Automatic guidance docking system and method for special vehicles at airports

Abstract

The present invention provides an airport special vehicle automatic guidance docking system and method. A data acquisition device (1) is arranged on the top of the special vehicle. An infrared sensor (11), an ultrasonic sensor (12) and a depth vision sensor (13) of the data acquisition device respectively acquire distance data information of an object in front of the special vehicle. The depth vision sensor (13) is also used to acquire image data information of the object in front. A display device (3) arranged inside a cab displays simplified image data information and a benchmarking graphic schematic diagram in real time. A processing device (2) arranged inside the special vehicle fuses the distance data information and the image data information to calculate the distance and angle of the aircraft cabin door, controls the vehicle driving speed, and generates audio prompt information. The driver controls the driving direction and straightens the vehicle body through the ideal docking position of the vehicle and the vehicle control direction prompt shown on the display device, thereby eliminating the visual blind spot of the height docking.

Description

Technical Field

[0001] The invention relates to the field of airport aviation ground equipment, and in particular to an automatic guidance and docking system and method for special vehicles at an airport. Background Art

[0002] At present, the process of docking special vehicles (passenger elevators, food trucks, etc.) at airports with aircraft generally adopts the method of manually assisting and guiding the driver to dock. The driver drives the vehicle and controls the speed and direction of the car according to the guidance of the assistant to perform the corresponding docking work. During the process, the driver not only needs to drive the vehicle, but also communicate with the ground personnel, and the work intensity is high. Because there is a certain delay in information transmission, it is difficult for the driver to accurately judge the distance between the special vehicle and the aircraft from the information. Moreover, there are certain visual blind spots for the ground commanders at the top of the front and the top of the car body of the special vehicle. Therefore, there are certain safety hazards and the docking cannot be performed accurately. The whole docking process takes a long time, the docking efficiency is low, and sometimes repeated adjustments are required. The docking accuracy is not high. There is no stable and reliable measurement system and safety device, which poses a safety hazard. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic guided docking system and method for special vehicles at an airport, aiming to improve work efficiency and solve the problem of potential safety hazards in existing docking methods.

[0004] An automatic guided docking system for special vehicles at an airport, which is applied to special vehicles docking with aircraft, comprises a data acquisition device, a processing device and a vehicle main control system;

[0005] The data acquisition device is installed on the top of the special vehicle, including infrared sensors, ultrasonic sensors and depth vision sensors;

[0006] The infrared sensor, ultrasonic sensor and depth vision sensor are used to obtain the distance data between the special vehicle and the aircraft respectively. The depth vision sensor is also used to obtain the image data in front of the special vehicle.

[0007] The processing device is arranged inside the special vehicle and connected to the data acquisition device. The processing device includes:

[0008] A storage module, used for storing distance data and image data output by the data acquisition device;

[0009] An image recognition module, connected to the storage module, for identifying an aircraft door from the image data;

[0010] a position information determination module, connected to the storage module and the image recognition module respectively, for fusing the distance data respectively acquired by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to a predetermined rule, so as to determine the position information of the aircraft cabin door, wherein the position information of the aircraft cabin door includes the relative distance between the special vehicle and the aircraft and the inclination angle with respect to the aircraft cabin door;

[0011] A speed control module is connected to the position information determination module, and is used to obtain the current travel speed of the special vehicle, and generate a speed control signal based on the position information and the current travel speed and transmit it to the vehicle main control system;

[0012] A prompt module, connected to the position information determination module, for generating an audio prompt information of steering wheel turning according to the position information;

[0013] The vehicle main control system is connected to the processing device and is used to control the travel speed of the special vehicle according to the speed control signal.

[0014] Furthermore, the processing device also includes:

[0015] A graphics generation module, the graphics generation module is connected to the position information determination module and the storage module respectively, and is used to generate a reference diagram graphic in the image data based on the position information, and output the reference diagram graphic and the image data after superimposing them;

[0016] The display device is arranged on the driving platform in the driving cab of the special vehicle, connected to the processing device, and is used for displaying the matching schematic graphics and image data.

