KR101778623B1 - Methof for safely guiding an airplane to a parking ramp by using scanner including 2D laser scanner and motor - Google Patents

Abstract

The present invention relates to a method for safely guiding an airplane to a base by using a 2D laser scanner and a motor for discriminating an airplane and safely guiding the airplane to a stoppage point of an aircraft. An advanced VDGS (Advanced-VDGS ) Using a scanner equipped with a 2D laser sensor and a motor to acquire the horizontal profile image of the aircraft by laser scanning method to find the characteristic point of the aircraft of the acquired image to discriminate the aircraft model and to secure the aircraft to the stop position Lt; / RTI >
The algorithm of the present invention is based on an algorithm for acquiring information on the entire surface of an aircraft by a laser scanning method by a scanner system implemented by one 2D laser sensor and a motor in an advanced visual cycle induction system (A-VDGS: Advanced-VDGS) A method of setting a center line, and a method of guiding an aircraft to a stoppage at a base are provided.

Description

Technical Field [0001] The present invention relates to a method for safely guiding an aircraft to a running path using a scanner having a 2D laser sensor and a motor,

The present invention relates to a method of safely guiding an airplane to a main floor using a scanner having a 2D laser sensor and a motor, and more particularly, to an improved automatic visual guidance system (A-VDGS : Advanced-VDGS) to display the actual aircraft position with a Pilot Display Unit (PDU) using a scanner equipped with a 2D laser sensor and a motor, , The aircraft is distinguished in the range of 80m ~ 120m in the main area having the length of 10m to 120m, and the remaining distance, the moving direction, and the lateral deviation in the main PDU in real time so that the aircraft does not deviate from the center line of the main area after the aircraft type is discriminated It guides the aircraft safely to the basement by displaying the instruction, Relates to a method of obtaining a horizontal image of the profile of the aircraft to find the characteristic points of the aircraft to determine the type and through an algorithm to safely derive the aircraft the aircraft safely guided to the parking position to a stop position by using the gate Concourse.

Once the aircraft landed at the destination airport runway, it exits the runway, approaches the dock via the taxiway, and attaches it to the designated boarding school.

At this time, in order to induce the aircraft landed at the runway of the international and domestic airports to be precisely positioned, the aircraft instructor (marshaller) sends the aircraft pilot to the aircraft pilot through the paddle Direction, speed, stop position, and so on.

At this time, the aircraft inducer takes a paddle with both hands and guides the aircraft to the predetermined position. Because of the large airplane, the aircraft can not see the access road alone. Place wing guide guides on the left and right sides of the wing, one standing next to the line where the front wheel should stop, and the other standing on the guide stand on the front of the aircraft.

In the aircraft cockpit, the pilot does not see the stop line, so the guides direct the aircraft to align the front wheel to the stop line by sending signals such as turning, straightening, slowing and stopping,

However, this passive induction method has difficulty in notifying or promptly notifying the airport command center when a large number of airplanes land or land in a large airport having many gate gates and a problem or a trouble occurs at a specific apron, It is not only economical because the company has to pay a considerable amount of labor cost to the service company that provides the aircraft induction service, and it was difficult to secure the manpower when the aircraft landed at early dawn or late at night.

In addition, complaints such as passengers' complaints often occurred due to delays caused by passive induction, errors or lack of guidance points.

In order to solve this inconvenience, a visual docking guidance system (VDGS) using an image camera and an image processing apparatus has been developed and used as an automatic unmanned method.

Korean Patent No. 10-346556 (Aircraft Period Position Indication System) registered as a patent of this visual cycle induction system is composed of a CCD camera, an image display unit, an image processing unit, and a display unit. There is disclosed an aircraft time period induction system for acquiring a two-dimensional image of an airplane, processing the image so that the contour of the airplane is extracted, and displaying the calculation result of the type, distance, lateral deviation, and the like of the aircraft.

Aircraft period position indicating system is a system that acquires the image of an aircraft using a CCD camera and then obtains the simulation result of distance and angle change processing using an aircraft database (DB) in which an image of the aircraft obtained through image processing is constructed, It compares real images and finds matching data, identifies the model, calculates the current distance and angle of the aircraft using triangulation, and accurately directs the aircraft to the cycle position.

Unlike direct aircraft guiding aircraft, the Visual Docking Guidance System (VDGS), which uses a pilot display device to guide the aircraft, has been introduced.

