WO2019141850A1

WO2019141850A1 - Autonomous self propelled ground support equipment

Info

Publication number: WO2019141850A1
Application number: PCT/EP2019/051398
Authority: WO
Inventors: Alex KUDRENKO; James Fegan; Kevin Cullen
Original assignee: Mallaghan Engineering Limited
Priority date: 2018-01-22
Filing date: 2019-01-21
Publication date: 2019-07-25
Also published as: GB201801023D0

Abstract

An autonomous self propelled ground support equipment (GSE), comprising drive means for driving at least one ground engaging wheel of the GSE, control means for controlling the speed and trajectory of the GSE, sensor means for detecting the presence of objects, including aircraft, in the vicinity of the ground support equipment and for determining the position of a service opening of an aircraft, the control means being adapted to automatically bring the GSE into a predetermined position and orientation with respect to said service opening while preventing collisions between the GSE and objects in the vicinity of the GSE in response to data received from the sensor means.

Description

Autonomous Self Propelled Ground Support Equipment

FIELD OF THE INVENTION

This invention relates to autonomous self propelled ground support equipment able to autonomously dock with aircraft to be serviced while preventing collisions between Ground Support Equipment (GSE) and aircraft.

BACKGROUND OF THE INVENTION

The term GSE as used herein is intended to cover cabin service vehicles (e.g. catering trucks, cleaning trucks), passenger loading vehicles (passenger stairs, PRM [Passengers with Reduced Mobility] vehicle), cargo/baggage loading vehicles (belt loader, lower deck loader), and lavatory / water service vehicles.

The EU is facing a major crisis in airport capacity. If no action is taken, by 2025 more than sixty major European airports will be severely overcrowded. In order to address this threat, the EU has implemented a wide ranging action plan that encompasses legislation, financial support, the promotion of co-ordinated planning, and technology development. These measures are likely to increase airport productivity. Turnaround times will be reduced and more passengers will be delivered to their destinations. However, this is likely to put ever greater strains on the ground handling crews responsible for turnaround operations. Even without any increase in airport capacity, air transport accidents on the apron are already above the all industry average and injuries to workers at UK airports increased by 50% between 2002 and 2008.

Additionally, operating under time constraints in highly congested areas and quite often in difficult weather conditions in relative darkness, these workers are damaging the highly engineered aircraft they are servicing. Even a minor accident involving an aircraft can result in an airline having to cancel all scheduled flights for that aircraft, leading to lost ticket revenue, additional costs for passenger’s lodgings, payment for accident investigation, repair of damage, etc. According to one international airline,€54 million in direct damage to their aircraft from ramp operations resulted in approximately€380 million in lost income. The direct cost of ground accidents to aircraft amounts to approximately €5billion annually and a staggering five times that figure in indirect costs. Of this figure, €1 billion is directly attributable to accidents caused by GSE. As more aircraft manufactured from composite materials come into service, these costs are likely to rise even more dramatically as damage analysis and repairs become more time- consuming. Even more worrying is that safety will be compromised. Impacts on composite aircraft can cause unnoticeable internal damage that can severely reduce structural strength and stability.

It is therefore desirable to alleviate these problems by at least partially removing the element of human error from GSE operation to enable more reliable, safer and faster movement of GSE into and out of an operative position adjacent the aircraft.

SUMMARY OF THE INVENTION

According to a first aspect of the present invention there is provided an autonomous self propelled ground support equipment (GSE), comprising drive means for driving at least one ground engaging wheel of the GSE, control means for controlling the speed and trajectory of the GSE, sensor means for detecting the presence of objects, including aircraft, in the vicinity of the ground support equipment and for determining the position of a service opening of an aircraft, the control means being adapted to automatically bring the GSE into a predetermined position and orientation with respect to said service opening while preventing collisions between the GSE and objects in the vicinity of the GSE in response to data received from the sensor means.

Preferably the sensor means includes optical imaging means. The sensor means may be adapted to provide 3D imaging of objects in the vicinity of the GSE to determine both the location of the objects and the distance between the GSE and the objects. The sensor means may be adapted to determine the shape of objects in the vicinity of the GSE. In one embodiment the controller may be programmed to identify objects detected by the sensor means as a function of their shape and/or based upon data or signals received from said objects.