[0017] Furthermore, the processing device also includes:

[0018] A judgment module, connected to the prompt module, for judging whether the driver operates according to the audio prompt information;

[0019] The prompt module is also used to generate an audio warning message when the driver does not operate according to the audio prompt message.

[0020] Further, it includes two data acquisition devices, each connected to the processing device;

[0021] One of the data acquisition devices has a first inclination angle with the ground;

[0022] Another data acquisition device has a second inclination angle with the ground, and the second inclination angle is greater than the first inclination angle;

[0023] The processing device also includes:

[0024] A comparison module, connected to the location information determination module, for comparing the real-time relative distance output by the location information determination module with a preset first preset distance, and outputting a comparison result;

[0025] The switching module is connected to the comparison module and is used to:

[0026] When the relative distance is greater than the first preset distance, the switching module switches to using the data acquisition device corresponding to the first tilt angle, and

[0027] When the relative distance is not greater than the first preset distance, the switching module switches to using the data acquisition device corresponding to the second tilt angle.

[0028] Furthermore, the image recognition module is also used to identify obstacles in front of the special vehicle.

[0029] The position information determination module is also used to fuse the distance data respectively obtained by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to a predetermined rule, and determine the position information of the obstacle based on the distance data and the obstacle, wherein the position information of the obstacle includes the distance between the special vehicle and the obstacle and the inclination angle of the obstacle;

[0030] The processing device also includes:

[0031] The hazard identification module is connected to the position information determination module respectively, and is used to determine whether the special vehicle is dangerous based on the position information of the obstacle;

[0032] A brake module, connected to the danger identification module, is used to generate a special vehicle brake control signal and transmit it to the vehicle main control system when a dangerous situation exists;

[0033] The vehicle main control system brakes the special vehicle according to the vehicle brake control signal.

[0034] Furthermore, the special vehicle is an airport ground passenger elevator, an airport ground food truck or an airport ground garbage truck.

[0035] An automatic guidance docking method for special vehicles at an airport is applied to a special vehicle docking an aircraft; it is characterized by using the aforementioned automatic guidance docking system for special vehicles at an airport, and has the following steps:

[0036] Step A1, the infrared sensor, the ultrasonic sensor and the depth vision sensor respectively obtain the distance data between the special vehicle and the aircraft, and the depth vision sensor also obtains the image data in front of the special vehicle;

[0037] Step A2, storing the distance data and the image data, and identifying the aircraft door from the image data;

[0038] Step A3, fusing the distance data respectively obtained by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to a predetermined rule to determine the position information of the aircraft cabin door, where the position information of the aircraft cabin door includes the relative distance between the special vehicle and the aircraft and the inclination angle with the aircraft cabin door;

[0039] Step A4, generating audio prompt information for steering wheel turning according to the position information;

[0040] Step A5, obtaining the current travel speed of the special vehicle, and generating a speed control signal based on the position information and the current travel speed and transmitting it to the vehicle main control system;

[0041] Step A6, the vehicle main control system is connected to the processing device to control the travel speed of the special vehicle according to the speed control signal.

[0042] Furthermore, it also includes:

[0043] Step A7, generating a reference pictogram based on the position information, and superimposing the reference pictogram and the image data information;

[0044] Step A8, superimposing the mapping diagram and the image data and displaying them on a display device located in the cab.

[0045] Furthermore, it also includes:

[0046] Step A9, determining whether the driver operates according to the audio prompt information;

[0047] Step A10: generating an audio warning message when the driver fails to operate according to the audio prompt message.

[0048] Furthermore, it also includes:

[0049] Step A11, identifying obstacles in front of the special vehicle based on the image data;

[0050] Step A12, fusing the distance data respectively obtained by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to a predetermined rule, and determining the position information of the obstacle based on the distance data and the obstacle, wherein the position information of the obstacle includes the distance between the special vehicle and the obstacle and the inclination angle of the obstacle;

[0051] Step A13, judging whether the special vehicle is dangerous based on the location information of the obstacle;

[0052] Step A14, when there is a dangerous situation, generating a vehicle braking control signal and transmitting it to the vehicle main control system;

[0053] Step A15: the vehicle main control system brakes the special vehicle according to the vehicle braking control signal.

