CN213735614U

CN213735614U - Deicing vehicle with auxiliary anti-collision system

Info

Publication number: CN213735614U
Application number: CN202022565313.5U
Authority: CN
Inventors: 钟韬; 林海芸; 都奎江
Original assignee: Weihai Guangtai Airport Equipment Co Ltd
Current assignee: Weihai Guangtai Airport Equipment Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-07-20
Anticipated expiration: 2030-11-09

Abstract

The utility model relates to a deicing vehicle with supplementary anticollision system, it has solved the current mode that adopts ultrasonic wave or stroke palpus switch to detect the barrier and can not thoroughly avoid deicing equipment to cut the technical problem of rubbing with the aircraft, it includes deicing vehicle, deicing vehicle is equipped with the locomotive, the cantilever crane, the water cannon, deicing vehicle still includes the controller, a display element, main arm inclination sensor, roll over arm inclination sensor, first range finding sensor, second range finding sensor, the third range finding sensor, main arm inclination sensor is connected with the main arm of cantilever crane, roll over arm inclination sensor and the roll over arm of cantilever crane and be connected, first range finding sensor is connected with the front end of water cannon, second range finding sensor is connected with the locomotive, the third range finding sensor is connected with the roll over arm of cantilever crane, but its wide application avoids deicing equipment to cut rubbing with the aircraft.

Description

Deicing vehicle with auxiliary anti-collision system

Technical Field

The utility model relates to an airport ground service equipment technical field particularly, relates to an ice removal vehicle with supplementary anticollision system.

Background

The aviation ground deicing mobile equipment is one of necessary airplane operation safety guarantee vehicles for airports and airlines in cold regions. In case of severe weather such as rain, snow, frost and the like, the icing and frost condition appears on the surface of the airplane, and the airplane must be required to carry out deicing operation before taking off in order to ensure the flight safety. Although a certain working distance exists between the deicing equipment and the airplane in the deicing operation process, the scratch accidents between the deicing equipment and the airplane caused by improper operation of an operator, influence of the sight of the outside severe environment and the like are difficult to avoid. In order to avoid the problem, a worker in the field adopts a mode of installing ultrasonic waves or a stroke whisker switch in an overhead working cabin for detecting obstacles, but the simple protection measure cannot effectively ensure the safety distance between the deicing equipment and the airplane, cannot thoroughly solve the problem that the deicing equipment and the airplane are scratched, and the external environment has certain influence on the detection of the ultrasonic waves, particularly the phenomenon of false alarm caused by severe weather such as rain, snow, frost and the like.

Disclosure of Invention

The utility model discloses exactly solve the current mode that adopts ultrasonic wave or stroke palpus switch to detect the barrier and can not thoroughly avoid deicing equipment to cut the technical problem who rubs with the aircraft, provide a multisensor and detect, many cameras are supplementary, cooperate the real-time gesture of display FLASH animation to show and be used for controlling deicing equipment and aircraft and keep certain safe distance when carrying out the deicing operation, effectively prevent the deicing car that has supplementary anticollision system of collision.

The utility model provides an ice removing vehicle with an auxiliary anti-collision system, which comprises an ice removing vehicle, wherein the ice removing vehicle is provided with a vehicle head, an arm support and a water cannon, the ice removing vehicle also comprises a controller, a display unit, a main arm inclination angle sensor, a folding arm inclination angle sensor, a first distance measuring sensor, a second distance measuring sensor and a third distance measuring sensor, the main arm inclination angle sensor is connected with the main arm of the arm support, the folding arm inclination angle sensor is connected with the folding arm of the arm support,

the first distance measuring sensor is connected with the front end of the water cannon, the second distance measuring sensor is connected with the head of the water cannon, and the third distance measuring sensor is connected with the folding arm of the arm support.

Preferably, the front end, the rear end, the left side and the right side of the bottom of the deicing vehicle are respectively connected with a wide-angle fisheye camera.

The beneficial effects of the utility model are that, the emergence of collision accident when effectual having improved present aviation ground deicing mobile device operation, diversified supplementary control provides wider field of vision for the operator, makes its operating efficiency improve greatly.

Further features and aspects of the present invention will become apparent from the following description of specific embodiments with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic structural view of an ice removing vehicle;

FIG. 2 is a top view of the ice removal vehicle shown in FIG. 1;

FIG. 3 is a schematic structural view of the ice removing vehicle in an operating state;

FIG. 4 is a bottom view of the ice removal vehicle;

FIG. 5 is a schematic view of the ice removal vehicle approaching an aircraft;

FIG. 6 is a schematic illustration of the ice removal vehicle three meters from the aircraft;

FIG. 7 is a schematic representation of a one meter location of the de-icer from the aircraft;

fig. 8 is an architecture diagram of an auxiliary collision avoidance system;

fig. 9 is a flowchart of an auxiliary collision avoidance method.