Conventionally, an aircraft guidance system using a video camera operates by acquiring a video image of an aircraft, extracting the contours of the aircraft from the aircraft image, determining the type and shape of the aircraft, and deriving the position of the aircraft

However, there is a disadvantage in that a method of guiding by using a video camera is poor in images obtained in severe bad weather such as fog, snow, and rain, and illumination is indispensably required in order to acquire images at night, There was a drawback.

In order to compensate for these drawbacks, a laser scanning method is widely used in which a large amount of optical energy is focused and transmitted at a single point, and an aircraft is scanned using the same.

To overcome such a shortcoming, there is an improved A-VDGS (Advanced-VDGS) system for acquiring a video image using a laser beam.

In order to induce the aircraft to the correct position by applying such a system, the data of the aircraft and the airplane of the target airplane It is necessary to acquire the structure and judge the model.

In the case where the aircraft type is judged to be correct, it is assumed that the judgment of the aircraft type is performed correctly. However, if the judgment of the aircraft type is not made due to the error of the system or the storage of the error data, And it is inevitable to induce the aircraft by putting the manpower into.

The related prior art 1 discloses a 'pilot control indicator system and method for pilot guidance display for aircraft', which can automatically control the pilot display unit for the flight of the aircraft, And a 'pilot control system and method for a pilots guide indicator'.

Prior Art 1 is a system for controlling a pilot guide indicator for leading an aircraft to a cyclic position, the system comprising: a central operating system for giving control authority to control the pilot guide indicator; A model discrimination unit for discriminating a model of the target airplane and a current position of the airplane; An automatic cycle induction system for controlling the pilot guide indicator on the basis of the type and current position of the aircraft determined by the model discrimination unit; And a manual remote controller for controlling the pilot guide indicator based on the current position of the aircraft determined by the model determining unit.

Prior Art 2 related to the related art discloses a system and method for discriminating aircraft types and periodically capturing three-dimensional cloud image data at an arbitrary angle of view by laser scanning the aircraft in low-speed movement. , And then extracts the plane and front view images of the aircraft using the geometric spatial variation technique of 3-D modeling. The image information of the existing aircraft models stored in the model data memory By comparing, searching, and finding matching models, it is possible to construct an innovative system that immediately identifies aircraft models in real time.

A prior art 3 related to the related art discloses an aircraft type discrimination and an aircraft self position determination system using a laser scanner. A three-dimensional laser scanner is used to obtain an aircraft shape in three-dimensional coordinates, and then a lateral length (Dx) (Dy), the height from the ground to the center of the aircraft body (h), and the length of one wing (Dw) to search for an identical aircraft in comparison with an already built aircraft database, The present invention also provides an aircraft type discrimination system for enabling an aircraft type discrimination system capable of detecting an aircraft type.

Prior Art 3 is a laser scanner capable of scanning the size of an airplane horizontally and vertically using one or two lasers, data acquisition means for acquiring distance and angle data received by the laser scanner, Coordinate conversion means for converting the polar coordinate system into an orthogonal coordinate system so that the size of the aircraft can be known; and an aircraft model database for comparing the aircraft model received from the flight information management system interface with the aircraft model database, An aircraft model discriminating algorithm processing means for discriminating an aircraft model; The output data means sends the information output from the data output of the model determination algorithm processing means to the A-VDGS remote monitoring system through the communication line, and the data output of the model identification algorithm processing means is transmitted to the pilot information And a color LED monitor is installed at the lower end of the pilot guide indicator so that the pilot of the aircraft can easily see the position of his / her aircraft.

(001) Patent registration No. 10-1470275 (Registered on December 1, 2014) (002) Patent Registration No. 10-1314566 (Registered on Mar. 31, 2013) (003) Patent registration No. 10-1160896 (registered on June 22, 2012)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the problems of the prior art by using a scanner equipped with a 2D laser sensor and a motor in an A-VDGS (Advanced-VDGS) system according to an aircraft automatic guidance guidance system and method It displays the location of the actual aircraft with the Pilot Display Unit (PDU), automatically guides the aircraft by real-time guidance to the stoppage point in the main area, and in the area of 80m ~ 120m in the main area with a length of 10m to 120m After the aircraft is identified and the aircraft type is identified, the aircraft is safely guided to the basin by displaying the remaining distance, movement direction, and left / right deviation on the main floor PDU in real time so that the aircraft does not deviate from the center line of the basin. To acquire a horizontal profile image of the aircraft using a laser scanning method, To find the feature points to determine the type and provides a method for inducing an aircraft safely on the ramp through the algorithm to safely guided the aircraft to Concourse Gate stop position.