[0054] The beneficial technical effect of the present invention is as follows: the present invention adopts an automatic guided docking system based on composite distance measuring sensors such as optics, depth visual images and ultrasound. It accurately measures the distance and position status between special vehicles and aircraft, and assists the vehicle to complete automatic and precise docking with the aircraft without repeated adjustments or ground personnel commands. It displays the vehicle's operating status in real time, and the driver can see the current docking screen on the display and control the vehicle direction according to the system prompts. The rest of the work is completed automatically by the vehicle. It solves the problems of many personnel, high work intensity, low docking efficiency, low docking accuracy and potential safety hazards in the current work. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1-2 It is a schematic diagram of the position of the automatic guided docking system for airport special vehicles of the present invention on the special vehicle;

[0056] Figure 3 This is a schematic diagram of module connection of an automatic guided docking system for special vehicles at an airport according to the present invention;

[0057] Figure 4 This is a schematic diagram of a data acquisition device module in an automatic guidance docking system for special vehicles at an airport according to the present invention;

[0058] Figure 5 This is a schematic diagram of a processing device module in an automatic guided docking system for special vehicles at an airport according to the present invention;

[0059] Figure 6 It is a module schematic diagram of another embodiment of an automatic guided docking system for special vehicles at an airport according to the present invention;

[0060] Figure 7-10 The present invention is a flowchart of the method steps of the automatic guided docking method for airport special vehicles. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0063] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0064] See also Figure 1-6The present invention provides an automatic guided docking system for special vehicles at an airport, which is applied to special vehicles docking with aircraft; it is characterized by comprising a data acquisition device (1), a processing device (2) and a vehicle main control system (3);

[0065] The data acquisition device (1) is arranged on the top of the special vehicle, and comprises an infrared sensor (11), an ultrasonic sensor (12) and a depth vision sensor (13);

[0066] The infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13) are respectively used to obtain distance data between the special vehicle and the aircraft, and the depth vision sensor (13) is also used to obtain image data in front of the special vehicle;

[0067] The processing device (2) is arranged inside the special vehicle and connected to the data acquisition device (1). The processing device (2) comprises:

[0068] A storage module (20) is used to store distance data in front of the special vehicle acquired by the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13), and image data acquired by the depth vision sensor (13);

[0069] An image recognition module (21), connected to the storage module (20), and used to recognize the aircraft door from the image data information;

[0070] A position information determination module (22) is connected to the storage module (20) and the image recognition module (21) respectively, and is used to fuse the distance data respectively acquired by the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13) according to a predetermined rule, so as to determine the position information of the aircraft cabin door, wherein the position information includes the relative distance between the special vehicle and the aircraft and the inclination angle with respect to the aircraft cabin door;

[0071] A speed control module (23) connected to the position information determination module (22) is used to obtain the current travel speed of the special vehicle and generate a speed control signal based on the position information and the current travel speed of the special vehicle and transmit it to the vehicle main control system (3);

[0072] A prompt module (24), connected to the position information determination module (22), for generating audio prompt information for steering the steering wheel according to the position information;

[0073] The vehicle main control system (3) is connected to the processing device (2) and is used to control the travel speed of the special vehicle according to the speed control signal.

[0074] The depth vision sensor (13) has a low measurement accuracy, but a long measurement distance; the ultrasonic sensor has a high measurement accuracy, but a small measurement range; the infrared sensor has a measurement accuracy and a range between the two. Therefore, the above-mentioned predetermined rule can be: in a long-distance range, the depth vision sensor (13) is used as the main distance measurement, and the ultrasonic sensor (12) and the infrared sensor (11) are used as auxiliary distance measurement; in an intermediate distance range, the infrared sensor (11) is used as the main distance measurement, and the ultrasonic sensor (12) and the depth vision sensor (13) are used as auxiliary distance measurement; in a short-distance range, the ultrasonic sensor (12) is used as the main distance measurement, and the infrared sensor (11) and the depth vision sensor (13) are used as auxiliary distance measurement. The present invention uses three sensors, namely, the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13), to measure the distance of the object in front, thereby ensuring the accuracy of the measurement.

