An aircraft ground traction anti-collision system based on video radar technology

Abstract

The present invention discloses an aircraft ground traction anti-collision system based on video radar technology, including an aircraft body, a control box, a camera module, a radar module, a power module, a control module, a WiFi module, a display terminal, a brake module and an alarm module. A tractor is arranged at the bottom front side of the aircraft body, a right monitoring mechanism is arranged on one side of the tractor, a left monitoring mechanism is arranged on the other side of the tractor, a pan-tilt is arranged on one side of the control box, and a millimeter wave radar is arranged on one side of the pan-tilt. The present invention solves the problem that due to the limited field of view of the tractor driver when towing the aircraft, civil aircraft occasionally collide with other aircraft or other obstacles such as vehicles on the apron and hangar walls during the ground taxiing stage. Each collision will cause the airline's aircraft to be grounded for repair and affect the flight allocation and other major losses, and has a certain use prospect.

Description

Technical Field

[0001] The invention relates to the field of aviation aircraft collision avoidance, and in particular to an aircraft ground traction collision avoidance system based on video radar technology. Background Art

[0002] At present, due to the limited field of vision of the tractor driver when towing an aircraft, civil aircraft often collide with other aircraft or other obstacles such as vehicles on the apron and hangar walls during the ground taxiing phase. Each collision will cause the airline's aircraft to be grounded for repair and affect flight arrangements, resulting in significant losses. In order to prevent the occurrence of collisions, it is necessary to install anti-collision system monitoring components on the tractor.

[0003] Defects and shortcomings:

[0004] 1. Aircraft ground collision avoidance is mainly the collision of aircraft wings. The sensor is installed on the top of the tractor. Due to the viewing angle, it is difficult to observe the two ends of the wing. Only the lower end of the fuselage can be seen. Moreover, when the tractor drags the aircraft forward to turn, the fuselage will block the wing on the outside of the turn, and the surroundings of the wing cannot be effectively observed.

[0005] 2. The tractor driver can only obtain danger estimates of surrounding targets through sound and images, but human reaction speed is unstable. If he cannot stop in time, it will still cause a collision with the aircraft wing.

[0006] 3. When a tractor is towing an aircraft, the maintenance personnel on the aircraft communicate with the tractor driver via a 300MHZ intercom. Due to the interference of the tractor itself and the surrounding sounds, there is a problem of unclear hearing or wrong direction of travel. The wrong route may cause the towed aircraft to be towed to the position of other aircraft and cause a collision.

[0007] 4. Ground collisions are mainly caused by a tractor dragging the aircraft forward. People cannot get the accurate distance from the rearview mirror, and when the tractor pushes the aircraft backward, the front of the tractor faces the front of the aircraft. The existing forward-looking ultrasonic sensors are useless, and the positions of the sensors are fixed, so the camera and radar devices cannot be freely changed. Summary of the invention

[0008] The technical problem to be solved by the present invention is to overcome the existing defects and provide an aircraft ground traction anti-collision system based on video radar technology, which can effectively solve the problems in the background technology.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an aircraft ground traction anti-collision system based on video radar technology, comprising an aircraft body, a control box, a camera module, a radar module, a power module, a control module, a WiFi module, a display terminal, a braking module and an alarm module, a tractor is arranged on the front side of the bottom of the aircraft body, a right-side monitoring mechanism is arranged on one side of the tractor, and a left-side monitoring mechanism is arranged on the other side of the tractor, a pan-tilt is arranged on one side of the control box, a millimeter-wave radar is arranged on one side of the pan-tilt, a camera is arranged on the other side of the pan-tilt, a laser radar is arranged on the front side of the pan-tilt, a controller is arranged inside the control box and on the other side of the pan-tilt, and a power supply is arranged inside the control box and on one side of the controller.

[0010] Preferably, the camera module uses a high-definition camera capable of night vision connected to the pan-tilt head, and is connected to the control module via POE Ethernet to achieve data transmission and power supply. The high-definition camera transmits the collected data packets back to the control module, and the control module can control the pan-tilt head to adjust the camera angle according to the results of image recognition.

