CN216581089U - Be applied to aircraft automatic traction car in complicated airtight space - Google Patents
Be applied to aircraft automatic traction car in complicated airtight space Download PDFInfo
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- CN216581089U CN216581089U CN202123092480.3U CN202123092480U CN216581089U CN 216581089 U CN216581089 U CN 216581089U CN 202123092480 U CN202123092480 U CN 202123092480U CN 216581089 U CN216581089 U CN 216581089U
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Abstract
The utility model discloses an automatic aircraft tractor applied to a complex closed space, which comprises a vehicle body, wherein the middle of the tail part of the vehicle body is provided with an aircraft front wheel clamping device used for fixing an aircraft front wheel; the head end and the tail end of the vehicle body are provided with guiding devices for guiding the vehicle; a central control device for controlling the vehicle is arranged in the central control mounting bin in the middle of the vehicle body; according to the utility model, the guiding device is added, the sensors such as the binocular camera and the laser radar are utilized to acquire the environmental information in the complex closed space, and the surrounding environment and situation can be identified, so that the automatic aircraft tractor can be guided to automatically move the aircraft, the automatic aircraft tractor can detect the environment around the tractor and the aircraft in real time, the route can be planned automatically, the obstacle avoidance decision can be made automatically, meanwhile, the front wheel of the aircraft can be clamped automatically, and the automatic, intelligent and unmanned accurate traction guarantee can be provided for the movement of the aircraft in the complex closed space.
Description
Technical Field
The utility model relates to the technical field of aircraft tractors, in particular to an automatic aircraft tractor applied to a complex closed space.
Background
An aircraft tractor is an important aviation guarantee device, is used for moving an aircraft in a ground traction manner, plays an irreplaceable role in the civil and military fields, and is required to provide enough traction force basically because the aircraft is expensive, be stable and smooth in starting, accelerating, decelerating and braking and not allow excessive impact force to be generated on the towed aircraft so as to prevent the aircraft from being damaged;
chinese patent (CN204846391U) provides a remote control electric rodless airplane tractor, which is powered by a storage battery group, driven by a hub motor, remotely controlled by a remote controller, and directly contacted with airplane wheels by a clamping lifting device, so that the traction operation of an airplane is realized;
therefore, in the prior art, the aircraft tractor cannot realize fully intelligent automatic traction such as autonomous route planning decision, and for the traction movement of the aircraft in the closed space such as the aircraft cave depot, because the environment condition of the closed space is complex, the pre-planned traction route cannot completely adapt to the change of the environment, once the tractor deviates from the preset route, accidents such as collision on the aircraft are very easy to happen, so that the aircraft automatic tractor which can be applied to the closed space such as the aircraft cave depot is necessary to be provided to solve the technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an automatic aircraft tractor applied to a complex closed space, so as to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme:
an automatic airplane tractor applied to a complex closed space comprises a tractor body, wherein an airplane front wheel clamping device used for fixing an airplane front wheel is arranged in the middle of the tail of the tractor body;
the head end and the tail end of the vehicle body are provided with guide devices for guiding the vehicle;
a central control device for controlling the vehicle is arranged in the central control mounting bin in the middle of the vehicle body;
and one side of the head end of the vehicle body is provided with an operation and control device for operating and controlling the vehicle.
As a further scheme of the utility model: the vehicle body comprises a frame, a suspension system, a steering system, a traveling system, a braking system and a power system, and is used for bearing the load of the airplane and dragging the airplane to travel.
As a still further scheme of the utility model: the aircraft front wheel clamping device comprises a swing type shovel support, a telescopic holding claw and a hydraulic oil cylinder for driving the swing type shovel support and the telescopic holding claw to move.
As a still further scheme of the utility model: the guiding device comprises a binocular camera, a laser radar and an embedded information processing platform, the binocular camera is installed at the position, located above the front wheel, of the vehicle body and the position, close to the aircraft front wheel clamping device, of the vehicle body 1, and the laser radar is installed at the head end and the tail end of the vehicle body and the position, close to the aircraft front wheel clamping device, of the vehicle body.
As a still further scheme of the utility model: the central control device is composed of a driving monitoring system and a battery monitoring system, and the battery monitoring system is used for monitoring the power battery in the battery compartment.
As a still further scheme of the utility model: and bin covers are arranged on the battery bin and the central control installation bin.