[0075] The current speed of the special vehicle can be obtained from the vehicle main control system (3) or directly from the speed sensor on the wheel. As the distance approaches, the speed can be appropriately reduced, which is safe and reliable.

[0076] The driver can control the driving direction and straighten the vehicle body through the vehicle control direction prompt, which can further avoid the problem of delayed judgment time and untimely control of the vehicle operation.

[0077] Furthermore, the system also includes: the processing device (2) also includes a graphics generation module (25), the graphics generation module (25) is connected to the position information determination module (22) and the storage module (20), respectively, and is used to generate a matching schematic graphic based on the position information, and superimpose the matching schematic graphic and the simplified image data and output them together.

[0078] The display device (4) is arranged on the driving platform in the driving cab and is connected to the processing device (2) and is used for displaying the matching schematic graphics and image data information.

[0079] Preferably, the image data is simplified, and the matching schematic graphics and the simplified image data are superimposed and output together, and the image data information is simplified. The simplification includes but is not limited to extracting the effective area of ​​the image data, adding the matching schematic graphics on the effective area, and the effective area can be the area near the aircraft door, removing the area away from the aircraft door. The simplified image data is clear, concise, and focused, so that the pilot can concentrate on the key areas and make alignment connections.

[0080] The alignment schematic diagram includes an alignment line representing the vehicle body and a rectangular frame directly in front of the alignment line. The rectangular frame represents the ideal docking position of the vehicle. As long as the aircraft cabin door is within the rectangular frame, it can be indicated that the docking is completed. The alignment schematic diagram may also include a distance scale line. The driver controls the driving direction and straightens the vehicle body through the ideal docking position of the vehicle and the vehicle control direction prompt shown on the display interface of the display device (4), thereby eliminating the blind spot of the height docking field.

[0081] As an example, the left side of the display interface of the display device (4) displays information such as the door distance, door deviation, and boarding gate angle, and the right side of the display interface displays simplified image data and a matching diagram. As long as the aircraft door is within the rectangular frame directly in front of the matching line, the docking is completed.

[0082] After the positions of the special vehicle and the aircraft cabin door are aligned, the special vehicle raises the docking platform, and the docking of the special vehicle and the aircraft cabin door is completed.

[0083] The further processing device (2) also includes:

[0084] A judgment module (26), connected to the prompt module (24), is used to judge whether the driver has performed an operation according to the audio prompt information, or to judge the operation currently being performed;

[0085] The prompt module (24) is also used to generate an audio warning message when the driver fails to operate according to the audio prompt message.

[0086] Or generate an audio warning message when other illegal operations are performed.

[0087] If the driver is distracted or makes an accidental mistake, or does not follow the audio prompt information, the docking result will be affected. For example, if the audio prompt information tells the driver to turn the steering wheel left, but the driver turns the steering wheel right, the deviation angle between the vehicle and the aircraft door will increase. At this time, the driver will be informed through an audio warning message to adjust the current operation to avoid further errors.

[0088] Further, as another embodiment of the system of the present invention, see Figure 6 The system comprises two data acquisition devices (1), each connected to a processing device (2), wherein one of the data acquisition devices (1) has a first inclination angle with the ground;

[0089] Another data acquisition device (1) has a second inclination angle with the ground, and the second inclination angle is greater than the first inclination angle;

[0090] The processing device (2) further comprises a switching module (27) respectively connected to the position information determination module (22), and configured to switch the switching module (27) to connect the data acquisition device (1) having a first inclination angle with the ground and the position information determination module (22) when the relative distance determined by the position information determination module (22) is greater than a first preset distance, and switch the switching module (27) to connect the data acquisition device (1) having a second inclination angle with the ground and the position information determination module (22) when the relative distance determined by the position information determination module (22) is not greater than the first preset distance.

