CN210364428U - Aircraft berthing guide device - Google Patents

Abstract

The utility model provides an airborne vehicle berths and guides device, this airborne vehicle berths and guides device includes: a first Bluetooth tag disposed at a parking end point of the stand; the laser radar is arranged on any one side of the stand and used for detecting the distance between the aircraft nose of the aircraft and the first Bluetooth tag; and the guiding display screen is arranged on one side of the stand, is in communication connection with the laser radar, and displays the direction towards the coming direction of the aircraft. The aircraft berthing guide device is suitable for various working environments and can accurately guide the berthing of the aircraft.

Description

Aircraft berthing guide device

Technical Field

The utility model belongs to the aviation field, more specifically relates to an airborne vehicle berths and guides device.

Background

In recent years, the civil aviation industry in China is rapidly developed, 235 transport airports are increased in 2018 nationwide, the number of airports with passenger throughput exceeding ten million times reaches 37, the annual passenger throughput of the first airport breaks through one hundred million customs, and the airport becomes the airport with the global passenger throughput exceeding one hundred million times in the second year. Due to the vigorous air transportation demand, the resource scale of transport airports in China is rapidly developed, the reconstruction and extension of runways, taxiways and stands of the airports are increased, the layout structure is increasingly complex, and the resource quantity is increased day by day.

The outstanding problem in the airport terminal is that the number of flights is increased suddenly due to the rapid increase of the flight quantity, the number of flights is ensured to be increased suddenly every day, in the process that the aircraft enters and exits the terminal, the situation that the aircraft is not slid to the terminal designated stop position, the partial structure of the aircraft exceeds the terminal safety red line to cause scratch easily occurs, and the situation that the aircraft cannot be butted with the corridor bridge due to the fact that the aircraft unit does not accurately stop to the terminal designated stop position because the actual position of the aircraft is not grasped easily occurs. Therefore, how to ensure the operation safety and efficiency improvement of the airport under the condition of sudden increase of the flight number is a research subject faced by all large-scale transport airports.

At present, in the aspect of airport landing guiding at home and abroad, a video identification guiding technology arranged right in front of an airport is mainly adopted to guide an airplane to a place, and for the airport where partial airplane layout is limited and detection equipment cannot be installed right in front of the airport landing line, only a manual guiding mode with low efficiency can be adopted; in addition, even if the airplane is installed with the guiding device, if the video technology is adopted for airplane identification, the airplane cannot be accurately identified under the conditions due to the influence of factors such as illumination, weather and the like on the video technology, and the problem of operation safety exists.

Therefore, it is necessary to develop an aircraft berthing guidance device which can be applied to various working environments and can accurately guide the berthing of the aircraft.

The information disclosed in this background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a can be applicable to multiple operational environment, the aircraft that can accurately guide the aircraft to berth guides the device.

In order to achieve the above object, the present invention provides an aircraft berthing guide device, including:

a first Bluetooth tag disposed at a parking end point of the stand;

the laser radar is arranged on any one side of the stand and used for detecting the distance between the aircraft nose of the aircraft and the first Bluetooth tag;

and the guiding display screen is arranged on one side of the stand, is in communication connection with the laser radar, and displays the direction towards the coming direction of the aircraft.

Preferably, still include laser radar mount and slide rail, the slide rail is laid stall position one side, the one end of laser radar mount is provided with laser radar, and the other end is established in the slip on the slide rail.

Preferably, the slide rail includes two parallel arrangement's track, the laser radar mount is the cuboid form, and the bottom is provided with the pulley, the pulley cunning is established in the track.

Preferably, the fixing frame comprises a fixing seat, a fixing rod and a rotary table, the rotary table is arranged at the top of the fixing rod and can rotate relative to the fixing rod, one end of the fixing rod is fixedly connected to the fixing seat, and the fixing seat is slidably arranged on the sliding rail.

Preferably, still include the display screen mounting bracket, the display screen mounting bracket sets up stand one side, it installs to guide the display screen on the display screen mounting bracket.

Preferably, the display screen mounting bracket includes lead wire pole and display screen installation frame, the lead wire pole is the hollow tube, and inside is provided with the lead wire, the one end of lead wire is connected in the setting display screen that guides in the display screen installation frame.

Preferably, a threaded hole and a jackscrew are arranged on a frame of the display screen mounting frame, and the jackscrew penetrates through the threaded hole to abut against the guide display screen.