Compared with the prior art, the utility model has the beneficial effects that:
according to the utility model, the guiding device is added, the sensors such as the binocular camera and the laser radar are utilized to acquire the environmental information in the complex closed space, and the surrounding environment and situation can be identified, so that the automatic aircraft tractor can be guided to automatically move the aircraft, the automatic aircraft tractor can detect the environment around the tractor and the aircraft in real time, the route can be planned automatically, the obstacle avoidance decision can be made automatically, meanwhile, the front wheel of the aircraft can be clamped automatically, and the automatic, intelligent and unmanned accurate traction guarantee can be provided for the movement of the aircraft in the complex closed space.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the present invention when the lid is opened.
Fig. 3 is a schematic view of the guidance system of the present invention.
Wherein: 1. a vehicle body; 2. an aircraft nose wheel clamping device; 3. a battery compartment; 4. a central control device; 5. a guide device; 6. a laser radar; 7. a front wheel; 8. an operating device; 9. a central control installation bin; 10. a bin cover; 11. binocular camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, in an embodiment of the present invention, an automatic aircraft tractor applied in a complex enclosed space includes a vehicle body 1, wherein an aircraft front wheel clamping device 2 for fixing an aircraft front wheel is disposed in the middle of the tail of the vehicle body 1; the airplane front wheel clamping device 2 comprises a swing type shovel support, a telescopic holding claw and a hydraulic oil cylinder for driving the swing type shovel support and the telescopic holding claw to move;
the airplane front wheel clamping device 2 is used for clamping a front wheel of an airplane to be towed in the process of towing the airplane to walk, when the airplane needs to move in complex closed spaces such as an airplane cave depot, the front wheel of the airplane is tightly clamped by the front wheel clamping device 2 of the automatic airplane tractor, when the tractor walks, the airplane is towed to move, the swing type shovel support is driven by a hydraulic oil cylinder and can move back and forth, and the holding claw is driven by the hydraulic oil cylinder to rotate around a rotating shaft at a certain angle.
When the airplane front wheel clamping device 2 works, the automatic airplane tractor approaches to the airplane front wheel, the tractor body integrally descends to a low position, the holding claw rotates 120 degrees outwards to open, the tractor continues to move forwards until the holding claw is attached to the airplane front landing gear wheel, then the holding claw rotates 120 degrees inwards to close, then the holding claw is pushed by the hydraulic oil cylinder to tightly push the airplane front landing gear wheel, then the built-in hydraulic cylinder of the hydraulic suspension system jacks up the tractor body, the tractor body drives the airplane front wheel to integrally ascend to a high position, the airplane front wheel lifts off the ground, the tractor pulls the airplane to move to a specified position, when the airplane is in place, the built-in hydraulic cylinder of the hydraulic suspension system retracts, the tractor body integrally descends to a low position, the airplane front wheel lands, the holding claw of the tractor rotates 120 degrees outwards to open, the holding claw retracts under the action of the built-in hydraulic oil cylinder, the tractor drives away from the airplane, the holding claw rotates 120 degrees inwards to close, then the built-in hydraulic cylinder of the hydraulic suspension system is ejected out, the whole body of the tractor rises to a high position, and the tractor recovers the initial state.
The vehicle body 1 comprises a frame, a suspension system, a steering system, a walking system, a braking system and a power system, and the vehicle body 1 is used for bearing the load of the airplane and dragging the airplane to walk.
The airplane towing system is used for providing power required by airplane towing, the towing vehicle adopts a battery pack as a power source to drive the towing vehicle to travel and simultaneously provides power for other systems, a frame of the vehicle body 1 is an integral frame and is formed by welding integral high-strength steel plates, the traveling system comprises front wheels, rear wheels and corresponding driving mechanisms, the traveling system has forward and backward functions, and a steering system preferably adopts the front wheels to steer independently;
the tractor adopts an integral frame, and is used for adjusting the height of the frame through the hydraulic suspension system, so that the tractor reduces the height and is at a low position when clamping the front wheel of the airplane, increases the height and is at a high position when the tractor runs, the front wheel clamping device of the airplane is convenient to clamp the front wheel of the airplane, and the frame is at a high position when the tractor runs simultaneously so that the front wheel of the airplane is lifted off the ground, thereby dragging the airplane to move.
The head end and the tail end of the vehicle body 1 are provided with guide devices 5 for guiding vehicles; guide device 5 includes binocular camera 11, lidar 6 and embedded information processing platform, binocular camera 11 is installed and is located the position of front wheel 7 top and automobile body 1 near the position of aircraft front wheel clamping device 2 at automobile body 1, lidar 6 installs the position that is close to aircraft front wheel clamping device 2 at automobile body 1's locomotive end and rear of a vehicle end and automobile body 1.