[0091] The infrared sensor (11), ultrasonic sensor (12) and depth vision sensor (13) all have a certain measurement field of view. When the relative distance between the special vehicle and the aircraft is closer, the field of view is narrower. If only one data acquisition device (1) is used, the field of view of the image in front of the distance data acquisition device (1) is also narrower. Since the data acquisition device (1) is lower than the aircraft cabin door, the data acquisition device (1) will not be able to continue to collect accurate distances and identify the aircraft cabin door. If the angle between the data acquisition device (1) and the ground is high, such as vertical, that is, 90 degrees, when the distance between the special vehicle and the aircraft is far, it is impossible to collect distance data and image data in front of the road.

[0092] Therefore, as a preferred embodiment of the present invention, the present invention arranges two data acquisition devices (1) with the same structure on the top of the special vehicle, wherein one of the data acquisition devices (1) has a first inclination angle with the ground, for example, 0-15 degrees, and the other data acquisition device (1) has a second inclination angle with the ground, for example, 45-90 degrees. When the relative distance is greater than the first preset distance, the data acquisition device (1) with the first inclination angle is used to measure the distance in front / obliquely above and collect images. When the relative distance is not greater than the first preset distance, the data acquisition device (1) with the second inclination angle is used to measure the distance obliquely above / above and collect images, thereby eliminating the blind spot of the field of vision of the height docking.

[0093] Furthermore, the processing device (2) further comprises:

[0094] The image recognition module (21) is also used to identify obstacles in front of the special vehicle;

[0095] The position information determination module (22) is also used to fuse the distance data respectively obtained by the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13) according to a predetermined rule, and determine the position information of the obstacle based on the distance data and the obstacle, wherein the position information of the obstacle includes the distance between the special vehicle and the obstacle and the inclination angle of the obstacle;

[0096] A danger identification module (28) is connected to the position information determination module (22) and the image recognition module (21) respectively, and is used to determine whether the special vehicle is dangerous based on the position information of the obstacle;

[0097] A braking module (29) is connected to the danger identification module (28) and is used to generate a special vehicle braking control signal and transmit it to the vehicle main control system (3) when a dangerous situation exists;

[0098] The vehicle main control system (3) brakes the special vehicle according to the vehicle braking control signal.

[0099] The automatic guidance and docking system for special vehicles at airports of the present invention can timely obtain whether there are dangerous situations such as obstacles ahead. If a dangerous situation is encountered, the special vehicle is automatically controlled to brake to avoid serious consequences in time.

[0100] During the final vehicle braking stage, multiple distance measurement methods coordinate with the vehicle's driving status monitoring to compensate each other to ensure accurate parking docking position.

[0101] Furthermore, the special vehicle is an airport ground service passenger elevator, an airport ground service food truck or an airport ground service garbage truck.

[0102] See also Figure 7-10 The present invention also provides an automatic guided docking method for airport special vehicles, using the aforementioned automatic guided docking system for airport special vehicles, and comprising the following steps:

[0103] Step A1, the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13) respectively obtain the distance data between the special vehicle and the aircraft, and the depth vision sensor (13) also obtains the image data in front;

[0104] Step A2, storing the distance data and the image data, and identifying the aircraft door from the image data;

[0105] Step A3, according to a predetermined rule, the distance data respectively obtained by the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13) are integrated to determine the position information of the aircraft cabin door, wherein the position information of the aircraft cabin door includes the relative distance between the special vehicle and the aircraft and the inclination angle with respect to the aircraft cabin door;

[0106] Step A4, generating audio prompt information for steering wheel turning according to the position information;

[0107] Step A45, obtaining the current travel speed of the special vehicle, and generating a speed control signal based on the position information and the current travel speed, and transmitting the signal to the vehicle main control system (4) to control the travel speed of the special vehicle;

[0108] Step A6, generating audio prompt information for steering wheel turning according to the position information.

[0109] Furthermore, the method also includes:

[0110] Step A7, generating a reference pictogram based on the position information, and superimposing the reference pictogram and the image data information;

[0111] Step A8, superimposing the mapping diagram and the image data and displaying them on a display device (4) located in the cab.