Preferably, the parking guidance system further comprises an alarm and a second Bluetooth tag, the alarm is arranged on the top of the guidance display screen, the second Bluetooth tag is attached to a parking starting point of the parking space and is in communication connection with the laser radar, and the alarm gives an alarm when an aircraft is parked, the tail of the aircraft does not pass the second Bluetooth tag or the aircraft does not accurately stop to the first Bluetooth tag.

Preferably, the guidance display screen is an LED display screen.

Preferably, the lidar is a three-dimensional lidar.

The invention has the beneficial effects that:

1) the parking stop position of the parking space is calibrated through the first Bluetooth label, the distance of the aircraft relative to the stop position is obtained through the laser radar, and the aircraft is guided by the guiding display screen to slide and accurately park in the parking space.

2) The laser radar is suitable for the working environment with more transmitting quantity and receiving quantity of airport communication signals.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout the exemplary embodiments of the present invention.

Fig. 1 shows a schematic block diagram of an aircraft berthing guidance arrangement according to an embodiment of the present invention.

Fig. 2 shows a lidar detection schematic according to an embodiment of the invention.

Description of reference numerals:

1. a first Bluetooth tag; 2. a second Bluetooth tag; 3. a laser radar; 4. a guidance display screen; 5. a laser radar fixing frame; 6. a slide rail; 7. and (4) stopping the aircraft.

Detailed Description

Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The utility model provides an airborne vehicle berths and guides device, this airborne vehicle berths and guides device includes:

a first Bluetooth tag disposed at a parking end point of the stand;

the laser radar is arranged on any one side of the stand and used for detecting the distance between the aircraft nose of the aircraft and the first Bluetooth tag;

and the guiding display screen is arranged on one side of the stand, is in communication connection with the laser radar, and displays the direction towards the coming direction of the aircraft.

Specifically, learn the aircraft's aircraft nose and the distance of first bluetooth label through laser radar, guide the display screen and guide the aircraft accuracy based on this distance and berth.

Further, the number of the first bluetooth tags arranged in a single stand can be multiple, one stand is divided into multiple stand sections, in the process that the aircraft parks in the stand, the flight scheduling system issues the model type of the aircraft to the aircraft parking guidance device, or the flight scheduling system manually inputs the model type information of the aircraft by a crew, and the first bluetooth tag for exactly stopping the aircraft for reference can be determined based on the model type. Laser radar monitors the aircraft nose and the distance of first bluetooth label, guides the display screen to show this distance information in real time and can guide the aircraft accuracy to berth in the gate. Further, the guidance display screen can also remind the pilot whether the aircraft is parked accurately or not by adopting a relatively striking mark in a traffic light mode.

And further, in the process that the aircraft parks at the stand, the flight scheduling system issues the model type of the aircraft to the aircraft parking guiding device, or the flight crew manually inputs the model type information of the aircraft, the length of the aircraft can be obtained based on the model type, the reasonable parking distance between the aircraft nose and the first Bluetooth label can be determined based on the length, the distance can be a reasonable interval, and the aircraft can be guided to be parked in the reasonable interval of the stop point of the stand by displaying the distance information in real time through the guide display screen.

According to the preferable scheme, the parking device further comprises a laser radar fixing frame and a sliding rail, wherein the sliding rail is laid on one side of the parking position, the laser radar is arranged at one end of the laser radar fixing frame, and the other end of the laser radar fixing frame is arranged on the sliding rail in a sliding mode.

Specifically, the laser radar is arranged on the sliding rail in a sliding mode through the fixing frame, so that the position of the laser radar relative to the parking position is adjustable, the detection surface of the laser radar is convenient to adjust, and the detection surface covers the parking position.

Preferably, the slide rail comprises two parallel rails, the laser radar fixing frame is rectangular, and the bottom of the laser radar fixing frame is provided with a pulley, and the pulley is slidably arranged in the rails.

In particular, the laser radar is fixed more stably through two parallel rails.

Preferably, the fixing frame comprises a fixing seat, a fixing rod and a rotary table, the rotary table is arranged at the top of the fixing rod and can rotate relative to the fixing rod, one end of the fixing rod is fixedly connected to the fixing seat, and the fixing seat is slidably arranged on the sliding rail.

Specifically, the laser radar is arranged on the top or the side wall of the rotary table, and the detection direction of the laser radar can be adjusted through rotation.

As preferred scheme, still include the display screen mounting bracket, the display screen mounting bracket sets up stand one side, it installs to guide the display screen on the display screen mounting bracket.