The automatic identification butt joint and the automatic guide traction of the service object are realized through the visual guide identification system and the radar obstacle avoidance system, the guiding system is used for collecting environmental information in a complex closed space, identifying surrounding environment and situation, and guiding the vehicle to walk from the main guiding vehicle system, the guiding mode adopts a mode of combining visual image sensing with laser sensing to construct an automatic guiding system which combines Simultaneous Localization and Mapping (SLAM) based on a navigation identification band and multiple modes and is assisted by three-dimensional reconstruction of the complex closed environment, and then, decisions such as real-time understanding, path planning, control optimization, intelligent obstacle avoidance and the like are made, the functions of non-contact obstacle detection and alarm in front of and around the tractor are realized, the guide precision can reach +/-50 mm, and the requirements of the airplane on entering and exiting narrow closed spaces such as an airplane cave depot can be met.
The system comprises a binocular camera, an embedded information processing platform, a navigation identification band, an artificial road sign, an automatic aircraft tractor, a navigation identification band, a convolutional neural network and a convolutional neural network, wherein the binocular camera is used for shooting image information of a road surface and sending the image information to the embedded information processing platform, the road surface is preset with the navigation identification band, the artificial road sign is obtained by using a binocular camera and sent to the embedded information processing platform, the embedded information processing platform is a calculation center of a guide system, the navigation identification band preset on the road surface is identified according to the image information of the road surface sent by the binocular camera, the automatic aircraft tractor is guided to travel along the navigation identification band, the navigation identification band (artificial road sign) can be regarded as a static target and is represented by a series of line segment sets, the image collected by the binocular camera is processed by using the convolutional neural network in the identification process of the embedded information processing platform, and a probability map of the navigation identification band is predicted, namely the probability that each point is a lane line; then, binarization is carried out to obtain a divided binary image, then the connected components of the binary image are calculated, all inner contours are detected, and the mark points of the identification bands are obtained according to the contour edge points, the core step of navigation identification band identification is to predict the probability that no point of interest (ROI) is a navigation identification band by using a convolutional neural network, and finally the probability calculation of each pixel point by combining a probability map model adopts the following formula:
the laser radar is used for measuring the inner wall distance information of the complex closed space and sending the information to the embedded information processing platform, the embedded information processing platform carries out three-dimensional modeling on the surface shape of the complex closed space according to the inner wall distance information of the complex closed space sent by the laser radar, identifies the surrounding environment and situation, automatically guides the simultaneous positioning and map building (SLAM) of the automatic plane tractor, decides and plans the walking path of the automatic plane tractor, adopts a binocular camera and the laser radar to realize an automatic guidance system which mainly identifies a navigation identification band and assists the space positioning perception of the laser radar, can obviously improve the accuracy of the extraction of the identification band and the environment perception by fusing the information of the two types of sensors, and is also used for detecting the obstacle information in front of the walking of the automatic plane tractor, and sending the information to an embedded information processing platform, the embedded information processing platform carries out intelligent obstacle avoidance decision according to obstacle information in front of the walking of the automatic aircraft tractor sent by a laser radar, the obstacle detection and collision avoidance decision designed by the embedded information processing platform comprises the obstacle in front of the aircraft and the collision avoidance of the aircraft body and the wall of the closed space, wherein the former is a dynamic barrier, the latter is a static barrier, the collision risk is determined by measuring and calculating the nearest meeting Distance (DCPA) and the nearest meeting Time (TCPA) of each key point of the airplane body and the barrier in real time, and calculates the comprehensive collision-prevention risk degree in real time according to the posture of the vehicle body and the surrounding environment of the vehicle, the collision-prevention risk degree is in a preset range, the autonomous guided vehicle autonomously realizes collision avoidance, and when the collision avoidance risk exceeds a control threshold, the autonomous guided vehicle stops working and sends alarm information to request manual intervention;
the guiding device also comprises at least two binocular cameras arranged on the front wheel clamping device, the binocular cameras on the front wheel clamping device are used for shooting image information of a front wheel of an airplane to be towed and sending the image information to the embedded information processing platform, the embedded information processing platform calculates the position of the front wheel of the airplane to be towed according to the image information of the front wheel of the airplane to be towed sent by the binocular cameras on the front wheel clamping system, the traveling direction of the automatic tractor of the airplane is controlled, the automatic guiding front wheel clamping system clamps the front wheel of the airplane to be towed, the automatic guiding front wheel clamping system carries out wheel clasping operation by arranging at least two binocular cameras on the front wheel clamping system, the problem that the wheel clasping operation of the existing non-mop tractor depends on manual visual inspection to control the advancing direction and traveling speed of the tractor is solved, and the working efficiency depends on the experience and level of operators, through automatic guidance, the accuracy and the efficiency are both greatly improved, an Invitta Jetson AGX Xavier platform is selected as an embedded information processing platform of the guidance system, and the embedded information processing platform has an 8-core ARM64 CPU, 2 NVDIA deep learning acceleration, 1 image processor, 1 visual processor and 1 video processor, and can meet the requirements of data processing, vehicle body control and deep learning prediction of the guidance system.