Preferably the sensor means includes illumination means for illuminating the aircraft, said sensor means detecting light reflected from the aircraft. The illumination means may emit light of a specific wavelength or range of wavelengths, such as light in the infra-red band. The illumination means may comprise a laser emitter.

In a preferred embodiment the GSE comprises motorised passenger stairs having a platform at an upper end thereof, said service opening of the aircraft comprising a door, said control means bringing the platform into alignment with the door of the aircraft as a function of data from the sensor means to permit passengers to embark or disembark from the aircraft via said stairs. One or more sensors of said sensor means may be provided on said platform. The stairs may be adjustable in length and/or elevation to adjust the height of the platform, said control means being adapted to control the length and/or elevation of the stairs as a function of data from the sensor means corresponding to the location of the door to bring the platform into a docking position adjacent the door of the aircraft.

The sensor means may be adapted to determine the position of a target associated with said service opening. In a preferred embodiment said target may comprise one or more markings may be provided on the aircraft adjacent said service opening. Said one or more markings may comprise reflective markings, more preferably retro-reflective markings. Said one or more markings may be applied to the exterior of the aircraft in the region of said service opening.

In a preferred embodiment the control means further comprises processing means for determining a virtual model of at least a region of the aircraft in the vicinity of the service opening and generating a virtual model of the GSE, the system being adapted to control the movement of the ground support equipment to prevent collisions between the GSE and the aircraft by comparing the position of the virtual model of the GSE to the virtual model of at least said region of the aircraft. Preferably said processing means determines a virtual model of the environment within which the GSE operates, including the position and orientation of the aircraft and/or other objects within said environment. The virtual model of the aircraft may be determined from stored reference data based upon the identification of the aircraft by the control means.

The processing means may be programmed to determine at least one virtual anti- collision envelope around at least said region the aircraft, said control means being programmed to control the movement of any part of the GSE to prevent intrusion of the ground support equipment into said anti-collision envelope and/or to determine an optimum trajectory of the GSE between its home and operative positions.

The sensor means and/or additional sensors may be provided on moveable parts of the GSE to ensure that said moveable parts of the GSE are not moved into a position wherein a collision with the aircraft or other objects in the vicinity of the GSE may occur.

In a preferred embodiment the control means calculates a required path to bring the GSE from a home position into a position in alignment with the service opening of the aircraft based upon the position of the service opening and the distance of the service opening from the GSE as determined by the sensor means, said control means controlling the operation of the drive means to move the GSE along the required path as calculated by the control means. Said required path may be continuously recalculated and updated based upon live data from said sensor means to prevent collisions between the GSE and the aircraft and other objects in the vicinity of the aircraft. Preferably the control means is adapted to automatically return the GSE to its home position after use. The sensor means may continue to scan a region in the vicinity of the GSE for obstructions during movement of the GSE to its home position, said control means modifying or stopping movement to prevent collisions should an obstruction be detected.

Preferably the GSE includes means for determining the real time position of the GSE. Said means for determining the real time position of the GSE comprises a Global Navigation Satellite System (GNSS) and/or Inertial Navigation System (INS) apparatus.

According to a further aspect of the invention there is provided a method of operating a self propelled GSE having drive means for driving at least one ground engaging wheel of the GSE, control means for controlling the speed and trajectory of the GSE, sensor means for detecting the presence of objects, including aircraft, in the vicinity of the ground support equipment and for determining the position of a service opening of an aircraft, said method comprising automatically bringing the GSE into an operative position at a predetermined position and orientation with respect to said service opening while preventing collisions between the GSE and objects in the vicinity of the GSE in response to data received from the sensor means.

Preferably said method comprises determining an optimum approach trajectory for moving the GSE from a park to its operative position and vice versa.

Preferably the method comprises determining a virtual model of at least a region of the aircraft in the vicinity of the service opening and generating a virtual model of the GSE, and controlling the movement of the GSE to prevent collisions between it and the aircraft by comparing the position of the virtual model of the GSE to the virtual model of at least said region of the aircraft.