[0112] Furthermore, the method also includes:

[0113] Step A9, determining whether the driver operates according to the audio prompt information;

[0114] Step A10: generating an audio warning message when the driver fails to operate according to the audio prompt message.

[0115] In step A8, other operations currently being performed by the driver can also be determined;

[0116] In step A9, an audio warning message may also be generated when the driver performs other illegal operations.

[0117] Furthermore, the method also includes:

[0118] Step A11, identifying obstacles in front of the special vehicle based on the image data;

[0119] Step A112, fusing the distance data respectively acquired by the infrared sensor (11), the ultrasonic sensor (12) and the depth vision sensor (13) according to a predetermined rule, and determining the position information of the obstacle based on the distance data and the obstacle, wherein the position information of the obstacle includes the distance between the special vehicle and the obstacle and the inclination angle of the obstacle;

[0120] Step A13, judging whether the special vehicle is dangerous based on the location information of the obstacle;

[0121] Step A14, when a dangerous situation exists, generating a vehicle braking control signal and transmitting it to the vehicle main control system (4);

[0122] Step A15, the vehicle main control system (3) brakes the special vehicle according to the vehicle braking control signal.

[0123] Based on the automatic guidance docking system and method of an airport special vehicle of the present invention, the vehicle speed is controlled by the automatic guidance docking system of a composite sensor, the docking position such as the aircraft door is automatically identified and located, the posture coordinates are converted into visual information, and displayed on the system display, so as to assist the driver to complete the accurate docking of the vehicle with the aircraft door. The entire docking process does not require the command of ground personnel, which substantially reduces the manpower demand by half without this system. And it reduces the time cost of the entire docking process and improves efficiency. The system provides extremely reliable safety protection for the aircraft docking process. First, the system uses a variety of ranging means for data fusion, so that the measurement results are stable and reliable, and it has strong robustness and adaptability to the changes in weather and environment. In the case of accurate ranging, the system can judge the implemented control strategy and alarm dangerous status according to the operating status of the whole vehicle, so as to ensure the safety and controllability of the whole vehicle during operation.

[0124] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic guided docking system for special vehicles at an airport, used for special vehicles docking with aircraft; characterized in that: It includes a data acquisition device, a processing device and a vehicle main control system; The data acquisition device is arranged on the top of the special vehicle, and includes an infrared sensor, an ultrasonic sensor and a depth vision sensor; The infrared sensor, ultrasonic sensor and depth vision sensor are respectively used to obtain the distance data between the special vehicle and the aircraft, and the depth vision sensor is also used to obtain the image data in front of the special vehicle; The processing device is arranged inside the special vehicle and connected to the data acquisition device, and the processing device includes: A storage module, used for storing the distance data and the image data output by the data acquisition device; an image recognition module, connected to the storage module, and used to recognize the aircraft door from the image data; a position information determination module, connected to the storage module and the image recognition module respectively, for fusing the distance data respectively acquired by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to a predetermined rule, so as to determine the position information of the aircraft cabin door, wherein the position information of the aircraft cabin door includes the relative distance between the special vehicle and the aircraft and the inclination angle with the aircraft cabin door; A speed control module, connected to the position information determination module, for obtaining the current travel speed of the special vehicle, and generating a speed control signal based on the position information and the current travel speed and transmitting it to the vehicle main control system; a prompt module, connected to the position information determination module, and configured to generate an audio prompt information of steering wheel turning according to the position information; The vehicle main control system is connected to the processing device and is used to control the travel speed of the special vehicle according to the speed control signal; The processing device also includes: A graphics generation module, the graphics generation module is connected to the position information determination module and the storage module respectively, and is used to generate a reference diagram graphic in the image data based on the position information, and output the reference diagram graphic and the image data after superimposing them together; A display device, arranged on a driving platform in a driving cab of the special vehicle, connected to the processing device, and used for displaying the alignment diagram graphics and image data; The processing device also includes: A judgment module, connected to the prompt module, for judging whether the driver operates according to the audio prompt information; The prompt module is also used to generate an audio warning message when the driver fails to operate according to the audio prompt message.

