Control method and system for lifting a fueling tube

Abstract

The application provides a control method and system for lifting a refueling pipe, wherein the control method comprises: obtaining a control signal for moving control of a movable system; the movable system is connected with the refueling pipe; and sending the control signal to the movable system to control the movable system to move the refueling pipe towards a fuel inlet of an aircraft body to align the refueling pipe with the fuel inlet, or to control the movable system to move the refueling pipe away from the fuel inlet to reset. Thus, manpower and working hours are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft refueling system design, and in particular to a method and system for controlling a lifting refueling pipe. BACKGROUND

[0002] In the related art, when a refueling truck of an aircraft is refueling the aircraft, a refueling operator needs to first connect a refueling pipe with a refueling plug in a refueling plug well, and then lift the refueling pipe to a receiving port of the aircraft body. However, the refueling pipe is heavy, and it is laborious and time-consuming for the refueling operator to manually lift the refueling pipe. SUMMARY

[0003] The present application provides a method and system for controlling a lifting refueling pipe, which saves labor and time.

[0004] The present application provides a method for controlling a lifting refueling pipe, comprising:

[0005] obtaining a control signal for moving control of a movable system; the movable system is connected with the refueling pipe; and

[0006] sending the control signal to the movable system, controlling the movable system to drive the refueling pipe to move towards a receiving port of an aircraft body, so that the refueling pipe is aligned with the receiving port, or controlling the movable system to drive the refueling pipe separated from the receiving port to move away from the receiving port for resetting.

[0007] Optionally, the obtaining of the control signal for moving control of the movable system comprises:

[0008] acquiring an aircraft body image captured by a vision system when the movable system moves;

[0009] if the aircraft body image contains a receiving port image, generating the control signal for controlling the movable system to drive the refueling pipe to move towards the receiving port of the aircraft body according to the receiving port image.

[0010] Optionally, the method comprises:

[0011] if the aircraft body image does not include the receiving port image, generating the control signal for controlling the distance between the movable system and the aircraft body to be greater than a predetermined distance.

[0012] Optionally, if the aircraft body image does not include the oil inlet image, the control signal for controlling the distance between the movable system and the aircraft body to be greater than a predetermined distance is generated by determining the pitch information of the visual system, the position of the aircraft body in the aircraft body image, and the relative position of the aircraft body relative to the visual system; determining the distance between the movable system and the aircraft body according to the pitch information, the position and the relative position; and if it is determined that the distance reaches the predetermined distance, the control signal for controlling the movable system to move away from the aircraft body and then move forward in a horizontal direction towards the oil inlet or to move backward away from the oil inlet is generated.

[0013] and / or,

[0014] The movable system includes a distance measuring sensor, and if the aircraft body image does not include the oil inlet image, the control signal for controlling the distance between the movable system and the aircraft body to be greater than a predetermined distance is generated by obtaining the distance signal generated by the distance measuring sensor; determining the distance between the movable system and the aircraft body according to the distance signal; and if it is determined that the distance reaches the predetermined distance, the control signal for controlling the movable system to move away from the aircraft body and then move forward in a horizontal direction towards the oil inlet or to move backward away from the oil inlet is generated.

[0015] and / or,

[0016] The control signal is sent to the movable system by a 5G communication module.

[0017] Optionally, the aircraft body image captured by the visual system when the movable system is moving includes:

[0018] The ground space image captured by the visual system when the movable system is moving is obtained.

[0019] The ground space image is input into an aircraft body recognition model to output an aircraft body recognition result, the aircraft body recognition result including an identification result that the ground space image has an aircraft body or an identification result that the ground space image does not have an aircraft body, and the aircraft body recognition model is trained by a first sample set, and the first sample set includes images with an aircraft body.

[0020] The method further includes:

[0021] If the aircraft body recognition result is that the image above the ground has an aircraft body recognition result, the image above the ground is determined as the aircraft body image; and whether the aircraft body image contains a refueling port image is determined according to the aircraft body image.