BRIEF DESCRIPTION OF THE DRAWINGS

An autonomous self propelled GSE, in particular passenger stairs, in accordance with an embodiment of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which :-

Figure 1 is a schematic illustration of a GSE in accordance with an embodiment of the present invention in a park or home position adjacent an aircraft parked on an airport apron; and

Figure 2 is a schematic diagram of the GSE of Figure 1 in an operative position alongside the front door of the aircraft; and Figure 3 is a schematic diagram of the GSE of Figure 1 in an operative position alongside the rear door of the aircraft.

DETAILED DESCRIPTION OF THE DRAWINGS

As illustrated in Figure 1 , an item of Ground Support Equipment (GSE) 2, in particular passenger stairs, may be required to approach an aircraft 1 in order to allow passengers to disembark from the aircraft when it is parked on the apron at an airport.

Traditionally passenger stairs are initially towed into a position adjacent the aircraft door, manually manoeuvred into an operative position adjacent the aircraft door and manually extended/raised until an upper platform of the stairs is correctly docked with the side of the aircraft just below the door. This can be a time consuming process with risk of damage to the aircraft as the stairs are moved around in the vicinity of the aircraft.

In order to prevent collisions between the GSE 2 and the aircraft 1 , the GSE is fitted with an autonomous control system whereby the GSE may be automatically deployed between a park or home position, as shown in Figure 1 , to an operative position adjacent a service opening of the aircraft, as shown in Figures 2 and 3, without requiring operator intervention.

The GSE is provided with a drive device for driving at least one ground engaging wheel of the vehicle, typically in the form of an electric or hydraulic motor, and a steering system for controlling the direction of motion of the GSE.

A controller is provided for controlling the drive device and steering system for controlling the motion and trajectory of the GSE.

Sensors, preferably in the form of imaging means, are provided for detecting objects in the vicinity of the GSE, in particular for detecting the location and position of an aircraft adjacent the GSE. In a preferred embodiment the imaging means comprises a 3D imaging system for determining the position of an object with respect to the GSE and the distance from such object. More preferably the imaging system is adapted to determine the shape of the object. The controller may include processing means which may be programmed to identify the object detected by the imaging means, enabling the controller to identify the shape of the aircraft and the position of the service opening with which the GSE is to be docked.

In a preferred embodiment the controller includes means for interrogating the aircraft to identify the type or model of aircraft to which the GSE is to be docked. An RFID tag or transmission device may be associated with the aircraft which may be interrogated by the controller in order to identify the type or model of aircraft. Alternatively it is envisaged that the type or model of aircraft may be determined by the shape of the aircraft as determined by the 3D imaging system.

Preferably the imaging means comprises a light emitter and a sensor for detecting and analysing the light reflected from objects in the vicinity of the GSE. Preferably the light emitted by the light emitter comprises infra red light, enabling the imaging means to operate in poor visibility conditions. The imaging means may comprise a LIDAR system.

Reflective markings may be applied to the surface of the aircraft adjacent the service opening to serve as target markings 3 recognisable by the imaging means.

The controller is preferably programmed to calculate an optimum trajectory of the GSE from its home position to an operative position adjacent the required service opening of an aircraft based upon data received from the imaging means, avoiding collisions with any part of the aircraft and other objects in the vicinity of the GSE, and to control the drive device and steering system of the GSE to move the GSE to its operative position in accordance with such trajectory. The controller preferably constantly monitors data from the imaging means, modifying the trajectory of the GSE or stopping the GSE should the controller determine that a collision may occur between the GSE and a detected object in the vicinity of the GSE. The GSE may be provided with further sensors, such as proximity sensors, particularly on moveable parts of the GSE to ensure that no part of the GSE comes into unintended contact with any part of the aircraft or any other object.

The controller may be programmed to automatically adapt the shape of the GSE into an operative configuration to enable the GSE to dock with the service opening of an aircraft. Where the GSE comprises passenger stairs, the height of a loading platform at the top of the stairs may be adjusted, for example by extending and/or changing the inclination of the stairs, to bring the platform into the correct position with respect to a door of the aircraft, preferably based upon detection of target markings on the aircraft adjacent the door by the imaging means and/or additional sensors. The platform may also be extendable into contact with the aircraft. The imaging means and/or additional sensors provided on the platform may enable the controller to control movement and/or extension of the platform into engagement with the aircraft.