In order to accomplish the object of the present invention, a method of safely guiding an aircraft to a base by using a scanner having a 2D laser sensor and a motor includes a scanner including a motor and a 2D laser sensor, a pilot display unit (PDU) The center discrimination information, the center line information, and the base position information are input in the advanced visual cycle induction system (A-VDGS: Advanced-VDGS) having the 2D Collecting the point cloud data of the horizontal profile image of the aircraft using the scanner data by collecting the scanner data by the laser scanning method at different angles of the laser; The scanner control processor of the A-VDGS equipment is driven using the scanner so that the 2D laser sensor driven by the motor emits an infrared laser to the aircraft at different angles, and the point cloud data (scanner data) The A-VDGS device first detects the core of the aircraft, and the horizontal profile image of the aircraft collected at a different angle of the 2D laser sensor and the image of the 2D laser sensor viewed at different angles Analyzing the collected point cloud data by extracting the aircraft point cloud image information, the aircraft core information, and the aircraft engine information; Searching the aircraft by comparing the aircraft reference information with the searched aircraft core information and the aircraft engine information; The actual position of the aircraft is displayed on the pilot guide indicator (PDU) by comparing the actual center line and the center line of the scanner with the reference point input from the A-VDGS equipment, The A-VDGS unit is read from the center line of the A-VDGS, not the front center line of the scanner, and the aircraft is automatically guided by real-time guidance to the stop position of the main unit. Adjusting the scanner center position according to the distance between the scanner and the aircraft by checking the remaining distance of the aircraft so that the aircraft does not deviate from the center line of the main body; The remaining distance of the aircraft is displayed and the remaining distance of the aircraft is displayed on the pilot information indicator PDU. The aircraft which guides the direction of the moving direction can be safely guided to the stoppage position at the stoppage at the stoppage, Completing an aircraft cycle inducement by displaying on a pilot information indicator (PDU); And stopping the E-STOP processor at an unexpected stop in case of an error in the step of confirming the PDU indication, confirming the remaining distance of the aircraft, confirming the PDU indication, confirming the stop position and confirming the PDU, And displaying an error condition on a pilot information indicator (PDU)
The type of the aircraft using the scanner is determined from the center point of the straight line connecting the center points of the two engines in the core portion of the aircraft and the distance between the center points of both engines and the center point of the straight line connecting the center points of the two engines To determine an aircraft.

When the aircraft is guided, the reference point input from the A-VDGS device, not the front center line of the scanner, is read and guided with an actual center line.

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The aircraft discrimination range is characterized by a range of 80 to 120 meters from the scanner.

In order to detect a core portion of an aircraft, the method includes setting a rectangular region to a rear portion based on a front portion of the core to set data of a corresponding portion to determine the core of the aircraft, When the number of pointers of the detected core and adjacent cores is 20 or more, it is regarded as the core of the aircraft of the point cloud data, and the lesser group is excluded.

In order to detect the aircraft engine information, the method sets a quadrangular discrimination region in a portion corresponding to the engine using previously scheduled information of the aircraft, groups the detected point groups in the corresponding region, The center point of the straight line connecting the center point of the engine is obtained.

The method comprises the steps of holding the first center point at the stop line to pick a center line from the stop line to guide when the aircraft is searched, identified and guided, selecting the second center point as a center line point more than 20 m from the first stop point, And the center line is extended to be within the range of 15 degrees left and right with respect to the center line when determining the aircraft, and it is set as the target of the airplane discrimination criterion. When guiding the airplane in the main path, And displays the instruction through a pilot guide indicator (PDU) so that the core position of the aircraft does not deviate from the set center line.

The method is characterized in that when the aircraft is guided through the set center line, the horizontal center position of the scanner is automatically adjusted according to the distance of the core position of the aircraft so that the position tracking program of the scanner can track the aircraft without missing .

Applying a linear interpolation application secondary algorithm (FIG. 1C) so that no noise data other than the aircraft information is detected when the scanner is automatically adjusted according to the position of the core of the aircraft, (Point) n point group data, obtaining each vertical height h using the acquired point group data, and determining the ground cut position using the average value h obtained by the sum calculation of h.