[0022] Optionally, the method comprises:

[0023] The aircraft body image is input into a refueling port recognition model to output a refueling port recognition result, the refueling port recognition result comprising a recognition result that the aircraft body image contains a refueling port image or a recognition result that the aircraft body image does not contain a refueling port image, the refueling port recognition model being trained using a second sample set, the second sample set comprising images having refueling ports.

[0024] Optionally, the control signal for moving control of the movable system comprises: receiving the control signal sent by the mobile terminal, the control signal comprising a first control signal for controlling the moving direction of the movable system, a second control signal for controlling the movable system to move the refueling pipe to a position at a predetermined distance from the refueling port and hover, and / or a third control signal for controlling the movable system to move the refueling pipe to reset away from the refueling port.

[0025] Optionally, the control signal for moving control of the movable system comprises:

[0026] The moving path of the refueling pipe relative to the refueling port is obtained;

[0027] A fourth control signal containing the moving path is generated, the fourth control signal being used to control the movable system to move the refueling pipe according to the moving path.

[0028] Optionally, the moving path of the refueling pipe relative to the refueling port is obtained by:

[0029] A plurality of planning paths between the movable system and the refueling port are determined;

[0030] Each planning path is segmented to obtain N segments of sub-paths of each planning path; N is a positive integer greater than 1;

[0031] An optimal sub-path of each of the N segments of sub-paths of the plurality of planning paths is determined; and

[0032] The N optimal sub-paths are path-optimized to obtain a moving path.

[0033] The present application provides a control method for lifting a refueling pipe, comprising one or more processors for implementing the method of any one of the above.

[0034] The application provides a computer readable storage medium, which stores a program. The program is executed by a processor to implement the method according to any one of the preceding embodiments.

[0035] In some embodiments, the control method for lifting the refueling pipe of the application controls the movable system to drive the refueling pipe to move towards the oil receiving port of the aircraft body to align the refueling pipe with the oil receiving port, or to drive the refueling pipe separated from the oil receiving port to move away from the oil receiving port to reset. In this way, the alignment of the refueling pipe with the oil receiving port or the reset of the refueling pipe separated from the oil receiving port can be realized by the control signal, without manually lifting the refueling pipe, thereby saving manpower and working hours. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A flowchart of an embodiment of the control method for lifting the refueling pipe of the application is shown in the figure.

[0037] Figure 2 An embodiment of the control method for lifting the refueling pipe of the application is shown in the figure. Figure 1 A flowchart of an embodiment of step 101 in the method is shown in the figure.

[0038] Figure 3 An embodiment of the control method for lifting the refueling pipe of the application is shown in the figure. Figure 2 A detailed flowchart of step 111 in the method is shown in the figure.

[0039] Figure 4 An embodiment of the control method for lifting the refueling pipe of the application is shown in the figure. Figure 1 A flowchart of an embodiment of step 101 in the method is shown in the figure.

[0040] Figure 5 An embodiment of the control method for lifting the refueling pipe of the application is shown in the figure. Figure 1 A flowchart of an embodiment of step 101 in the method is shown in the figure.

[0041] Figure 6 An embodiment of the control method for lifting the refueling pipe of the application is shown in the figure. Figure 1 A flowchart of an embodiment of step 101 in the method is shown in the figure.

[0042] Figure 7 An embodiment of the control method for lifting the refueling pipe of the application is shown in the figure. Figure 6 A flowchart of an embodiment of step 141 in the method is shown in the figure.

[0043] Figure 8 A module block diagram of the control system 400 for lifting the refueling pipe of an embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0044] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements throughout the description. The following exemplary embodiments described herein represent the best attempts at providing embodiments consistent with one or more of the embodiments of the disclosure. They are not intended to represent all embodiments in all aspects consistent with the disclosure. Rather, they are intended to represent examples of apparatuses and methods consistent with some aspects of one or more of the embodiments of the disclosure as detailed in the attached claims.

[0045] It should be noted that the steps of the methods provided in the other embodiments are not necessarily performed in the order shown and described in this specification. In some other embodiments, the steps included in the methods can be more or less than those described in this specification. Furthermore, a single step described in this specification can be broken down into multiple steps in other embodiments; and multiple steps described in this specification can be combined into a single step in other embodiments.