[0011] Preferably, the radar module connects a high-precision millimeter-wave radar, a lidar and a camera to the same pan-tilt device. The two radars are connected to the control module via POE Ethernet to realize data transmission and power supply, and the collected data packets are transmitted back to the control module. The control module can adjust the angles of the two radars according to the pan-tilt angle output by the camera.

[0012] Preferably, the power module is a lithium battery that supplies power to the control module when the anti-collision system control box is placed on the roof for use, and uses a vehicle-mounted power supply to charge the built-in lithium battery of the control box when placed in the tractor cab.

[0013] Preferably, the control module includes a controller, a large-capacity memory and an I / O interface;

[0014] Controller: NVIDIA Jetson Xavier NX module, capable of running modern neural networks in parallel and processing data from multiple high-resolution sensors;

[0015] Large-capacity storage: Use a large-capacity mechanical hard disk to store the data collected by the sensor;

[0016] I / O interface: Integrates all interfaces connecting the controller and camera module, radar module, power module, and WIFI module.

[0017] Preferably, the WIFI module adopts an ESP8266 module and is integrated into the control module through a serial port.

[0018] Preferably, the display terminal adopts a visual handheld terminal to receive various data sent by the control module via WIFI.

[0019] Preferably, when the controller of the brake module sends out an alarm signal, the relay is actuated to energize and attract the electromagnet, thereby replacing the pedal force of manual braking to make the brake oil in the hydraulic oil pump push the brake caliper to contract and brake.

[0020] Preferably, the alarm module is such that when the controller sends out an alarm signal, the display terminal will remind the driver in the form of sound and image.

[0021] Preferably, the right monitoring mechanism and the left monitoring mechanism both include cameras and radars.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. When using the ground aircraft collision avoidance system, you only need to install the camera and two radars on both sides of the front of the tractor through magnetic adsorption. The system program can automatically identify the wings, and no manual adjustment is required even if the tractor turns.

[0024] 2. When a collision is about to occur, the brake module can brake with a faster reaction speed, reducing the accident rate.

[0025] 3. The display terminal not only has voice communication function, but also can assist driving through the navigation graphic interface.

[0026] 4. The anti-collision system control box includes hardware equipment and software programs, and has good mobility and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the installation position of the monitoring mechanism of the present invention;

[0028] Figure 2 It is a schematic diagram of the internal structure of the control box of the anti-collision system of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the detection device in the present invention;

[0030] Figure 4 This is a flow chart of the camera control program in the present invention;

[0031] Figure 5 This is a flow chart of the radar control program in the present invention;

[0032] Figure 6 This is a schematic diagram of the brake module of the present invention;

[0033] Figure 7 This is a flowchart of the braking module program in the present invention;

[0034] Figure 8 is a control flow chart of the anti-collision system of the present invention;

[0035] In the figure: 1. Aircraft body; 2. Right-side monitoring mechanism; 3. Towing vehicle; 4. Left-side monitoring mechanism; 5. Control box; 6. Pan / tilt; 7. Millimeter-wave radar; 8. Camera; 9. LiDAR; 10. Controller; 11. Power supply. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0037] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] 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.