As described above, the method of safely guiding the aircraft to the basin using the scanner having the 2D laser sensor and the motor according to the present invention can be applied to an advanced automatic visual guidance system (A-VDGS: Advanced- VDGS) is used to acquire the horizontal profile image of the aircraft by using the laser scanning method using the scanner equipped with the 2D laser sensor and the motor to discriminate the model of the aircraft, safely guide the aircraft to the stop position of the gate, (PDU: Pilot Display Unit) to show the location of the actual aircraft, automatically informs the aircraft by real-time guidance to the stop point of the main road, and if the aircraft experiences unexpected error (overspeed, departure, low speed, etc.) Emergency measures to prevent accidents or to help the safety of pilots operated by pilots There is an effect that it is possible to stop the aircraft on the correct position.

FIG. 1A is a linear interpolation, FIG. 1B is a linear interpolation application primary, FIG. 1C is a linear interpolation secondary algorithm used in the present invention, and FIG. 1C is an illustration of an application of an interpolation algorithm for eliminating unnecessary data below a truncation reference line to be.
2 is a view showing a method of setting a center line of an aircraft for guiding an aircraft by setting a virtual center line using a scanner system including a 2D laser scanner and a motor.
3 is a view showing a method of checking the inclination of the bottom surface of the main floor when the scanner enters the airplane.
FIG. 4A is a view showing an aircraft having an engine installed in the right and left wings of the airplane entering the center of the airplane.
FIG. 4B is a method of setting an important point area for discriminating an aircraft by using the distance center point between the two engines and the distance from the center point to the aircraft core.
5 is a view showing the scanner angle setting by distance.
6 is a view showing a scanner for real-time image collection composed of a motor and a 2D laser sensor mounted on the lower part of the A-VDGS equipment.
7 is a PDU pilot cycle guidance system (A-VDGS equipment).
FIG. 8 is a flowchart illustrating a method of safely guiding an aircraft to a basin using a scanner having a 2D laser sensor and a motor according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

A method for safely guiding an aircraft to a base by using a scanner having a 2D laser sensor and a motor according to the present invention is a method for improving the accuracy of an A-VDGS (Advanced-VDGS) A scanner with a laser sensor and a motor is used to acquire the horizontal profile image of the aircraft by the laser scanning method to find the characteristic points of the aircraft and to identify the aircraft type and to provide an algorithm for safely guiding the aircraft to the stop position of the gateways. It displays the location of the actual aircraft with a PDU (Pilot Display Unit), automatically guides the aircraft by real-time guidance to the stoppage at the main stop, and automatically manages the aircraft in the area of 80m ~ 120m And after the aircraft type is determined, the aircraft goes beyond the center line of the pylon Real-time aircraft to the instructions displayed on the remaining distance and direction of movement on the apron PDU to provide a way to safely guide the apron. In addition, the A-VDGS equipment uses a scanner including a 2D laser sensor and a motor to acquire the horizontal profile image of the aircraft using a laser scanning method to find out the characteristic points of the aircraft and to identify the aircraft type, .

2 is a view showing a method of setting a center line of an aircraft for guiding an aircraft by setting a virtual center line using a scanner system including a 2D laser scanner and a motor.

3 is a view showing a method of checking the inclination of the bottom surface of the main floor when the scanner enters the airplane.

FIG. 4A is a view showing an aircraft having an engine installed in the right and left wings of the airplane entering the center of the airplane.

FIG. 4B is a method for setting a crucial point area for discriminating an aircraft by using a distance center point between both engines and a distance between the center point and the aircraft core.

5 is a view showing the scanner angle setting by distance.

FIG. 6 is a diagram showing a scanner 120 device composed of a motor 122 and a 2D laser sensor 121 mounted on the lower part of the A-VDGS equipment.

A device used to scan an aircraft entering from the airport's basin uses a scanner 120 device that combines a motor 122 and a 2D laser sensor 121 that can be moved up and down. After the infrared laser emission, To detect the core of the aircraft (the front of the aircraft).

The scanner 120 is used to drive the scanner control processor under the control of the control processor inside the A-VDGS equipment, so that the 2D laser sensor 121 driven by the motor 122 is rotated at an angle to the aircraft The point where the A-VDGS equipment detects the aircraft's core first through the image obtained by analyzing the point cloud data (scanner data) collected by the reflection and the reflection is in the range of 80m to 120m.

The algorithm of the A-VDGS system of the present invention uses software (SW) applied with an algorithm to identify the aircraft through the algorithm.

In order to detect the core of the aircraft from the front, first check the flatness of the bottom surface and check that the scanner including the motor (M) and the 2D laser sensor attached to the wall of 8m height above the ground measures the slope of the plane of the aircraft So that the floor data is not detected as an image (see FIG. 1).