As preferred scheme, the display screen mounting bracket includes lead wire pole and display screen installation frame, the lead wire pole is the hollow tube, and inside is provided with the lead wire, the one end of lead wire is connected in the setting display screen that guides in the display screen installation frame.

Preferably, a threaded hole and a jackscrew are arranged on a frame of the display screen mounting frame, and the jackscrew penetrates through the threaded hole and abuts against the guide display screen.

Specifically, guide to be provided with the buffer layer between display screen and the display screen installation frame, the buffer layer can be rubber materials.

Particularly, the installation and the disassembly of the display screen are convenient to guide through the arrangement of the display screen installation frame.

Preferably, the parking guidance system further comprises an alarm and a second Bluetooth tag, the alarm is arranged on the top of the guidance display screen, the second Bluetooth tag is attached to a parking starting point of the parking space and is in communication connection with the laser radar, and the alarm gives an alarm when the aircraft is parked, the tail of the aircraft does not pass the second Bluetooth tag or the aircraft does not accurately stop to the first Bluetooth tag.

Specifically, after the laser radar detects that the aircraft is parked completely, the tail of the aircraft still does not pass through the second bluetooth tag or the aircraft does not accurately stop to the first bluetooth tag, it is judged that a scratch danger exists when the aircraft is parked inaccurately, and an alarm gives an alarm.

Preferably, the guide display screen is an LED display screen. The LED display screen has low investment cost and can still accurately display the prompt information in severe weather.

Preferably, the laser radar is a three-dimensional laser radar.

Examples

Fig. 1 shows a schematic block diagram of an aircraft berthing guidance arrangement according to an embodiment of the present invention. Fig. 2 shows a lidar detection schematic according to an embodiment of the invention.

As shown in fig. 1-2, the aircraft berthing guidance apparatus includes:

a first Bluetooth tag 1, wherein the first Bluetooth tag 1 is arranged at a parking termination point of the stand 7;

the laser radar 3 is arranged on any side of the stand 7 and used for detecting the distance between the aircraft nose of the aircraft and the first Bluetooth tag 1;

and the guidance display screen 4 is arranged on one side of the stand 7, is in communication connection with the laser radar 3 and displays the direction of the coming aircraft.

The laser radar fixing device comprises a laser radar fixing frame 5 and a slide rail 6, wherein the slide rail 6 is laid on one side of the parking space 7, one end of the laser radar fixing frame 5 is provided with the laser radar 3, and the other end of the laser radar fixing frame is arranged on the slide rail 6 in a sliding manner;

a display screen mounting bracket (not shown) provided at a side of the stand 7, on which the guide display screen is mounted;

the alarm device is arranged on the top of the guide display screen 4, the second Bluetooth tag 2 is attached to a parking starting point of the parking space and is in communication connection with the laser radar 3, and when the aircraft is parked, the tail of the aircraft does not cross the second Bluetooth tag or the aircraft does not accurately stop to the first Bluetooth tag, the alarm device gives an alarm.

The sliding rail 6 comprises two rails arranged in parallel, the fixing frame of the laser radar 3 is cuboid, and pulleys are arranged at the bottom of the fixing frame and are arranged in the rails in a sliding mode.

The fixing frame comprises a fixing seat, a fixing rod and a rotary table, the rotary table is arranged at the top of the fixing rod and can rotate relative to the fixing rod, one end of the fixing rod is fixedly connected to the fixing seat, and the fixing seat is arranged on the sliding rail in a sliding mode.

Wherein, the display screen mounting bracket includes lead wire pole and display screen installation frame, the lead wire pole is the hollow tube, and inside is provided with the lead wire, the one end of lead wire is connected in the setting display screen 4 that guides in the display screen installation frame.

The frame of display screen installation frame is provided with screw hole and jackscrew, the jackscrew passes the screw hole supports and leans on guide display screen 4 is last.

Wherein, the guide display screen 4 is an LED display screen.

Wherein the laser radar 3 is a three-dimensional laser radar.

In the embodiment, a detection technology is adopted, a reasonable installation position is selected by self-definition, the aircraft moving on the stand is dynamically and accurately identified, and the aircraft is accurately guided to the specified position according to the established reference object, so that the condition that other aircraft slide or normal guarantee operation is influenced because the aircraft does not stop in place is avoided.

Specifically, the accurate guide technique in position mainly relates to two devices: firstly, the method comprises the following steps: the device is not limited by physical positions, can be flexibly arranged according to actual conditions on site, can be arranged in a forward or lateral mode, is not influenced by external factors such as special weather and the like, and realizes all-weather all-time airplane detection; secondly, the method comprises the following steps: and the display screen is used for providing a taxi prompt for the flight unit, and can guide the flight unit to stop the airplane to an accurate position according to the distance of the airplane from the designated stop point by dynamically displaying.