[0040] See also Figure 1-8The present invention provides a technical solution: an aircraft ground traction anti-collision system based on video radar technology, comprising an aircraft body 1, a control box 5, a camera module, a radar module, a power module, a control module, a WiFi module, a display terminal, a braking module and an alarm module. A tractor 3 is arranged on the front side of the bottom of the aircraft body 1, a right monitoring mechanism 2 is arranged on one side of the tractor 3, and a left monitoring mechanism 4 is arranged on the other side of the tractor 3. A pan-tilt 6 is arranged on one side of the control box 5, a millimeter-wave radar 7 is arranged on one side of the pan-tilt 6, a camera 8 is arranged on the other side of the pan-tilt 6, a laser radar 9 is arranged on the front side of the pan-tilt 6, a controller 10 is arranged inside the control box 5 and on the other side of the pan-tilt 6, and a power supply 11 is arranged inside the control box 5 and on one side of the controller 10. The laser radar, the millimeter-wave radar and the camera are installed on both sides of the front of the tractor by magnetic adsorption, and their upper and lower heights on both sides are adjusted to ensure that the tractor can continue to observe the outer wing of the turning from the bottom of the fuselage when the tractor drags the aircraft to turn. Since the ground collision of the aircraft is a collision of the wings, there is no need for a forward-looking sensor and a side-looking sensor, which saves costs. Figure 1 As shown, the detection angle is a viewing angle of about thirty degrees on both sides; the ranging information of the two radars and the wing image determined by machine vision are provided to the controller. When a collision is about to occur, the controller activates the emergency braking module and the alarm module to stop the aircraft in time to avoid the occurrence of a collision; when the tractor is towing the aircraft, the aircraft maintenance personnel will provide the tractor driver with a route, and the onboard terminal (such as a tablet) can be used to send the route to the off-board terminal (such as a tablet). The two terminals have built-in airport route maps and voice communication can be achieved at the same time. The display screen of the off-board terminal is divided into three vertical screens. The middle is the navigation route map provided by the on-board terminal, and the two sides are the real-time images of the left and right wings and the relative distances of the objects around the wings measured by the two radars; a portable anti-collision system control box is designed, which can be placed on the roof or in the cockpit by magnetic adsorption. The work box contains a power supply, a laser radar, a millimeter-wave radar, a camera, and an on-board and off-board terminal. The two radars and the camera are wired to the power supply, and the three are on the same gimbal device, that is, the main shaft can rotate horizontally, and the two radars and the camera can rotate in the vertical direction, such as Figure 3 As shown, the terminals for getting on and off the machine are rechargeable, and there is a corresponding charging interface in the work box. The wifi module and control module in the work box can transmit the image recognition results of the video information and the distance information fed back by the two radars to the terminal under the machine, such as Figure 2 shown.

[0041] In this embodiment, preferably, the camera module uses a high-definition camera capable of night vision to connect to the pan-tilt head, and is connected to the control module through POE Ethernet to realize data transmission and power supply. The high-definition camera transmits the collected data packets back to the control module, and the control module can control the pan-tilt head to adjust the camera angle according to the result of image recognition. The program flow chart is as follows Figure 4 shown.

[0042] In this embodiment, preferably, the radar module connects the high-precision millimeter-wave radar, the laser radar and the camera to the same pan-tilt device. The two radars are connected to the control module through POE Ethernet to realize data transmission and power supply, and the collected data packets are transmitted back to the control module. The control module can adjust the angles of the two radars according to the pan-tilt angle output by the camera. The program flow chart is as follows: Figure 5 shown.

[0043] In this embodiment, preferably, the power module is a collision avoidance system control box that uses a lithium battery to power the control module when it is placed on the roof, and uses a vehicle-mounted power supply to power the control module when it is placed in the cab of a tractor, and charges the built-in lithium battery of the control box.

[0044] In this embodiment, preferably, the control module includes a controller, a large-capacity memory and an I / O interface;

[0045] Controller: NVIDIA Jetson Xavier NX module, capable of running modern neural networks in parallel and processing data from multiple high-resolution sensors;

[0046] Large-capacity storage: Use a large-capacity mechanical hard disk to store the data collected by the sensor;

[0047] I / O interface: Integrates all interfaces connecting the controller and camera module, radar module, power module, and WIFI module.

[0048] In this embodiment, preferably, the WIFI module adopts an ESP8266 module, which is integrated into the control module through a serial port.

[0049] In this embodiment, preferably, the display terminal adopts a visual handheld terminal to receive various data sent by the control module via WIFI.

[0050] In this embodiment, preferably, when the controller of the brake module sends an alarm signal, the relay is activated to energize the electromagnet and attract it, replacing the pedal force of the manual brake so that the brake oil in the hydraulic oil pump pushes the brake caliper to contract and brake. The principle and program control of the brake module are as follows: Figure 6 and Figure 7 shown.

[0051] In this embodiment, preferably, the alarm module is such that when the controller sends out an alarm signal, the display terminal will remind the driver in the form of sound and image.

[0052] In this embodiment, preferably, the right monitoring mechanism 2 and the left monitoring mechanism 4 both include cameras and radars.