The aircraft identification information is obtained by calculating the distance of the aircraft core from the center point of the distance between the left and right engines of the aircraft and the center point thereof through the scanner and the SW image information obtained by the SW applied with the algorithm of the present invention, The correspondence between the aircraft information received at the start of the SW and the information gathered and analyzed by the scanner on the site is compared through the position of the aircraft core and the engine [FIG. 4].

If the compared information matches, the aircraft discrimination confirmation and the model information are displayed in the PDU [FIG. 7] and the cycle induction of the next step is started. If the aircraft information does not match the information collected from the scanner, it retries from the scanner to the point of 50m or more, and when the distance reaches or exceeds 50m, the E-STOP processor is processed through the PDU (Pilot Display Unit).

When the aircraft reaches the stop position of the stoppage, the aircraft is processed in the order of STOP and OK in the normal cycle of the stoppage, and if the line is exceeded, a warning message of TOOFAR is displayed.

All processes for the aircraft that are given to the main circuit are synchronized and processed in real time by interworking with the VDGS operating system, the SW developed with the algorithm of the present invention.

FIG. 1A is a linear interpolation, FIG. 1B is a linear interpolation application primary, FIG. 1C is a linear interpolation secondary algorithm used in the present invention, and FIG. 1C is an illustration of an application of an interpolation algorithm for eliminating unnecessary data below a truncation reference line to be.

[Interpolation algorithm]

Linear interpolation is one of the simplest methods of interpolation. Referring to FIG. 1A, it is only necessary to connect known data points linearly as shown in the right graph. Based on this, let us determine the value of f (2.5) mentioned above. Since f (2) = 0.9093 and f (3) = 0.1411 for known values 2 and 3, f (2.5) becomes 0.5252. In general, the linear interpolation method gives the interpolation function for (x, y) points between ( x _a , y _a ) and ( x _b , y _b )

(1) Linear Interpolation Application First

Referring to FIG. 1B, arbitrary point (Point) n point cloud data on the bottom using a laser is acquired. The vertical height h of each of the obtained data is obtained.

h < / RTI > The displayed h is an example display, and performs an interpolation calculation by performing an arbitrary computation value + - operation in actual use.

(2) Linear Interpolation Application Secondary

Referring to FIG. 1C, n points of arbitrary points on the floor using the laser are acquired. Using the acquired point cloud data, each vertical height h is obtained. h < / RTI > Obtain the angle a using the position value of the motor. The angle a represents the angle between the vertical line of the scanner including the laser sensor and the motor and the truncation baseline of the points photographed at different angles.

Application of linear interpolation In the secondary, the source data of the quadratic interpolation method uses the length data collected by the laser source. In general, the longer the distance, the less the error of length is less affected by the truncation data than the error of height. Even if a large value is truncated due to calculation error, the original data of the aircraft is maintained because the actual length is long.

ex) Scanner height = around 8m, length about 80m, and the cut value is the same for both 1m ~ 40cm cut.

As the distance increases, the circular shape of the aircraft is kept clean, which is advantageous for detection.

2 is a view showing a method of setting a center line of an aircraft for guiding an aircraft by setting a virtual center line using a scanner system including a 2D laser scanner and a motor.

In order to set and guide the virtual center line, specify the first and second reference points and set the reference points of P1 and P2 in the same order as shown in the drawing in the center line of scanner and connect the straight lines. In the A-VDGS equipment, not the front center line of the scanner, the reference point input from the scanner is read and guided by the actual center line.

3 is a view showing a method of checking the inclination of the bottom surface of the main floor when the scanner enters the airplane.

A method of inspecting the inclination of the floor surface is as follows. As shown in FIG. 3A, the laser sensor of a scanner installed on a wall surface of 8 m height above the ground is set in a 90 degree frontal position by a motor M, And the second stage of the inspection.

1) The laser sensor uses the motor to check the flatness of the floor by moving up and down. 2) Calculate the aircraft inspection area using each floor data (aircraft inspection area is different for each GATE). 3) Calculate any angle (correction factor) to move up or down at the model identification position.

FIG. 4A is a view showing an aircraft having an engine installed in the right and left wings of the airplane entering the center of the airplane.

A-VDGS equipment determines aircraft type by calculating the center point of the distance between the two left and right engines of the aircraft and the distance of the aircraft core from its center point.

FIG. 4B is a method of setting a crucial point area for discriminating an aircraft by using a distance center point between the two engines 22 and 23 and a distance from the center point to the aircraft core 11.