Therefore, the present embodiment aims to provide a technology for guiding a side-mounted aircraft, which cannot affect all relevant navigation or airborne equipment communication in the civil aviation industry by type selection; secondly, the technical device can break through the limitation that the prior art can only be set in the forward direction, realizes the breakthrough of side setting except for the forward setting, has more flexible setting position, is suitable for all areas with limited layout, improves the universality level of the guiding technology, and is not influenced by other external factors such as severe weather and the like.

Therefore, the method needs to develop a matched technical scheme and establish a matched technical implementation process.

According to a route flow chart of a side-mounted aircraft guiding technology, the method mainly comprises the steps of selecting an available technology to accurately identify the position of an aircraft; the position of an aircraft entering a designated area is accurately identified and guidance is provided to stop it to the exact position. Because the guiding technology of the machine position side at home and abroad is still blank, the invention realizes the following breakthroughs:

firstly, technologies which do not interfere with the use of civil aviation equipment are selected, and the technologies for accurately judging the aircraft position and identifying the aircraft position at present mainly include three types: contact, inductive and video surveillance. The contact type technology mainly comprises a ground induction coil and a fiber grating, and has the defects of road surface damage, large one-time investment and influence on the road surface tolerance; the induction type technology comprises a Doppler radar, laser detection and an infrared light curtain, and the main problem is that navigation or airborne signals can be interfered, and technical model selection feasibility assessment is required; the video monitoring technology comprises high-definition monitoring, thermal imaging monitoring and infrared light supplement monitoring, the high-definition monitoring and the infrared light supplement are easily influenced by backlight and night illumination, the video monitoring and the infrared light supplement are very easy to lose effectiveness under special weather, and the thermal imaging technology is not influenced by the illumination and the weather.

And fully evaluating the feasible technology selection according to civil aviation regulations and industrial regulations, and selecting technologies such as laser radar and the like to accurately identify the position of the airplane. The technical model selection evaluation scheme is detailed in the basic principle of the aircraft position detection technology model selection.

And secondly, a technical path for stopping the side-mounted guiding aircraft in place is designed from nothing to some extent.

The detection device (optional laser radar) can accurately judge the distance between the airplane and the designated stop point, the airplane is guided to stop at the designated position through the interconnected LED screens, and the most important is that the detection device is not limited by the physical position, can be flexibly arranged according to the actual environment of the scene, and can be arranged in the forward direction or in the lateral direction.

At present, airports at home and abroad do not have a technology for guiding the aircraft laterally, and part of aircraft stations cannot be provided with forward guiding equipment due to the layout problem, and only manual guiding can be adopted, so that the entering efficiency of the aircraft is greatly reduced.

With this technique, the following changes can be made:

(1) the airplanes in the parking spaces can be guided to stop in place by adopting an automatic berth guiding technology, so that the limitation that the automatic berth guiding technology cannot be used in part of the parking spaces due to the layout problem is effectively broken, and the efficiency of airplane entering the parking spaces is improved.

(2) After the problem of accurate stopping of the aircraft is solved, the application level of peripheral operation resources can be released to the maximum extent, and the problem that other operation areas are affected due to deviation of the stopping position of a certain aircraft is solved.

(3) A side-arranged guiding technical marker post is erected to provide reference for formulating the guiding technical standard of the side-arranged airplane of the civil aviation bureau.

The equipment comprises the following components in percentage by weight:

(1) equipment assembly

A device for detecting the stop position of the airplane (synchronously detecting whether the airplane exists) with the detection precision within 0.1m before and after the parking position of the airplane;

and an LED notice board for reminding the aircraft of the distance from the designated stop point and reminding the unit of stopping in place.

(2) Specific equipment model selection

By adopting the advanced laser radar technology and utilizing the superior characteristics of laser radar equipment (the detection range is more than 100 multiplied by 50m vertical plane), a set of position detection equipment can simultaneously detect the positions of a plurality of parts of the airplane, and the LED display screen gives the prompt to the airplane driver.

a. Basis of equipment model selection

The laser radar which has short response time, can form a three-dimensional image and can be monitored in real time is selected, the laser is accurate when the laser is positioned above 800nm invisible to human eyes, the invisible laser is ensured, the civil aviation standard is met, the detection precision is high, the basic requirement of an imaging object is met, and the electromagnetic frequency meets the civil aviation standard.

b. Radar model selection

① introduction to radar

The laser radar is a remote sensing measurement by taking laser as a light source and detecting a light wave signal without interaction between the laser and a detected light wave signal. The laser radar technology for measuring by using the vibration raman technology is the raman laser radar.