[0046] To solve the above technical problems, the control method for lifting a refueling pipe provided in an embodiment of the present application controls a movable system to move the refueling pipe towards the oil receiving port of the aircraft body by a control signal, so as to align the refueling pipe with the oil receiving port, or controls the movable system to move the refueling pipe separated from the oil receiving port away from the oil receiving port for resetting. In this way, the alignment of the refueling pipe with the oil receiving port or the resetting of the refueling pipe separated from the oil receiving port can be realized by the control signal, without the need for manual lifting of the refueling pipe, thereby saving manpower and working hours.

[0047] First of all, the control method for lifting a refueling pipe provided in an embodiment of the present application can be applied to the control center, main control board and operation management system of the refueling vehicle. The operation management system can comprehensively manage the movable system and the refueling vehicle, etc.

[0048] Secondly, the control method and system for lifting a refueling pipe provided in an embodiment of the present application will be described in detail in combination with the drawings, as follows.

[0049] Figure 1 The flowchart of an embodiment of the control method for lifting a refueling pipe provided in the present application. The method can include the following steps 101-102:

[0050] Step 101, obtaining a control signal for controlling the movement of a movable system; the movable system is connected with the refueling pipe.

[0051] The movable system can be a system that can be lifted relative to the ground and / or can be moved laterally relative to the ground. The movable system can lift the refueling pipe so that the refueling pipe moves relative to the ground to achieve telescoping of the refueling pipe. In some embodiments, the movable system can include a mechanical hand that holds the refueling pipe and moves the refueling pipe toward the fuel receiving port of the aircraft body or moves the refueling pipe away from the fuel receiving port. In some embodiments, the movable system can include a member that can be moved laterally, such as a wheel or a drive shaft, etc. In some embodiments, the movable system can include a member that can be lifted, such as a lifting platform, etc., which will not be listed one by one here.

[0052] At step 102, a control signal is sent to the movable system to control the movable system to move the refueling pipe toward the fuel receiving port of the aircraft body to align the refueling pipe with the fuel receiving port or to move the refueling pipe away from the fuel receiving port to reset. The initial position of the movable system is a position where the operation has not started, and the initial position of the refueling pipe is also a position where the operation has not started, such as a position where the refueling pipe is connected to the fueling spool well or a position where the refueling pipe is placed on the movable system. Resetting refers to returning to the initial position of the refueling pipe and / or the initial position of the movable system.

[0053] The alignment of the refueling pipe with the fuel receiving port in step 102 of the present application can be implemented in various embodiments. In one embodiment, the present application can manually align the refueling pipe with the fuel receiving port and dock after alignment, or control the movable system to move the refueling pipe away from the fuel receiving port to reset. In this way, the present application can control the movable system to move the refueling pipe toward the fuel receiving port of the aircraft body to manually dock or manually separate the refueling pipe from the fuel receiving port. The present application can control the movable system to move the refueling pipe away from the fuel receiving port to reset, which is different from the device that can generate a control signal to implement the entire process. In this way, part of the process is implemented by a control signal, and the remaining process is implemented by manual participation, which can achieve semi-automatic control of the movement of the refueling pipe.

[0054] In another embodiment, the present application can also align the refueling pipe with the fuel receiving port through a control system that lifts the refueling pipe, or control the movable system to move the refueling pipe away from the fuel receiving port to reset. For details, please refer to the content below. Of course, the two embodiments of the present application can also be used together, which is not limited here.

[0055] The step 102 of the present application can be implemented in various embodiments. In some embodiments, sending the control signal to the movable system further comprises: sending the control signal to the movable system through the 5G communication module. In this way, the 5G communication module can interact information in time, improving the reliability of the message and the reflection sensitivity of the system. Specifically, the real-time running state of the movable system is reported to the operation management center through the 5G communication module; the operation management center can also issue instructions to the movable system through the 5G communication module for control. In this way, the message can also be responded quickly. The real-time running state includes displacement, speed, current, IO state, Cartesian space pose and the like, so that the information of the movable system can be comprehensively and timely controlled, and accurate control of the comprehensive motion can be realized. Of course, the movable system can also send messages through the 5G communication module. In other embodiments, the control signal is sent to the movable system through other communication modules, which can be but not limited to 5G communication module, such as Bluetooth, WIFI and the like.