The rectangular discrimination area represents an aircraft core search box and an engine box provided on the left and right sides of the wing of the aircraft.

The aircraft identification area setting is described as follows.

1) Search the first pointer of the core part in the group with the density of the point cloud data of 20 points or more.

2) Draw a rectangle around the core of the aircraft and draw a box at the anticipated point of the engine of the aircraft to be searched.

3) The search for the aircraft is made by reading the center point of the two points in the above area, the center point of the engine, and the length of the connecting line between each center point of the engine.

5 is a view showing the scanner angle setting by distance.

The scanner installed on the wall 8 meters above the ground has a motor and a 2D laser sensor to set the angle of the scanner by the distance to the aircraft entering the basin.

* Scanner angle setting by distance

1) The scanner has a rotation angle at which the aircraft core 11 can be positioned at the center by distance. 2) Since the angle of the scanner that can identify the core 11 of the aircraft differs according to the distance of the aircraft, if the distance from the aircraft is different, the angle of the scanner is adjusted by distance.

6 is a diagram of a real-time image acquisition scanner 120 device configured with a motor 122 and a 2D laser sensor 121 mounted at the bottom of the A-VDGS instrument and driven by its internal scanner control processor.

The scanner device and the scanner control processor are communicated via TCP / IP.

The scanner 120 drives the motor 122 by the internal control processor of the A-VDGS equipment to enable the 2D laser sensor 121 to be moved up and down while the 2D laser sensor 121 emits an infrared laser at 32 Hz per second The aircraft is determined by measuring the distance from the center of the aircraft to the core of the aircraft from the midpoint of the straight line connecting the center point of the two engines at the bottom of the aircraft and the center of the aircraft and the midpoint between the two engines.

The 2D laser sensor 121 is moved upward and downward at an angle to each other at predetermined angles to superimpose the images photographed at different angles to measure the plane position of the aircraft.

7 is a PDU pilot cycle guidance system (A-VDGS equipment).

The PDU pilot cycle induction guide system (A-VDGS equipment) includes an upper cover 110, an internal control processor and a scanner control processor, and has a pilot display indicator (PDU) Unit 100, a handle 101, a scanner 120 having a 2D laser sensor 121 and a motor 122, and an E-STOP switch 130.

The scanner 120 includes a 2D laser sensor 121 for calculating the distance to the aircraft using a value returned from the front of the aircraft by emitting an infrared laser of 905 nm; And a motor 122 for driving the motor by the scanner control processor through TCP / IP communication to move the laser sensor up and down so that the laser is emitted at different angles.

A Pilot Display Unit (PDU) 100 includes a 2D laser sensor 121 and a motor 122 in an improved A-VDGS (Advanced-VDGS) And the aircraft is automatically guided by the real-time guidance to the stop position of the stoppage at the base, and the aircraft type is discriminated in the range of 80m ~ 120m in the main body having the length of 10m or more and 120m or less, The aircraft is guided safely to the stoppage at the stop in the stoppage so that the aircraft does not deviate from the center line of the stoppage.

The E-STOP switch 130 is used when a situation occurs in which an aircraft entering a parking lot needs urgent measures such as speeding or deviation, unexpected stoppage, or the like.

* Pilot pilot guide screen device

1) Distance display: When the aircraft reaches the stop position 30m, display starts.

2) Direction mark: If the aircraft reaches the stop position 30m and the direction is not in the center (0.2 degree range), mark the arrow to the center position.

3) E-STOP indication: If an emergency situation such as speeding, deviation, unexpected stop is needed for an aircraft entering the main area, it is indicated by E-STOP switch or cycle guidance software (SW).

4) ON-BLOCK display function after a certain time when aircraft stop point is reached

5) OFF-BLOCK display function when a departure from an aircraft stop point is detected

FIG. 8 is a flowchart illustrating a method of safely guiding an aircraft to a basin using a scanner having a 2D laser sensor and a motor according to the present invention.