The symbols in the drawings illustrate that:

1. deicing vehicles; 2. the rotary table encoder comprises a rotary table encoder, a main arm inclination angle sensor, an inner arm pull wire sensor, and a folding arm inclination angle sensor, wherein the rotary table encoder comprises 3. the main arm inclination angle sensor, 4. the inner arm pull wire sensor and 5. the folding arm inclination angle sensor; 6. the system comprises a third distance measuring sensor, 7 a cabin encoder, 8 a position sensor, 9 a first distance measuring sensor, 10 a cabin lower end monitoring system, 11 a boom tail end camera, 12 a main arm falling position sensor, 13 a second distance measuring sensor and 14 a folding arm falling position sensor.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.

As shown in fig. 1 to 8, the boom state acquisition part is mainly used for digitizing the motion parameters of the boom, the main arm tilt sensor 3 is installed at the main arm position of the boom, the arm folding tilt sensor 5 is installed at the arm folding position of the boom, and the real-time angle value of the boom can be acquired through the main arm tilt sensor 3 and the arm folding tilt sensor 5. The inner arm stay wire sensor 4 is arranged on the position of the main arm, and the inner arm stay wire sensor 4 is used for acquiring the length value of the inner arm of the main arm of the arm support. The rotary table encoder 2 is arranged on the position of the rotary body, and the rotary table encoder 2 can acquire the rotation angle value of the arm support. The parameters and the position of the arm support can be displayed in the display through animation by setting the initial parameters of the arm support and measuring the acquired parameters, so that a real-time arm support posture is provided for an operator, and the operator can conveniently and visually know the position of the high altitude of the operator when using the deicing equipment.

The cabin encoder 7 is installed on the swing oil cylinder of the cabin of the working cabin, and the cabin encoder 7 is used for detecting the swing angle of the cabin. The position sensor 8 is installed on a hatch door of the work cabin for detecting a position state of the hatch door.

The first distance measuring sensor 9 is installed at the front end of the water cannon, the first distance measuring sensor 9 is a main detection unit of the auxiliary anti-collision system, a protection range can be formed around the arm support in space by detecting the distance between the installation position and the obstacle, when the first distance measuring sensor 9 detects that the distance between the arm support and the obstacle is less than 3 meters (a first threshold), the arm support proportional valve is controlled according to a controller instruction, the corresponding action of the arm support is slowed down, when the distance between the arm support and the obstacle is less than 1 meter (a second threshold) is detected, the arm support action can be locked immediately and cannot act, and the action can be continued only when an operator confirms that the surrounding obstacle is removed and releases the arm support through a manual force button. The first distance measuring sensor may specifically adopt an ultrasonic sensor or a millimeter wave radar.

The second distance measuring sensor 13 is arranged at the front end of the head of the deicing vehicle, when the second distance measuring sensor 13 detects that a distance smaller than 3 meters (a first threshold value c) exists between the head of the deicing vehicle and the obstacle, the chassis hydraulic traveling device is controlled to linearly decelerate according to a controller instruction, when the distance smaller than 1 meter (a second threshold value d) from the obstacle is detected, the chassis advancing action can be locked immediately and cannot continue to advance, and only when an operator confirms that the obstacle in a protection range is removed and the chassis traveling function is reset by using a forced traveling key, the locking can be released. The second distance measuring sensor may specifically employ an ultrasonic sensor or a millimeter wave radar.

The third distance measuring sensor 6 is arranged at the lower end of the folding arm of the deicing vehicle, when the third distance measuring sensor 6 detects that the distance between the folding arm and the obstacle at the lower end of the folding arm can form a protection range around the lower end of the arm support of the folding arm in space, when the third distance measuring sensor detects that the distance between the arm support and the obstacle is less than 3 meters (a first threshold value e), the arm support proportional valve is controlled according to the instruction of the controller, the corresponding action of the arm support is slowed down, when the distance between the arm support and the obstacle is less than 1 meter (a second threshold value f) is detected, the arm support action can be immediately locked and cannot act, and the action can be continued only when an operator confirms that the surrounding obstacle is removed and the arm support is unlocked through the manual force button. The third distance measuring sensor may specifically adopt an ultrasonic sensor or a millimeter wave radar.

The motion of the arm support is controlled by a handle, an operator controls the motion direction and speed of the arm support by the handle according to actual motion requirements, and the controller processes and controls the opening of a proportional valve according to the input value of the handle and the distance between a main arm tilt angle sensor 3, an inner arm pull line sensor 4 and a folding arm tilt angle sensor 5 on the arm support and the distance between a distance measuring sensor and an obstacle, so that the motion of the arm support forms closed-loop control.

