provided with a display and a control panel, and the control host is electrically connected with the server through a data line.
Preferably, the data transmission of the communication transmission device is based on a 5G communication technology, which comprises 5G base stations, and the number of the 5G base stations is at least one.
The invention has the beneficial effects that:
1. the method comprises the steps of carrying out detection scanning on the surrounding environment of the tractor in the moving process of the tractor through the mutual matching of a plurality of video acquisition devices, a plurality of radar detection devices, a road side computing unit, a vehicle-mounted terminal, a vehicle motion control system and the like, uploading the detection scanning to the road side computing unit, carrying out calculation analysis on the environmental factors which possibly interfere the next motion of the tractor in the surrounding environment of the tractor through the detection scanning files of the road side computing unit, carrying out accurate analysis on the environmental factors which possibly interfere the next motion of the tractor, correcting the vehicle motion state in real time through the vehicle motion control system, avoiding barriers affecting the motion of the tractor, and ensuring the normal motion of the tractor.
2. The cloud control system is convenient to receive information sent by the vehicle-mounted terminals of a plurality of vehicles in real time, and sends track correction instructions to vehicles needing to correct the motion tracks in real time so as to coordinate safe motions of a plurality of tractors.
The invention has reasonable layout and simple operation, not only scans and detects obstacles around the vehicle in the movement process of the tractor and finely adjusts the movement state in real time, but also corrects the movement tracks of a plurality of tractors in real time through the cloud so as to ensure that the tractors drag large parts of the aircraft or the aircraft to safely move, and is easy to popularize and use.
Drawings
Fig. 1 is a schematic view of a main frame structure of the present invention.
Fig. 2 is a main frame structure diagram of the external environment monitoring system according to the present invention.
Fig. 3 is a main frame structure diagram of the vehicle motion control system of the present invention.
Fig. 4 is a main frame structure diagram of the cloud control system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-4, an aircraft tractor parallel steering system comprising: the vehicle body is provided with a vehicle-mounted terminal, and the model of the vehicle-mounted terminal is C-V2X.
The external environment monitoring system comprises four video acquisition devices, eight radar detection devices, a video data encoder, a detection data encoder and a road side computing unit, wherein the output ends of the four video acquisition devices are electrically connected with the input end of the video data encoder through data wires, the output end of the data encoder is electrically connected with the input end of the road side computing unit through data wires, and the output end of the road side computing unit is electrically connected with the input end of the vehicle-mounted terminal through data wires so as to reduce signal transmission delay.
The four video acquisition devices are all miniature infrared cameras with a waterproof function, the four miniature cameras are all installed on a vehicle body and are used for monitoring road peripheral conditions of the left front, the right front, the left rear and the right rear of the vehicle respectively, monitored video files are transmitted to a road side computing unit after being encoded by a video data encoder, and after the road side computing unit analyzes video data, the analyzed results and the video data are transmitted to the vehicle-mounted terminal in real time.
The eight radar detection devices are all ultrasonic radars and are all arranged on the outer wall of the vehicle body and used for detecting objects around the vehicle body, a detection data file formed after detection is compressed and encoded by the detection data encoder and then is transmitted to the road side computing unit, and the road side computing unit analyzes the data detected by the radars and then transmits the analysis result and the detection data to the vehicle-mounted terminal in real time.
The vehicle motion control system is arranged on a vehicle body and used for controlling the vehicle to move along a set track, the vehicle motion control system comprises a vehicle control module, a navigation module, a GPS and a fault monitoring module, the vehicle control module, the navigation module, the GPS and the fault monitoring module are electrically connected with a vehicle-mounted terminal through data lines, the vehicle control module comprises a steering module, a power module and a braking module, the vehicle-mounted terminal receives analysis data, video data and detection data from a road side computing unit and analyzes the analysis data, the video data and the detection data in real time, then sends an instruction pair to the vehicle control module to control the movement speed and the movement direction of the vehicle to correct so as to finely adjust the movement state of the vehicle body, and the GPS, the navigation module and the fault monitoring module arranged in the vehicle upload the vehicle position, the movement track of the vehicle and the state of the vehicle to the vehicle-mounted terminal in real time.
The cloud control system comprises a server, a control host and an operator, wherein the control host is provided with a display and a control panel, the control host is electrically connected with the server through a data line, the server receives and stores video data, radar detection data, vehicle positions, motion tracks of vehicles and vehicle self-state data transmitted by a vehicle-mounted terminal, the received data are displayed on the display in real time, the operator dispatches a tractor by operating the control panel according to actual needs, the control host analyzes the data from different vehicle-mounted terminals and the revised motion tracks, revises the motion tracks of a plurality of vehicles, distributes revised instruction data to different vehicle-mounted terminals, and receives the data in real time and revises the traveling tracks according to the instruction data of the cloud control system.
The communication transmission device is used for data transmission based on a 5G communication technology and comprises 5G base stations, wherein the number of the 5G base stations is at least one, so that information interaction between a plurality of vehicle-mounted terminals and a cloud control system is established, and data transmission delay is reduced.