A method for safely guiding an aircraft to a basin using a scanner having a 2D laser scanner and a motor includes an improved visual cycle induction system having a scanner including a motor and a laser sensor and a pilot display unit (PDU) After the existing discrimination information, the center line information and the base line information are input in the A-VDGS: Advanced-VDGS, the scanner control processor is driven (S10) and the motor control is started (S11) (S12) the point cloud data of the horizontal profile image of the aircraft using the scanner data is collected (S13) by the laser sensor by using the laser scanner to acquire the horizontal profile image of the aircraft by the laser scanning method ; The plane position of the aircraft is measured by superposing images viewed at different angles from the horizontal profile image of the aircraft collected at different angles of the laser sensor, and the aircraft point group image information, the aircraft core information, and the aircraft engine information are extracted and collected Analyzing the point cloud data (S14); Comparing the aircraft reference information with the searched aircraft core information and the aircraft engine information (S15) and searching for the aircraft (S16); (S17), the core position of the aircraft is checked (S18), the actual center line is compared with the center line of the scanner, and the position of the actual aircraft is detected by the pilot information indicator (PDU) (S19). When the aircraft is guided, the reference point input from the A-VDGS equipment, not the front center line of the scanner, is read as an actual center line, and the aircraft is automatically guided to the stop position at the stop position in real time. After determining the model of the aircraft in the range of maximum 80m ~ 120m in the basin, check the remaining distance of the aircraft so that the aircraft does not deviate from the center line of the basin and adjust the center position of the scanner according to the distance between the scanner and the aircraft. (S21), the remaining distance of the aircraft is confirmed, and the remaining distance of the aircraft is displayed on the pilot information display unit (PDU) (S22) (Step S23) to complete the aircraft cycle induction by safely guiding the aircraft indicating the direction of movement to the stoppage position at the stoppage, displaying the stop position of the aircraft at the stoppage at the stoppage point and displaying it on the pilot information indicator .

(S22), confirmation of the stop position and confirmation of the PDU (S23), the aircraft is overspeed or departs from the direction, the unexpected stop The E-STOP processor is operated to display an error condition on the pilot information indicator (PDU).

The type of the aircraft using the scanner is the distance from the core of the aircraft to the center point connecting the engine and the distance between both engines. The starting point of the engine at the distance to the engine is the distance between the engines based on the detected center point of the engine (see FIG. 3).

The range of aircraft identification ranges from 80 m to 120 m from the scanner.

In order to detect the aircraft core part, a rectangular area is set up to the rear part based on the front part of the core, and data of only the corresponding part is set to discriminate the core (refer to FIG. 4).

Detecting the Aircraft Core Part When the number of pointers of the first detected core and adjacent cores is 20 or more, it is regarded as the core of the point cloud data, and the lesser number of groups are excluded (see FIG. 4).

In order to detect the aircraft engine part, a rectangle discrimination area is set on the part corresponding to the engine using the information of the airplane scheduled in advance, the group of detected points in the area is grouped and the midpoint of the point cloud is sought to obtain the center point of the engine and the engine 4).

The aircraft's remaining distance is the distance from the aircraft's wheel to the stop point.

Figure 2 shows how to hold the first center point at the stop line and select the second center point as the center line point more than 20m from the first stop point, Connect and extend to center.

The set center line should be within the range of 15 degrees left and right with respect to the center line when distinguishing the aircraft, and it shall be the target of the aircraft discrimination standard. When guiding the aircraft, point cloud data including the aircraft are collected within a range of 5 degrees left and right, and the indication is displayed through the pilot information indicator (PDU) so that the core position of the aircraft does not deviate from the set center line.

When the aircraft is guided through the set center line, the horizontal center position of the scanner is automatically adjusted according to the distance of the core position of the aircraft so that the scanner's position tracking program can track the aircraft without missing (refer to FIG. 5)

The linear interpolation application secondary (FIG. 1C) is applied so as to remove the bottom noise when automatic adjustment is performed according to the position of the core of the aircraft of the scanner so that no noise data other than the aircraft information is detected. And acquires arbitrary Point n point cloud data of the bottom using the laser. Using the acquired point cloud data, each vertical height h is obtained. h < / RTI >

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood that various modifications and changes may be made without departing from the scope of the present invention.

100: Pilot Display Unit (PDU)
101: handle 110: upper cover
120: scanner 121: 2D laser sensor
122: motor 130: E-STOP switch

Claims (10)