[0053] The working principle and use process of the present invention:

[0054] 1. Two types of radars and cameras are installed on both sides of the front of the tractor, and the anti-collision system control box is placed on the roof or in the cockpit of the tractor. When the control box is used on the roof, it is powered by the built-in power supply in the box, and when it is used in the cockpit of the tractor, it is powered by the on-board power supply. The two radars and cameras are wired to the anti-collision system control box. The maintenance personnel in the cockpit of the aircraft use the onboard terminal, and the driver in the cockpit of the tractor uses the off-board terminal. The onboard and off-board terminals are connected via wifi. The anti-collision system control box mainly includes a control module for analyzing video image recognition and monitoring the distance between the wing and surrounding objects, a power module and a wifi module. The emergency braking system is connected to the braking system of the tractor, and the alarm module is installed on the display terminal.

[0055] 2. The control process of the whole system is as follows Figure 8 As shown in the figure, after installing two types of radars and cameras on both sides of the front of the tractor, the camera module automatically finds the position of the wing through the pan-tilt rotation. After locking the wing through image recognition technology, the corresponding coordinates are processed by the controller and sent to the radar module. The two radars can also lock the target as the wing through the pan-tilt rotation. The display terminal screen is divided into three vertical screens. The real-time image of the wing collected by the camera module and the relative distance of the objects around the wing measured by the radar module are displayed on both sides of the vertical screen. The middle screen is the navigation route map of the tractor sent by the on-board terminal. The on-board terminal and the terminal under the aircraft can also realize voice calls. When the radar module detects that the distance between the wing and other objects is less than the safe distance, the display terminal emits sound and images to remind the tractor driver, and the brake module is activated at the same time, and the tractor automatically brakes to avoid collision accidents.

[0056] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An aircraft ground traction anti-collision system based on video radar technology, comprising an aircraft body (1), a control box (5), a camera module, a radar module, a power module, a control module, a WiFi module, a display terminal, a braking module and an alarm module, characterized in that: A tractor (3) is arranged at the front side of the bottom of the aircraft body (1); a right monitoring mechanism (2) is arranged on one side of the tractor (3); a left monitoring mechanism (4) is arranged on the other side of the tractor (3); a pan / tilt (6) is arranged on one side of the control box (5); a millimeter wave radar (7) is arranged on one side of the pan / tilt (6); a camera (8) is arranged on the other side of the pan / tilt (6); a laser radar (9) is arranged on the front side of the pan / tilt (6); a controller (10) is arranged inside the control box (5) and on the other side of the pan / tilt (6); and a power supply (11) is arranged inside the control box (5) and on one side of the controller (10); The camera module uses a high-definition camera capable of night vision to connect to the pan-tilt head, and is connected to the control module via POE Ethernet to achieve data transmission and power supply. The high-definition camera transmits the collected data packets back to the control module, and the control module can control the pan-tilt head to adjust the camera angle according to the result of image recognition; The radar module connects a high-precision millimeter-wave radar, a laser radar and a camera to the same pan-tilt device. The two radars are connected to the control module via POE Ethernet to achieve data transmission and power supply, and the collected data packets are transmitted back to the control module. The control module can adjust the angles of the two radars according to the pan-tilt angle output by the camera.

2. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: The power module is a lithium battery that supplies power to the control module when the anti-collision system control box is placed on the roof for use, and uses the vehicle-mounted power supply to charge the built-in lithium battery of the control box when it is placed in the tractor's cockpit.

3. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: The control module includes a controller, a large-capacity memory and an I / O interface; Controller: NVIDIA Jetson Xavier NX module, capable of running modern neural networks in parallel and processing data from multiple high-resolution sensors; Large-capacity storage: Use a large-capacity mechanical hard disk to store the data collected by the sensor; I / O interface: Integrates all interfaces connecting the controller and camera module, radar module, power module, and WIFI module.

4. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: The WIFI module adopts ESP8266 module and is integrated on the control module through the serial port.

5. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: The display terminal adopts a visual handheld terminal to receive various data sent by the control module via WIFI.

6. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: When the controller of the brake module sends out an alarm signal, the relay is activated to energize the electromagnet and close it, replacing the pedal force of manual braking to make the brake oil in the hydraulic oil pump push the brake caliper to contract and brake.

7. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: The alarm module is used when the controller sends out an alarm signal, and the display terminal will remind the driver in the form of sound and image.

8. The aircraft ground traction and collision avoidance system based on video radar technology according to claim 1, characterized in that: The right monitoring mechanism (2) and the left monitoring mechanism (4) both include a camera and a radar.

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