[0056] The above step 101 can have various embodiments for implementation. In some embodiments, the above step 101 comprises the following: obtaining a control signal for moving control of the movable system, comprising: receiving the control signal sent by the mobile terminal, the control signal comprising a first control signal for controlling the moving direction of the movable system, a second control signal for controlling the movable system to move the refueling pipe to a position at a predetermined distance from the oil receiving port and hover, and / or a third control signal for controlling the movable system to move the refueling pipe away from the oil receiving port. In this way, the control system of the present application for lifting the refueling pipe can receive the control signal sent by the mobile terminal, control the movable system to move the refueling pipe towards the oil receiving port of the aircraft body or control the movable system to move the refueling pipe away from the oil receiving port, thereby realizing control of the refueling pipe through interaction of the mobile terminal, facilitating user operation, providing better assistance for the operator, and also providing a more flexible, intelligent and safe human-computer interaction experience. The first control signal for controlling the moving direction of the movable system can include: a first control signal for controlling the movable system to move in the left, right, up, down, forward and / or backward direction. The predetermined distance can be set according to user demand, which meets the non-interference of the movable system and the refueling pipe with the aircraft body. In some embodiments, the mobile terminal can be a smart terminal, a remote controller and the like, and the smart terminal can be a remote controller, which is not limited herein.

[0057] In some application scenarios of the present application, the control system of the present application for lifting the refueling pipe can generate a control signal and control the movable system to move the refueling pipe towards the oil receiving port of the aircraft body or control the movable system to move the refueling pipe away from the oil receiving port. For details, please refer to the description of the control system of the present application for lifting the refueling pipe. Figures 2 to 7The illustrated instructions.

[0058] Figure 2 For Figure 1 Flowchart of an embodiment of step 101.

[0059] In the embodiment as Figure 2 In the embodiment as

[0060] Step 111, acquiring an aircraft body image captured by the vision system when the movable system is moving.

[0061] The aircraft body can refer to the remaining part of the aircraft excluding the power device, including the fuselage, wings, landing gear, tail, etc. As long as the movable system can lift the part that the refueling pipe contacts, it is within the protection scope of the embodiment, and will not be listed one by one here.

[0062] The aircraft body image of the application can refer to one aircraft body image, which can quickly confirm the aircraft body and has high recognition efficiency. The aircraft body image of the application can include multiple aircraft body images, which is more convenient for identifying and determining the aircraft body, and has high accuracy of aircraft body identification.

[0063] The vision system in the application can refer to a system that can capture images. There are many embodiments of step 111 implemented by the application, and in some embodiments, step 111 further includes: acquiring an aircraft body image captured by a camera, a video camera or a monitor when the movable system is moving. In this way, the camera, the video camera or the monitor can capture the captured aircraft body image, and the aircraft body information can be more easily mastered.

[0064] The aircraft body image is the range of the vision system containing the range where the aircraft body is located, and the vision system also moves to capture images through the movement of the movable system, which is used to display the aircraft body information. In some embodiments, the vision system can be provided on the movable system. In this way, the information of the aircraft body can be easily and timely mastered while the movable system is performing actions, so as to better control the movement of the aircraft body.

[0065] Figure 3 For Figure 2 Detailed flowchart of step 111. In the embodiment as Figure 3 In the embodiment as

[0066] Step 211, acquiring a sky image on the ground captured by the vision system when the movable system is moving.

[0067] In some embodiments, the step 211 can further include: acquiring the image of the ground space above taken by the camera, the video camera or the monitor when the movable system is moving. The image of the ground space above is taken by the visual system, and the visual system moves with the movable system to take the image for displaying the information of the ground space above.