The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. In terms of working principle, the radar antenna has no fundamental difference from microwave radar: the detection signal (laser beam) is transmitted to the target, and then the received signal reflected from the target (target echo) is compared with the transmitted signal, and after appropriate processing, the relevant information of the target, such as the parameters of the target distance, direction, height, speed, attitude, even shape, etc., can be obtained.

Lidar and radio radars operate on essentially the same principles and depend on the detection technique employed. The basic structure of the direct detection type laser radar is quite similar to that of a laser range finder. When the laser ranging system works, a signal is sent by the transmitting system, is collected by the receiving system after being reflected by a target, and the distance of the target is determined by measuring the round-trip propagation time of the laser signal. As for the radial velocity of the target, it can be determined from the doppler shift of the reflected light, or two or more distances can be measured and the rate of change calculated to find the velocity search.

Compared with the common microwave radar, the laser radar uses laser beams, and the working frequency is much higher than that of microwaves, so that the laser radar has the characteristics of high resolution, strong active interference resistance, small size and light weight.

② introduction to infrared detection

The infrared detector comprises an infrared transmitter, a receiver and a signal processor, and the signal output end of the signal processor is connected with the infrared transmitter through an infrared transmitting circuit; the signal input end is connected with the infrared receiver through the infrared receiving circuit, and the feedback signal output end is connected with the peripheral control circuit. In the infrared ray detector, a pyroelectric element detects the presence or movement of a human body and converts an output signal of the pyroelectric element into a voltage signal. Then, the voltage signal is subjected to waveform analysis. Then, only when a waveform generated by a human body is detected by waveform analysis, a detection signal is output. The disadvantages are as follows: is easily interfered by various heat sources and sunlight sources. The infrared penetration force is poor, and the infrared radiation of a human body is easily shielded and is not easily received by a detector. Susceptible to interference from radio frequency radiation. When the ambient temperature and the human body temperature are close, the detection and the sensitivity are obviously reduced, and short-time failure is sometimes caused.

Although lidar detection has similar disadvantages to infrared detection, compared with infrared detection, lidar has higher penetrability than infrared detection, is less affected than infrared detection relative to weather, does not generate radar clutter of radiation and interference, and is superior to other modes so far.

③ concrete selection type

By referring to several types of radar devices, these include:

north Yang HOKUYO-2 dimensional laser scanning rangefinder UXM-30 LXH-EWA: the distance is measured at 80 meters, and the angular resolution is 0.125 degrees. Suitable for measuring the distance of the next RTG. The size, position and direction of movement of the object can be detected. The multi-echo function is suitable for severe environments such as rain, snow, fog and the like. The built-in heater of this model can be used normally in cold environment. The interface to the sensor is ethernet. Scan time 50ms, scan angle 190. A 10-30VDC power supply is required.

RobotEye RE 053D lidar: and the scanning range and the scanning precision can be adjusted in real time. It is light in weight, small in volume, sturdy and durable, and has a scanning range superior to that of similar products: the horizontal scanning range is 360 degrees, the vertical scanning range is 70 degrees, and the observation range is 30m of a conventional target. In addition, the 3D data point acquisition density in each axis can reach 100 points per degree.

Standing science and technology 40 line laser radar Pandar: domestic three-dimensional laser radar, the scanning principle: rotating electrical machine, number of wires: 40, minimum vertical angular resolution: 0.33 degrees, a detection distance of 150m, a horizontal field angle of 360 degrees and a vertical field angle of-16 degrees to 7 degrees. The performance parameters are satisfactory, but the price is about 40 ten thousand.

Through comparison of scanning angles, coverage ranges, response time and prices, the Japanese laser radar has the 2D response time of 50ms, the detection range of RobotEye RE 053D laser radar is 30m, and the domestic Golay technology 40-line laser radar Pandar has reasonable and expensive parameters. Therefore, the VLP-16 three-dimensional laser radar with smaller response time is selected, and the advantages of high data acquisition speed (response time is 11 milliseconds), high resolution, more reasonable scanning range and price and strong adaptability to temperature and vibration compared with a two-dimensional radar (response time is 50 milliseconds); through beam control, detection points (point clouds) can be randomly distributed and configured, and the high-precision rapid detection capability of the laser radar is used.