A central control device 4 for controlling the vehicle is arranged in a central control mounting bin 9 in the middle of the vehicle body 1;
the central control device 4 is composed of a driving monitoring system and a battery monitoring system, and the battery monitoring system is used for monitoring the power battery in the battery compartment 3. The driving monitoring system mainly collects data of all sensors, carries out sensor calibration and fault diagnosis, expresses system states on a display, is connected with a battery management system and a motor driver, collects information such as cell voltage, temperature and motor rotating speed, expresses information of a battery and a motor on the display, comprises functions of vehicle self-checking, fault alarming, sensor calibration and the like, and is mainly used for monitoring battery temperature, residual electric quantity, battery voltage and charging and discharging.
An operation device 8 for operating the vehicle is arranged on one side of the head end of the vehicle body 1; the control system comprises five control modes of automatic driving control, online monitoring, fixed control, remote control, emergency operation and the like, is designed according to the conventional control mode of the vehicle, inputs steering signals by using a direction operating lever, and inputs information by using a multi-gear switch for selecting an operation mode, stepless speed change (speed) control, lifting leveling and the like, and is simple and reliable to operate.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. Although the present description is described in terms of embodiments, not every embodiment includes only one technical solution, and such description of the embodiments is merely for clarity, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims (6)
1. An automatic aircraft tractor applied to a complex closed space comprises a vehicle body (1) and is characterized in that; the middle of the tail part of the vehicle body (1) is provided with an airplane front wheel clamping device (2) for fixing an airplane front wheel;
the head end and the tail end of the vehicle body (1) are provided with guide devices (5) for guiding vehicles;
a central control device (4) for controlling the vehicle is arranged in a central control mounting bin (9) in the middle of the vehicle body (1);
and an operation device (8) for operating the vehicle is arranged on one side of the head end of the vehicle body (1).
2. The automatic tractor for the aircraft in the complex enclosed space according to claim 1, wherein the tractor body (1) comprises a frame, a suspension system, a steering system, a walking system, a braking system and a power system, and the tractor body (1) is used for bearing the load of the aircraft and dragging the aircraft to walk.
3. The automatic tractor for the aircraft in the complex enclosed space according to claim 1, wherein the front wheel clamping device (2) comprises a swing type shovel bracket, a telescopic holding claw and a hydraulic oil cylinder for driving the swing type shovel bracket and the telescopic holding claw to move.
4. The automatic aircraft tractor applied to the complex enclosed space is characterized in that the guiding device (5) comprises a binocular camera (11), a laser radar (6) and an embedded information processing platform, the binocular camera (11) is installed at the position, located above the front wheel (7), of the vehicle body (1) and the position, close to the aircraft front wheel clamping device (2), of the vehicle body (1), the laser radar (6) is installed at the head end and the tail end of the vehicle body (1) and the position, close to the aircraft front wheel clamping device (2), of the vehicle body (1).
5. The automatic tractor for the aircraft in the complex enclosed space according to claim 1, characterized in that the central control device (4) is composed of a driving monitoring system and a battery monitoring system, and the battery monitoring system is used for monitoring the power battery in the battery compartment (3).
6. The automatic tractor for the aircraft in the complex closed space of claim 5 is characterized in that a cabin cover (10) is arranged on each of the battery cabin (3) and the central control installation cabin (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123092480.3U CN216581089U (en) | 2021-12-10 | 2021-12-10 | Be applied to aircraft automatic traction car in complicated airtight space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123092480.3U CN216581089U (en) | 2021-12-10 | 2021-12-10 | Be applied to aircraft automatic traction car in complicated airtight space |
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| Publication Number | Publication Date |
|---|---|
| CN216581089U true CN216581089U (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123092480.3U Active CN216581089U (en) | 2021-12-10 | 2021-12-10 | Be applied to aircraft automatic traction car in complicated airtight space |
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| Country | Link |
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| CN (1) | CN216581089U (en) |
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2021
- 2021-12-10 CN CN202123092480.3U patent/CN216581089U/en active Active
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