Working principle: when the vehicle control system is used, the control in the cloud control system dispatches a plurality of tractors according to the requirements, destinations are set for the tractors which need to be used, command data of the cloud control system are transmitted to the vehicle-mounted terminal in real time through the communication transmission device, then the vehicle-mounted terminal sets a motion track of the vehicle on the navigation module, the vehicle control module controls the steering module, the power module and the braking module of the vehicle to enable the vehicle to move according to the preset motion track, in the motion process, the four video acquisition devices and the eight radar detection devices detect the environment around the vehicle to form a data file, the data file is transmitted to the road side computing unit in real time, after the road side computing unit analyzes the received data, the analyzed data and the data file are transmitted to the vehicle-mounted terminal in real time, the vehicle-mounted terminal receives the analyzed data and the data file from the road side computing unit and carries out real-time analysis on the data file, then the command pair is transmitted to the vehicle control module according to the analysis result, the motion speed and the motion direction of the vehicle are controlled, the motion state of the vehicle is corrected, the GPS module and the fault monitoring module is arranged in the vehicle, the vehicle is used for detecting the motion track, the motion track of the vehicle is predicted, the vehicle position, the motion track of the vehicle and the vehicle is carried out the motion state of the vehicle is predicted, and the vehicle motion state of the vehicle can be predicted, and the vehicle motion state of the vehicle can is predicted, and the vehicle motion state is parallel to the vehicle can is predicted, and the vehicle motion state is can is predicted, and the vehicle is safe, and the motion state is safe, and the running is can and the is safe.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. An aircraft tractor parallel steering system, comprising:
the vehicle body is provided with a vehicle-mounted terminal on the inner side;
the external environment monitoring system is arranged on the vehicle body, is used for monitoring the external environment of the vehicle and is electrically connected with the vehicle-mounted terminal through a wire;
a vehicle motion control system mounted on the vehicle body for controlling the vehicle to move along a set trajectory;
the cloud control system is used for receiving signals sent by the vehicle-mounted terminal and remotely controlling the vehicle; and
the communication transmission device is used for establishing information interaction between the plurality of vehicle-mounted terminals and the cloud control system, so that data transmission delay is reduced;
the data signals sent by the vehicle-mounted terminal are fed back to the cloud control system through the communication transmission device, and the control signals sent by the cloud control system are transmitted to the vehicle-mounted terminal through the communication transmission device to remotely control the vehicle.
2. An aircraft tractor parallel steering system according to claim 1, wherein the vehicle terminal model is C-V2X.
3. The aircraft tractor parallel driving system according to claim 1, wherein the external environment monitoring system comprises four video acquisition devices, eight radar detection devices, a video data encoder, a detection data encoder and a road side calculation unit, the four video acquisition devices are all connected with the road side calculation unit through the video data encoder, the eight radar detection devices are all connected with the road side calculation unit through the detection data encoder, and the calculation unit is connected with the vehicle-mounted terminal.
4. The parallel driving system of an aircraft tractor according to claim 3, wherein the four video capturing devices are all miniature infrared cameras with a waterproof function, the four miniature cameras are all mounted on the vehicle body and are used for monitoring road peripheral conditions of the left front, the right front, the left rear and the right rear of the vehicle respectively, and the monitored video files are transmitted to the road side computing unit after being encoded by the video data encoder.
5. A parallel driving system for an aircraft tractor according to claim 3, wherein eight radar detection devices are ultrasonic radars, each of the eight radar detection devices is mounted on an outer wall of the vehicle body for detecting objects around the vehicle body, and the detected data files are compressed and encoded by a detection data encoder and then transmitted to the roadside computing unit.
6. The aircraft tractor parallel driving system of claim 1, wherein the vehicle motion control system includes a vehicle control module, a navigation module, a GPS, a fault monitoring module, a steering module, a power module, and a brake module, wherein the navigation module, the GPS, and the fault monitoring module are all connected to a vehicle terminal, and the steering module, the power module, and the brake module are all connected to the vehicle control module.
7. The parallel driving system of an aircraft tractor according to claim 1, wherein the cloud control system comprises a server, a control host and a controller, wherein the control host is provided with a display and a control panel, and the control host is electrically connected with the server through a data line.
8. An aircraft tractor parallel steering system according to claim 1, wherein the data transmission of the communication transmission means is based on a 5G communication technology comprising 5G base stations, the number of 5G base stations being at least one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210588651.1A CN116954109A (en) | 2022-05-26 | 2022-05-26 | Parallel steering system of aircraft tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210588651.1A CN116954109A (en) | 2022-05-26 | 2022-05-26 | Parallel steering system of aircraft tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116954109A true CN116954109A (en) | 2023-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210588651.1A Pending CN116954109A (en) | 2022-05-26 | 2022-05-26 | Parallel steering system of aircraft tractor |
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| Country | Link |
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| CN (1) | CN116954109A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117218908A (en) * | 2023-09-14 | 2023-12-12 | 中国民航大学 | Guiding system and method for optimizing driving behavior of mopless aircraft tractor |
-
2022
- 2022-05-26 CN CN202210588651.1A patent/CN116954109A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117218908A (en) * | 2023-09-14 | 2023-12-12 | 中国民航大学 | Guiding system and method for optimizing driving behavior of mopless aircraft tractor |
| CN117218908B (en) * | 2023-09-14 | 2024-04-26 | 中国民航大学 | Guiding system and method for optimizing driving behavior of mopless aircraft tractor |
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