In the advanced visual cycle induction system (A-VDGS: Advanced VDGS) including a scanner including a motor and a 2D laser sensor and a pilot display unit (PDU), existing discrimination information, center line information, The 2D laser sensor collects scanner data by a laser scanning method at a predetermined angle by a vertical angle of the motor driven by the scanner control processor and outputs point group data of the horizontal profile image of the aircraft using the scanner data Collecting;
The scanner control processor of the A-VDGS equipment is driven using the scanner so that the 2D laser sensor driven by the motor emits an infrared laser to the aircraft at different angles, and the point cloud data (scanner data) The A-VDGS device first detects the core of the aircraft, and the horizontal profile image of the aircraft collected at a different angle of the 2D laser sensor and the image of the 2D laser sensor viewed at different angles Analyzing the collected point cloud data by extracting the aircraft point cloud image information, the aircraft core information, and the aircraft engine information;
Searching the aircraft by comparing the aircraft reference information with the searched aircraft core information and the aircraft engine information;
The actual position of the aircraft is indicated by the pilot guide indicator (PDU) by comparing the actual center line with the center line of the scanner, checking the core position of the aircraft by starting the flight of the aircraft, The A-VDGS device is read from the center line of the scanner, not the front center line of the scanner, with the actual center line, and the aircraft is automatically guided by the real-time guidance at the stop position of the main body. The aircraft type is identified in the main area, Adjusting the scanner center position according to the distance between the scanner and the aircraft by checking the remaining distance of the aircraft so that the aircraft does not deviate from the center line of the main body;
The remaining distance of the aircraft is displayed, the remaining distance of the aircraft is displayed on the pilot information indicator PDU, the aircraft for guiding the direction of movement is safely guided to the stoppage position at the stoppage at the stoppage, Completing an aircraft cycle induction by displaying on a guide indicator (PDU); And
The E-STOP processor is operated in case of an error in the step of checking the center line position and confirming the PDU indication, confirming the remaining distance of the aircraft and confirming the PDU indication, confirming the stop position and confirming the PDU, And displaying an error condition on a pilot information indicator (PDU)
The type of the aircraft using the scanner is determined from the center point of the straight line connecting the center points of the two engines in the core portion of the aircraft and the distance between the center points of both engines and the center point of the straight line connecting the center points of the two engines Wherein the scanner is provided with a 2D laser sensor and a motor, wherein the 2D laser sensor and the motor are used to determine the aircraft. The method according to claim 1,
A method for safely guiding an aircraft to a basin using a scanner having a 2D laser sensor and a motor, characterized in that the reference point inputted from the A-VDGS equipment is read and guided by an actual center line, not the front center line of the scanner when the aircraft is guided . delete delete The method according to claim 1,
Wherein the range of the aircraft discrimination is within a range of 80 m to 120 m from the scanner. 2. A method for safely guiding an aircraft to a basin using a scanner having a 2D laser sensor and a motor. The method according to claim 1,
In order to detect the core part of the aircraft, a quadrangle area is set up to the rear part with respect to the front part of the core to set the data of the relevant part to discriminate the core of the aircraft, A 2D laser sensor and a motor equipped with a motor are used to safely guide the aircraft to the basin, wherein the 2D laser sensor and the motor are regarded as cores of the aircraft of the point cloud data when the number of pointers of adjacent cores is 20 or more, Way. The method according to claim 1,
A rectangular discrimination region is set in a portion corresponding to the engine by using information of a predetermined airplane in order to detect the aircraft engine information, the point groups detected in the region are grouped, the center point of the point cloud is found, And calculating a center point of the straight line connecting the center points of the 2D laser sensor and the motor. The method according to claim 1,
In order to catch the center line from the stop line to be guided when the aircraft is searched, identified and guided, hold the first center point at the stop line, select the second center point as the center line point more than 20m from the first stop point, connect and extend these two points The set center line should be within the range of 15 degrees left and right with respect to the center line when determining the aircraft, and it shall be the target of the aircraft discrimination criteria. When guiding the aircraft in the main area, the point line data including the aircraft Wherein the indicator is displayed through a pilot guide indicator (PDU) so that the core position of the aircraft does not deviate from a set centerline. A method for safely guiding an aircraft to a basin using a scanner having a 2D laser sensor and a motor. 9. The method of claim 8,
Wherein the position of the horizontal center of the scanner is automatically adjusted according to the distance of the core position of the aircraft when the aircraft is guided through the set center line so that the position tracking program of the scanner can track the aircraft without missing. And a method of safely guiding an aircraft to a basin using a scanner equipped with a motor. The method according to claim 1,
A linear interpolation application secondary algorithm is applied so that no noise data other than the aircraft information is detected when the scanner is automatically adjusted according to the position of the core of the aircraft and any point n And a 2D laser sensor and a motor are provided, wherein the 2D laser sensor and the motor are equipped with the 2D laser sensor, wherein the 2D laser sensor and the motor are provided with the point group data obtained by using the acquired point group data to obtain the respective vertical heights h and using the average value h obtained by the sum of h A method of safely guiding an aircraft to a basin using a scanner.

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