When the three-dimensional laser radar detects the aircraft, the aircraft keeps tracking and the distance between the nose and the safety stop line is compared in real time, square leak assistance is carried out through image processing of the camera, then the pilot is prompted on the LED display screen that the aircraft can be stopped in the area, and the rear LED display screen informs the rear aircraft that the aircraft can continue to advance.

④ technical parameters of three-dimensional laser radar

Two echoes are supported;

vertical measurement angle range: 30 ° (+/-15 ° to-15 °);

vertical direction angular resolution: 2 degrees;

horizontal direction measurement angle range: 360 degrees;

horizontal direction angular resolution: 0.1 ° to 0.4 °;

measuring frequency: 5 to 20 Hz;

the rotating speed of the motor can be monitored and changed through a web browser;

laser safety grade: grade 1 (eye safe);

laser wavelength: 905 nm;

sensor power: 8W (typical value);

working voltage: 9-32V;

weight: 830g of a magnesium alloy;

the external dimension is as follows: 103mmX72 mm;

response time: 500m/sec²Amplitude, time 11 msec;

vibration: 5Hz to 2000Hz,3G rms;

protection grade: IP 67.

c. Model selection of industrial personal computer

The industrial grade embedded single-board computer has small volume, high performance, 3.5 inches of layout, and the Windows system has the best performance so far and the smallest volume.

Compared with other industrial single-board computers, the industrial personal computer for the research and the auspicious research has the best quality and the highest reliability, the working temperature can be-40-85 ℃, the industrial personal computer required by the project needs to be embedded in the LED display board, and the minimum embedded single-board computer only has the embedded single-board computer for the research and the auspicious at present and is suitable for the project.

Technical parameters of an industrial personal computer:

CPU：Intel Core i5socket；

memory: 8G;

a main board core: intel QM 57;

a display card: integrating the mainboard;

network card: kilomega 2 network ports;

working temperature: -40 to 85 ℃.

d. Software component

Laser radar processing software;

and monitoring the remote operation software by the background.

e. Equipment parameter summary table

(3) Plant feasibility analysis

And identifying the staying position of the airplane by using the latest three-dimensional laser radar technology, and prompting the flight unit to stop the airplane to an accurate position. The items relate to object position detection and system simple logic judgment.

The laser radar technology has the following advantages:

a. the system technology is advanced. The VLP-16 laser radar sensor has small volume and lower cost, and can be produced in large scale. Meanwhile, the method retains the key characteristics of breakthroughs of the Velodyne laser radar: real-time (no delay), 360 °, 3D data acquisition and measurement. The measurement distance is more than 100 meters, and the measurement distance can reach 150 meters and 200 meters. Low power consumption (<10W), light weight (about 830 grams), compact (diameter about 103mm, height 72mm), its double-back nature (counterclockwise or clockwise rotation). VLP-16 of Velodyne supports 16 channels, 30 ten thousand three-dimensional point cloud data per second, and has 360 degrees of horizontal view field, 30 degrees of vertical view field and plus or minus 15 degrees of vertical view field. VLP-16 has no significant external rotating parts (rotating parts internal) making it highly adaptable in challenging environments.

And obtaining high-precision extension distance and calibration reflectivity data through advanced digital signal processing and waveform analysis.

① device characteristics

Horizontal field of view (FOV)360 °

Rotation speed: 5-20 turns per second (adjustable)

Vertical Field (FOV)30 °

Echo of up to 100 meters (effective distance depends on the application)

② calibrated reflectivity

VLP-16 measures object reflectivity with 256-bit resolution, independent of laser power and distance in the 1 to 100m range. Reflectance full calibration was performed using reflectors according to a commercial reflectance standard, forming a calibration table stored in the PFGA of VLP-16.

The measured values of the diffuse reflector correspond to a reflectance from 0% to 100% from 0 to 100%.

The measured values for the mirrors are from 101-.

③ echo mode

Due to the beam divergence of the laser, a single laser shot tends to hit multiple objects producing multiple echoes. VLP-16 will analyze multiple echoes and record either the strongest echo or the last echo individually, or both.