[0068] In step 212, the image of the ground space above is input into the aircraft body recognition model to output the aircraft body recognition result, which includes the recognition result that the image of the ground space above has an aircraft body or the recognition result that the image of the ground space above does not have an aircraft body. The aircraft body recognition model is trained by using the first sample set, and the first sample set includes images with aircraft bodies. Thus, the first sample set includes a large number of images with aircraft bodies, and the aircraft body recognition model is trained by using the first sample set. Therefore, the accuracy of the aircraft body recognition result output by the aircraft body recognition model is high.

[0069] The aircraft body recognition model can be a convolutional neural network trained by the first sample set in advance, and the detection of the aircraft body and the detection of the key points can be realized by the aircraft body recognition model.

[0070] Based on the implementation process of the step 211, the method of the present application further includes: if the aircraft body recognition result is the recognition result that the image of the ground space above has an aircraft body, determining that the image of the ground space above is an aircraft body image; and determining whether the aircraft body image contains the refueling port image based on the aircraft body image. Thus, based on the more accurate aircraft body image, the accuracy of the refueling port image recognition can be improved.

[0071] In step 112, if the aircraft body image contains the refueling port image, a control signal for controlling the movable system to move the refueling pipe towards the aircraft body is generated based on the refueling port image. Thus, based on the more accurate refueling port image, a more timely and accurate control signal can be generated, and the reliability of the control signal can be improved.

[0072] In some embodiments, the method of the present application further includes determining whether the aircraft body image contains the refueling port image by the following method. Specifically, the aircraft body image is input into the refueling port recognition model to output the refueling port recognition result, which includes the recognition result that the aircraft body image contains the refueling port image or the recognition result that the aircraft body image does not contain the refueling port image. The refueling port recognition model is trained by using the second sample set, and the second sample set includes images with refueling ports. The second sample set includes a large number of images with refueling ports, and the refueling port recognition model is trained by using the second sample set. Therefore, the accuracy of the refueling port recognition result output by the refueling port recognition model is high.

[0073] The oil receiving port recognition model can be a convolutional neural network trained in advance using the second sample set, and the oil receiving port recognition model can be used to detect the oil receiving port and the key points. The training process of the oil receiving port recognition model is as follows: obtaining an image data set of the oil receiving pipe in different directions and different states as the second sample set; using the second sample set to train the selected convolutional neural network by using transfer learning, and obtaining the oil receiving port recognition model, wherein the selected convolutional neural network includes a network Mask R-CNN (Mask Region-Convolutional Neural Networks, Mask region-convolutional neural network). Thus, the image dynamic recognition and accurate positioning use the Mask-RCNN deep vision technology for instance segmentation, so that the oil receiving port recognition model can accurately recognize and locate the contour of the oil receiving pipe in the image, complete segmentation, and further facilitate the control of the accurate distance of the movable system and the oil receiving pipe. In some embodiments, the selected convolutional neural network can be deployed on an industrial computer, and the GPU (Graphics Processing Unit, graphics processing unit) and the deep learning inference engine TensorRT of the industrial computer can be used to accelerate the inference of the selected convolutional neural network, and the inference speed is above 20 FPS, so as to obtain an oil receiving port recognition model with high robustness, and the influence of environmental noise on the oil receiving port recognition model can be reduced, and the visual error control can be within 0.5 mm, and the image dynamic recognition and positioning accuracy control can be within 1 mm.

[0074] In some embodiments, if the aircraft body image does not include the oil receiving port image, a control signal for controlling the distance between the movable system and the aircraft body to be greater than a predetermined distance is generated. Thus, the distance between the movable system and the aircraft body can be greater than the predetermined distance, and the collision between the movable system and the aircraft body can be reduced, and accidents can be avoided. In some embodiments, the method further includes generating a control signal for controlling the movable system to move horizontally towards the direction of the oil receiving port after reaching a predetermined height. In this way, the movable system is controlled to reach a predetermined height, and then moves horizontally below the oil receiving port, and then moves upwards towards the oil receiving port. The operation is simple and convenient. The predetermined height can be a height that can be located near the aircraft body to the maximum extent. The predetermined height can be determined by the height of the aircraft body and the height of the movable system.