The GSE may be provided with location determining means, such as GNSS and/or INS systems, for determining the real time location of the GSE. Such location determining means may be used to automatically return the GSE from its operative position to its home position.

The GSE may be provided with one or more batteries for powering the controller, drive device, steering system and other systems of the GSE. Solar panels may be provided on the body of the GSE for charging the one or more batteries.

The imaging means enables the controller to continuously monitor the range and orientation of the GSE from the aircraft, in particular from target markings 3 provided on the aircraft.

In a preferred embodiment the controller may generate a virtual model of the aircraft, preferably based upon the aircraft identification with reference to stored reference data and may generate a anti-collision envelope around the aircraft, the controller controlling the speed of the GSE to prevent the GSE from entering the anti-collision envelope. The controller may generate a virtual model of the environment within which the GSE operates, including the location and orientation of the aircraft and preferably other fixed and moving objects within said environment.

The controller may include one or more of the following further features:-

1. Means for identification of the make and model of the aircraft to be serviced by the GSE. This may comprise an operator interface wherein the user may input information, such as aircraft identification numbers or other markings, or flight number, to facilitate identification of the aircraft, or automatic identification using data from the imaging means or other systems. The controller may be provided with flight data or may communicate with other airport systems, such that information provided by the operator can be used to identify the aircraft. In an alternative embodiment, information may be received from the aircraft to enable identification of the make and model of the aircraft (e.g. ADS-B or RFID tag associated with the aircraft). Once the aircraft has been identified, the controller may select appropriate stored data to generate a virtual model of the aircraft within a computer model of the environment and the position and orientation of the aircraft with respect to the GSE. This model may enable the controller to determine the dimensions of the aircraft for use in a GSE collision avoidance application and may enable the controller to determine an optimum approach trajectory for moving the GSE from its park to its operative position and vice versa, for example optimised in terms of safety and/or time taken and/or distance.

2. Sensors may be provided on the GSE, preferably cloud point sensor nodes, for detecting changes in shape and configuration of the working parts of the GSE, in particular during aircraft docking operations. Such sensors may enable the computer model to be updated during working of the GSE.

The invention is not limited to the embodiments described herein but can be amended or modified without departing from the scope of the present invention as defined by the appended claims.

Claims

1. An autonomous self propelled ground support equipment (GSE), comprising drive means for driving at least one ground engaging wheel of the GSE, control means for controlling the speed and trajectory of the GSE, sensor means for detecting the presence of objects, including aircraft, in the vicinity of the ground support equipment and for determining the position of a service opening of an aircraft, the control means being adapted to automatically bring the GSE into a predetermined position and orientation with respect to said service opening while preventing collisions between the GSE and objects in the vicinity of the GSE in response to data received from the sensor means.

2. A GSE as claimed in claim 1 , wherein the sensor means includes optical imaging means.

3. A GSE as claimed in claim 2, wherein the sensor means is adapted to provide 3D imaging of objects in the vicinity of the GSE to determine both the location of the objects and the distance between the GSE and the objects.

4. A GSE as claimed in claim 3, wherein the sensor means is adapted to determine the shape of objects in the vicinity of the GSE.

5. A GSE as claimed in claim 4, wherein the controller is programmed to identify objects detected by the sensor means as a function of their shape and/or based upon data or signals received from said objects.

6. A GSE as claimed in any preceding claim, wherein the sensor means includes illumination means for illuminating the aircraft, said sensor means detecting light reflected from the aircraft.

7. A GSE as claimed in claim 6, wherein said illumination means emits light of a specific wavelength or range of wavelengths.

8. A GSE as claimed in claim 7, wherein said illumination means emits light in the infra-red band.

9. A GSE as claimed in any of claims 7 to 8, wherein said illumination means comprises a laser emitter.

10. A GSE as claimed in claim 9, wherein said illumination means and sensor means comprises a LIDAR system.

11. A GSE as claimed in any preceding claim, wherein the GSE comprises motorised passenger stairs having a platform at an upper end thereof, said service opening of the aircraft comprising a door, said control means bringing the platform into alignment with the door of the aircraft as a function of data from the sensor means to permit passengers to embark or disembark from the aircraft via said stairs.