Since most of the beam portion impinges on the near wall, the remainder of the beam impinges on the far wall. Only at a wall distance of more than 1m will VLP-16 record two echoes. If the strongest echo is the last echo, the second strongest echo is recorded.

b. The system does not generate electromagnetic waves of a radar nature. The system utilizes an infrared laser detection technology and does not generate radar electromagnetic waves.

c. The system has convenient installation and small volume.

d. The system operation and maintenance are simple. For civil airports, especially for busy transport airports, the operation and maintenance time of the airport terminal is limited, which requires simple and short equipment operation and maintenance.

e. In rainy and snowy weather, the detection of the airplane can be met through the detection of the three-dimensional laser radar because the penetration capacity of infrared laser is strong.

f. Feedback signals can be added in the program of the control end, for example, a radar failure is converted into a feedback signal of 0000001 according to a radar port, an LED failure feedback signal of 0000010, an image acquisition device failure feedback signal of 0000011 and the like, and the feedback signal is received in the program of the control end and converted into a warning prompt.

g. Indicating the exact distance from the stopping point.

(4) System architecture function

a. Laser radar detection system

And scanning and positioning the advancing airplane according to the laser radar measurement principle, and judging the position.

Laser radar English is called LiDAR for short, Light Detection and Ranging, a laser Light source is arranged in the middle of equipment, and generally array laser emits pulses with 905 nanometer wavelength. Because of the strong convergence of the laser, the laser beam meets the object or the obstacle in front, is reflected back by the receiving focal plane laser radar receiver to be received, and the distance between the object and the laser radar is accurately judged by calculating the time difference from the emitting to the receiving of the laser beam.

The scanning mode is all-solid-state laser scanning and laser signal receiving, namely, a non-mechanical scanning mode, namely phased array scanning and micro-mechanical electronic control scanning, is adopted to realize laser scanning detection.

A plurality of laser beams are emitted along different angles in the vertical direction, and the three-dimensional outline detection of a target area is realized through scanning in the horizontal direction.

Angular resolution refers to the resolving power of an imaging system or a component of a system. I.e., the ability of the imaging system or system component to differentially distinguish between a minimum separation of two adjacent objects. Resolution is generally expressed in terms of the amount of angular spread between two minimally resolvable objects by the imaging system, and is typically described in terms of a radian system measuring an angle, also known as angular resolution. Converted to an object size of 2 cm.

The distance can be visually seen through different colors in radar display, and the shape and the size of the aircraft can be visually seen according to the size of the aircraft through data comparison.

b. Identification and judgment system

The distance between the airplane and the designated stop point and whether the airplane exists are judged through the identification and judgment system, and meanwhile, the signals are transmitted to the monitoring center through network connection.

LED display system

And the result detected by the detection system is displayed in real time through the LED display screen to indicate the pilot. The LED display screen prompts the distance between the pilot and the safety stop line through numbers, wherein the safety stop line can be provided with different reference lines according to different models and is prefabricated in a guide system.

(5) Detailed description of the preferred embodiments

According to actual requirements, the laser radar is adopted to determine the accurate travelling position of the aircraft, judge whether the aircraft is accurately stopped in place or not, and implement real-time guidance. Meanwhile, the data are transmitted to the monitoring center through network interconnection.

a. The concrete steps

The system adopts the laser radar to detect the distance of a target, the laser scanning equipment detects a plane in sliding when the plane is 100m away from the plane and tracks the plane at any time, the three-dimensional laser radar continuously emits multi-beam infrared invisible laser which can generate reflection when projected on the plane, a receiver of the three-dimensional laser radar can perform three-dimensional imaging according to light paths reflected back by different distances of all parts of the plane and track the plane at any time, and the three-dimensional laser radar can perform threshold value processing at all distances according to the three-dimensional laser radar, judge the running distance of the plane and judge the marked position.

Detection of lateral coverage limit distance: the three-dimensional laser radar measuring range is 1 m-100 m, and the three-dimensional laser radar can detect that the aircraft moves when the aircraft head drives to the scanning radius range of 100 m. The length of the airplane body is generally not more than 80 meters (the maximum airplane body length of the current airplane A380 is taken as an extreme value), and the farthest detection distance is 56m within the coverage range of the three-dimensional detector when the LED count-down is calculated.

Detecting longitudinal coverage height: the three-dimensional laser radar mounting position can be set by self-definition, and is not influenced by height limitation, so that the detection height requirements of all civil aircrafts can be met.