[0075] Figure 4 For Figure 1 Flowchart of an embodiment of step 101.

[0076] In some embodiments, the method further includes generating a control signal for controlling the movable system to move horizontally towards the direction of the oil receiving port after reaching a predetermined height. In this way, the movable system is controlled to reach a predetermined height, and then moves horizontally below the oil receiving port, and then moves upwards towards the oil receiving port. The operation is simple and convenient. The predetermined height can be a height that can be located near the aircraft body to the maximum extent. The predetermined height can be determined by the height of the aircraft body and the height of the movable system. Figure 4In the illustrated embodiment, if the aircraft fuselage image does not include the refueling port image, step 101 above includes the following steps 121 to 123:

[0077] Step 121: Determine the pitch information of the vision system, the position of the aircraft body in the aircraft body image, and the relative position of the aircraft body with respect to the vision system. Step 122: Determine the distance between the movable system and the aircraft body based on the pitch information, position, and relative position. In some embodiments, a machine vision positioning method is used to implement steps 121 and 122 above to obtain the distance between the movable system and the aircraft body. The machine vision positioning method can be a method that uses machine vision detection elements to determine the position and orientation. For example, SIFT (Scale-invariant feature transform) and SURF (Speed ​​Up Robust Features) are not limited here. Step 123: If the distance is determined to be a predetermined distance, a control signal is generated to control the movable system to move away from the aircraft body and then move forward horizontally towards the refueling port or backward in a direction away from the refueling port. In this way, the vision system can obtain movement information in real time during the movement of the mobile system and respond in a timely manner. If the distance is determined to be within the predetermined range, a control signal can be generated in a timely manner, which is conducive to timely control of the mobile system and avoids collision between the mobile system and the aircraft body.

[0078] Figure 5 for Figure 1 A flowchart illustrating an embodiment of step 101.

[0079] In such Figure 5 In the illustrated embodiment, the movable system includes a ranging sensor; if the aircraft body image does not include the refueling port image, step 101 above includes the following steps 131 to 133:

[0080] At step 131, a distance signal generated by a distance sensor is acquired. The distance sensor is used to measure the distance between the movable system and the aircraft body to determine whether the movable system is about to contact the aircraft body to avoid a false collision between the movable system and the aircraft body. In some embodiments, the distance sensor can be a non-contact sensor such as an infrared sensor, radar, etc. At step 132, the distance between the movable system and the aircraft body is determined according to the distance signal. At step 133, if it is determined that the distance reaches a predetermined distance, a control signal for controlling the movable system to move away from the aircraft body and then move forward in the horizontal direction towards the oil receiving port or to move backward away from the oil receiving port is generated. In this way, the movable system can be controlled based on the distance sensor to prevent the movable system from colliding with the aircraft body and causing huge losses. For example, when the safe distance between the movable system and the aircraft body is determined by the distance sensor, the refueling operation is automatically stopped and the refueling operator can perform subsequent refueling operations. Further, in weather conditions such as heavy rain or fog, the distance sensor combined with the visual system can be more advantageous to enhance the accuracy of detecting the distance between the movable system and the aircraft body.

[0081] Figure 6 For Figure 1 An embodiment of step 101 is shown in the flowchart.

[0082] In the embodiment shown in Figure 6 , step 101 includes steps 141-142 as follows:

[0083] At step 141, a movement path of the refueling pipe relative to the oil receiving port is acquired. At step 142, a fourth control signal containing the movement path is generated, and the fourth control signal is used to control the movable system to move the refueling pipe according to the movement path. In this way, the refueling pipe can be conveniently controlled to move according to the movement path, which is more advantageous to improve the efficiency of the system in docking the refueling pipe with the oil receiving port.