12. A GSE as claimed in claim 11 , wherein one or more sensors of said sensor means is provided on said platform.

13. A GSE as claimed in claim 11 or claim 12, wherein the stairs are adjustable in length and/or elevation to adjust the height of the platform, said control means being adapted to control the length and/or elevation of the stairs as a function of data from the sensor means corresponding to the location of the target to bring the platform into a docking position adjacent the door of the aircraft.

14. A GSE as claimed in any preceding claim, wherein said sensor means is adapted to determine the position of a target associated with said service opening.

15. A GSE as claimed in claim 14, wherein said target comprises one or more markings provided on the aircraft adjacent said service opening.

16. A GSE as claimed in claim 15, wherein said one or more markings comprise reflective markings, more preferably retro-reflective markings.

17. A GSE as claimed in claim 15 or claim 16, wherein said one or more markings are applied to the exterior of the aircraft in the region of said service opening.

18. A GSE as claimed in any preceding claim, wherein the control means further comprising processing means for determining a virtual model of at least a region of the aircraft in the vicinity of the service opening and generating a virtual model of the GSE, the system being adapted to control the movement of the GSE to prevent collisions between it and the aircraft by comparing the position of the virtual model of the GSE to the virtual model of at least said region of the aircraft.

19. A GSE as claimed in claim 18, wherein said processing means determines a virtual model of the environment within which the GSE operates, including the position and orientation of the aircraft and/or other objects within said environment.

20. A GSE as claimed in claim 18 or claim 19, wherein said virtual model of the aircraft is determined from stored reference data based upon the identification of the aircraft by the control means.

21. A GSE as claimed in any of claims 18 to 20, wherein said processing means determines at least one virtual anti-collision envelope around at least said region the aircraft, said control means being programmed to control the movement of any part of the GSE to prevent intrusion of the ground support equipment into said anti- collision envelope and/or to determine an optimum trajectory of the GSE between its home and operative positions.

22. A GSE as claimed in any preceding claim, wherein said sensor means and/or additional sensors are provided on moveable parts of the GSE to ensure that said moveable parts of the GSE are not moved into a position wherein a collision with the aircraft or other objects in the vicinity of the GSE may occur.

23. A GSE as claimed in any preceding claim, wherein the control means calculates a required path to bring the GSE from a home position into a position in alignment with the service opening of the aircraft as determined by the sensor means, said control means controlling the operation of the drive means to move the GSE along the required path as calculated by the control means.

24. A GSE as claimed in claim 23, wherein said required path is continuously recalculated and updated based upon live data from said sensor means to prevent collisions between the GSE and the aircraft and other objects in the vicinity of the aircraft.

25. A GSE as claimed in claim 23 or claim 24, wherein the control means is adapted to automatically return the GSE to its home position after use.

26. A GSE as claimed in claim 25, wherein the sensor means continues to scan a region in the vicinity of the GSE for obstructions during movement of the GSE to its home position, said control means modifying or stopping movement to prevent collisions should an obstruction be detected.

27. A GSE as claimed in any preceding claim, wherein the GSE includes means for determining the real time position of the GSE.

28. A GSE as claimed in claim 27, wherein said means for determining the real time position of the GSE comprises a Global Navigation Satellite System (GNSS) and/or Inertial Navigation System (INS) apparatus.

29. A method of operating a self propelled GSE having drive means for driving at least one ground engaging wheel of the GSE, control means for controlling the speed and trajectory of the GSE, sensor means for detecting the presence of objects, including aircraft, in the vicinity of the ground support equipment and for determining the position of a service opening of an aircraft, said method comprising automatically bringing the GSE into an operative position at a predetermined position and orientation with respect to said service opening while preventing collisions between the GSE and objects in the vicinity of the GSE in response to data received from the sensor means.

30. A method as claimed in claim 29, comprising determining an optimum approach trajectory for moving the GSE from a park to its operative position and vice versa.

31. A method as claimed in claim 29 or claim 30, comprising determining a virtual model of at least a region of the aircraft in the vicinity of the service opening and generating a virtual model of the GSE, and controlling the movement of the GSE to prevent collisions between it and the aircraft by comparing the position of the virtual model of the GSE to the virtual model of at least said region of the aircraft.