The position detects the collection part, the utility model discloses use travel switch and proximity switch to be used for as the detection of cantilever crane extreme position state among the supplementary anticollision system for main arm that detects the main arm and fall back falls to position sensor 12 and installs on falling back the bracket (the proximity switch that this sensor used). A folding arm fall-in-place sensor 14 for detecting the fall back of the folding arm is installed at the head position of the ice-removing vehicle (this sensor uses a proximity switch). The main arm rotation middle position detection sensor is arranged on the transmission platform revolving body, and the detected end of the sensor is fixed on the roof and does not move. The inner arm retraction in-place detection sensors are arranged on the main arm of the arm support, signals of the position detection sensors are collected to the controller, then the arm support action of the protection limit position is controlled through logic, and the state display of the indicator light is provided on the display. A position sensor 8 is installed at the hatch door for detecting the unclosed state of the hatch door.

Under the action of the auxiliary anti-collision system, the final actuating mechanism of the deicing vehicle is a hydraulic proportional valve, and the controller outputs a proportional output signal obtained by final calculation to an electromagnetic coil of the proportional valve to control the opening of a valve core according to the collected handle signal, arm support state signal and distance detection signal through algorithm processing, so that the speed of action is controlled. And a voice alarm output unit is also arranged and provides a voice alarm function for the auxiliary anti-collision system, and when the cantilever crane is forbidden to act, the sensor is in fault or the bus communication is in fault, the voice alarm can broadcast the reason according to the current alarm state, so as to provide voice operation support for an operator.

The display unit can be further arranged, a display special for engineering machinery for displaying information of the deicing vehicle is installed in a working cabin of the deicing vehicle, and the boom action posture and parameters, the working state of the deicing heating equipment, the auxiliary anti-collision detection parameters, the monitoring interface, the alarm information, the parameter setting, the port monitoring, the system setting and the like are all displayed in the display and serve as a human-computer interface, so that abundant parameters and important information are provided for an operator. The operator can know all state parameters of the whole deicing equipment in the working cabin. Because each airport and airline company have some differences in the process of using the deicing equipment, different requirements are imposed on the boom speed, meanwhile, the working time is considered to cause certain fatigue loss on proportional valves, all parameters of the whole equipment can be adjusted through a display, and the adjustment interface has password protection and can only be adjusted by professionals. And each set of auxiliary anti-collision system of the aviation ground deicing mobile equipment is ensured to work in an optimal parameter state.

A monitoring system can be further arranged and is divided into three parts, namely a chassis 360-degree panoramic image system, an arm support integral image system and a top view angle system at the bottom of the work cabin.

Regarding the 360-degree panoramic image system of the chassis, a third wide-angle fisheye camera 15-3, a first wide-angle fisheye camera 15-1, a second wide-angle fisheye camera 15-2 and a fourth wide-angle fisheye camera 15-4 are respectively installed at the front end, the rear end, the left side and the right side of the chassis of the deicing vehicle, images around the chassis are calibrated and sewn through software of a panoramic image system controller, a panoramic image of a starring view angle is displayed on a cab display through processing, a dead-angle-free monitoring area is provided around the chassis, a comprehensive operation view angle is effectively provided for drivers, and a chassis auxiliary anti-collision view field is provided for the drivers.

Regarding the integral arm support image system, an integral arm support image (an arm support tail end camera 11 is installed at the root of an arm support) along the arm support direction is provided for an arm support operator, so that the operator can clearly see the view at the back of the operator when the operator works in a working cabin, the camera is in action interconnection with the arm support, and when the arm support descends, the image system is automatically started and displayed on a parameter display, and a blind area image is actively provided for the operator.

Regarding the bottom of the work cabin, the bottom of the work cabin is provided with a bottom blind area visual angle, the image system uses a wide-angle fisheye camera, the front and back 180 degrees, the left and right 110 degrees of the wide-angle fisheye camera are provided with independent displays (arranged at the lower end 10 position of the cabin body of the deicing vehicle), and when an operator operates the work cabin, the operator can see the displays through the displays

All images from the front water cannon to the rear end of the whole deicing equipment have the same effect as sitting in a transparent working cabin.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, as various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the scope defined by the claims of the present invention shall be within the protection scope of the present invention.

Claims

1. An ice removing vehicle with an auxiliary anti-collision system comprises an ice removing vehicle, wherein the ice removing vehicle is provided with a vehicle head, an arm support and a water cannon, and is characterized by further comprising a controller, a display unit, a main arm inclination angle sensor, a folding arm inclination angle sensor, a first distance measuring sensor, a second distance measuring sensor and a third distance measuring sensor, wherein the main arm inclination angle sensor is connected with a main arm of the arm support, the folding arm inclination angle sensor is connected with a folding arm of the arm support,

2. The deicing vehicle with the auxiliary anti-collision system according to claim 1, wherein a wide-angle fisheye camera is connected to the front end, the rear end, the left side and the right side of the bottom of the deicing vehicle respectively.