When the airplane is detected to be in the station, the distance is displayed on the LED display screen when the nose reaches the designated stop point by 20 meters. The distance displayed by the LED display screen is the real-time distance of the movement of the machine head, and the guidance prompt is carried out according to the real-time distance and is displayed on the LED display screen. And finally, transmitting the data of the position of the machine head to a monitoring center in real time, and assisting the monitoring center to make decisions when an emergency occurs.

b. Device detection environment analysis

The equipment can set the installation position in a user-defined mode in the vertical and horizontal scanning angles of the equipment, so that the equipment is not constrained by the position and can meet the detection requirements of the vertical and horizontal angles of all airplanes.

The basic principle of airplane position detection technology selection is as follows:

1. requirements for detection technology type selection by law and regulation, civil aviation regulation, industry standard and the like

The second hundred forty-eight regulations in the civil airport operational safety regulations (CCAR-140 central office for civil aviation 191) must not use electrical equipment that could interfere with the navigation facilities or aircraft communications.

2. Related equipment commonly used around civil aviation airport runway

The clear civil aviation air traffic management equipment (hereinafter referred to as air management equipment) refers to communication, navigation, monitoring and meteorological equipment closely related to civil aviation flight safety. The communication equipment comprises a very high frequency ground-air communication system, a voice communication system (namely a voice system), an automatic retransmission system, a recorder and the like; the navigation equipment comprises an omnidirectional beacon, a distance meter, a non-directional beacon, a pointing beacon, an instrument landing system and the like; the monitoring equipment comprises a primary air traffic control radar, a secondary air traffic control radar, scene monitoring equipment, a precision approach radar, an automatic correlation monitoring system, an air traffic control automatic system and the like; the meteorological equipment comprises meteorological detection equipment installed along a runway, such as a meteorological automatic observation system, an automatic meteorological station and a wind shear detection system, and air meteorological broadcasting equipment.

3. Specifications and requirements to be complied with by airport installation equipment

Aeronautical radio navigation stations and air traffic control radar station set site specifications (MH/T4003.1-2014), aeronautical radio navigation station electromagnetic environment requirements (GB 6364-2013).

4. The invention selects the type and selects the basis

(1) Does not conflict with the frequency band of the in-use equipment

The frequency band used by the technology of the invention is selected to be not conflicted with the frequency band of the equipment in use according to the main frequency band (see the table below) of the equipment in use in the airport mentioned by the industrial regulation.

While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.

Claims (10)

1. An aircraft berthing guidance device, comprising:

the first Bluetooth tag is arranged at a parking termination point of the parking place;

the laser radar is arranged on any one side of the stand and used for detecting the distance between the aircraft nose of the aircraft and the first Bluetooth tag;

and the guiding display screen is arranged on one side of the stand, is in communication connection with the laser radar, and displays the direction towards the coming direction of the aircraft.

2. The aircraft berthing guidance device of claim 1, further comprising a lidar mount and a slide rail, wherein the slide rail is laid on one side of the berth, and the lidar mount has one end provided with the lidar and the other end slidably disposed on the slide rail.

3. The aircraft berthing guide of claim 2, wherein the slide rail comprises two parallel rails, the lidar mount has a rectangular parallelepiped shape, and a pulley is provided at the bottom thereof and is slidably disposed in the rails.

4. The aircraft berthing guide device of claim 2, wherein the fixed frame comprises a fixed frame, a fixed rod and a turntable, the turntable is arranged on the top of the fixed rod and can rotate relative to the fixed rod, one end of the fixed rod is fixedly connected to the fixed frame, and the fixed frame is slidably arranged on the slide rail.

5. The aircraft berthing guidance device of claim 1, further comprising a display screen mount disposed on a side of the berth, the guidance display screen being mounted on the display screen mount.

6. The aircraft berthing guide apparatus of claim 5, wherein the display screen mounting frame comprises a wire rod and a display screen mounting frame, the wire rod is a hollow tube with a wire disposed therein, and one end of the wire is connected to a guide display screen disposed in the display screen mounting frame.

7. The aircraft berthing guide device of claim 1, wherein a threaded hole and a jack screw are provided on a frame of the display screen mounting frame, and the jack screw passes through the threaded hole to abut against the guide display screen.

8. The aircraft berthing guidance device of claim 1, further comprising an alarm disposed on top of the guidance display screen and a second bluetooth tag affixed at a berthing starting point of the berth and communicatively connected to the lidar, wherein the alarm alarms when an aircraft is berthed, a tail of the aircraft does not pass the second bluetooth tag, or the aircraft does not stop exactly to the first bluetooth tag.

9. The aircraft berthing guidance device of claim 1, wherein the guidance display screen is an LED display screen.

10. The aircraft berthing guidance device of claim 1, wherein the lidar is a three-dimensional lidar.

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