2. The automatic guided docking system for special vehicles at an airport according to claim 1, characterized in that: It includes two data acquisition devices, which are respectively connected to the processing device; One of the data acquisition devices has a first inclination angle with the ground; Another of the data acquisition devices has a second inclination angle with the ground, and the second inclination angle is greater than the first inclination angle; The processing device also includes: A comparison module, connected to the position information determination module, for comparing the real-time relative distance output by the position information determination module with a preset first preset distance, and outputting a comparison result; A switching module is connected to the comparison module and is used for: When the relative distance is greater than the first preset distance, the switching module switches to using the data acquisition device corresponding to the first tilt angle, and When the relative distance is not greater than a first preset distance, the switching module switches to using the data acquisition device corresponding to the second tilt angle.

3. The automatic guided docking system for special vehicles at an airport as claimed in claim 1, characterized in that: The image recognition module is also used to identify obstacles in front of the special vehicle. The position information determination module is also used to fuse the distance data respectively obtained by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to the predetermined rule, and determine the position information of the obstacle based on the distance data and the obstacle, wherein the position information of the obstacle includes the distance between the special vehicle and the obstacle and the inclination angle of the obstacle; The processing device also includes: a danger identification module, connected to the position information determination module respectively, for determining whether the special vehicle is dangerous based on the position information of the obstacle; A braking module, connected to the danger identification module, for generating a special vehicle braking control signal and transmitting it to the vehicle main control system when a dangerous situation exists; The vehicle main control system brakes the special vehicle according to the vehicle braking control signal.

4. An automatic guided docking system for special vehicles at an airport according to any one of claims 1 to 3, characterized in that: The special vehicle is an airport ground passenger elevator, an airport ground food truck or an airport ground garbage truck.

5. An automatic guided docking method for special vehicles at an airport, applied to special vehicles docking with aircraft; characterized in that: The automatic guided docking system for special vehicles at an airport as claimed in claim 1 comprises the following steps: Step A1, the infrared sensor, ultrasonic sensor and depth vision sensor respectively acquire distance data between the special vehicle and the aircraft, and the depth vision sensor also acquires image data in front of the special vehicle; Step A2, storing the distance data and the image data, and identifying the aircraft door from the image data; Step A3, fusing the distance data respectively acquired by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to a predetermined rule to determine the position information of the aircraft cabin door, wherein the position information of the aircraft cabin door includes the relative distance between the special vehicle and the aircraft and the inclination angle with the aircraft cabin door; Step A4, generating audio prompt information for steering wheel turning according to the position information; Step A5, obtaining the current traveling speed of the special vehicle, and generating a speed control signal based on the position information and the current traveling speed and transmitting the signal to the vehicle main control system; Step A6, the vehicle main control system is connected to the processing device to control the travel speed of the special vehicle according to the speed control signal; Also includes: Step A7, generating a reference mark diagram based on the position information, and superimposing the reference mark diagram and the image data information; Step A8, superimposing the alignment diagram and the image data and displaying them on a display device located in the cab; Also includes: Step A9, determining whether the driver operates according to the audio prompt information; Step A10: generating an audio warning message when the driver fails to operate according to the audio prompt message.

6. The method for automatically guiding and docking special vehicles at an airport as claimed in claim 5, characterized in that: Also includes: Step A11, identifying obstacles in front of the special vehicle based on the image data; Step A12, fusing the distance data respectively acquired by the infrared sensor, the ultrasonic sensor and the depth vision sensor according to the predetermined rule, and determining the position information of the obstacle based on the distance data and the obstacle, wherein the position information of the obstacle includes the distance between the special vehicle and the obstacle and the inclination angle of the obstacle; Step A13, judging whether the special vehicle is dangerous based on the position information of the obstacle; Step A14, when there is a dangerous situation, generating a vehicle braking control signal and transmitting it to the vehicle main control system; Step A15: the vehicle main control system brakes the special vehicle according to the vehicle braking control signal.

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