[0084] In some embodiments, the movement path can be a preset movement path. In this way, the operation efficiency of the refueling pipe in a complex environment can be improved by the preset movement path. In other embodiments, the movement path can be determined based on a SLAM (simultaneous localization and mapping) visual technology to establish an environmental 3D space model and the initial position of the refueling pipe and the position of the oil receiving port. In this way, a collision-free smooth path trajectory of the refueling pipe from the starting point to the ending point can be planned. In other embodiments, the movement path can also be a part of the movement path temporarily planned on the preset movement path. In this way, the overall optimal effect of the movement path can be achieved by adjusting the local optimal of the movement path. Details are described below. Figure 7 The content described above.

[0085] Figure 7 For Figure 6 Flowchart of an embodiment of step 141.

[0086] In the embodiment as Figure 7 shown, step 141 further includes steps 311-314 as follows:

[0087] Step 311, determine a plurality of planning paths between the movable system and the oil receiving port. In some embodiments, a plurality of planning paths between the movable system and the oil receiving port are determined by using a path planning algorithm. The path planning algorithm can include one or more of A*, Dijkstra, RRT (rapidly exploring random tree), PRM (Probability Roadmap). Step 312, segment each of the plurality of planning paths to obtain N sub-paths of each planning path; N is a positive integer greater than 1, and N represents the total number of segments of each planning path. The sub-paths of each planning path can be segmented at the same segmentation point, so that the starting points of the sub-paths of each planning path are consistent, which facilitates better determination of the optimal sub-path. Step 313, determine the optimal sub-path of each of the N sub-paths of the plurality of planning paths. The optimal sub-path can be related to time, moving efficiency and whether there is an obstacle, so as to determine the path with the shortest time, the highest moving efficiency and / or the least obstacles. Step 314, optimize the N optimal sub-paths to obtain a moving path. In some embodiments, the N optimal sub-paths are optimized by using spline fitting or Mini-snap optimization to obtain a smooth trajectory as the moving path. In this way, the dynamic obstacle avoidance by using the path planning algorithm has high calculation efficiency and small time delay. Moreover, the optimal sub-path and the smooth trajectory are obtained, thereby solving the problem of improving the running efficiency of the movable system in a complex environment.

[0088] Figure 8 Fig. 4 shows a block diagram of a control system 400 for lifting the oil filling pipe according to an embodiment of the present application. The control system 400 for lifting the oil filling pipe includes one or more processors 401 for implementing the control method for lifting the oil filling pipe as described above.

[0089] In some embodiments, the control system 400 for lifting a fueling pipe can include a computer readable storage medium 409, which can store programs that can be invoked by the processor 401, and can include non-volatile storage medium. In some embodiments, the control system 400 for lifting a fueling pipe can include the memory 408 and the interface 407. In some embodiments, the control system 400 for lifting a fueling pipe can further include other hardware according to actual application.

[0090] The computer readable storage medium 409 of the embodiments of the present application has programs stored thereon, which, when executed by the processor 401, are used to implement the control method for lifting a fueling pipe as described above.

[0091] The present application can take the form of a computer program product implemented on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROM, optical memory, etc.) containing program code. The computer readable storage medium 409 includes permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer readable storage medium 409 include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0092] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

[0093] It should also be noted that the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, product or device. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, product or device including the element.

Claims

1. A control method for lifting a refueling hose, characterized in that, The method of connecting a portable system to a refueling hose includes: Obtaining control signals for the movement control of a mobile system includes: acquiring images of the aircraft body and the airspace above the ground captured by a vision system during the movement of the mobile system; inputting the airspace images into an aircraft body recognition model to output aircraft body recognition results with or without an aircraft body; the model is trained using a first sample set including images with aircraft bodies; inputting the aircraft body images into a refueling port recognition model to output refueling port recognition results with or without refueling port images; the training process of the model is as follows: acquiring a dataset of refueling pipe images from different orientations and states as a second sample set; employing transfer learning, using the second sample set to train the network Mask... The R-CNN convolutional neural network is trained; and the convolutional neural network inference is accelerated by utilizing the graphics processor and deep learning inference engine deployed on the industrial control computer; if the aircraft image includes a refueling port image, a control signal is generated based on the refueling port image to control the movable system to move the refueling pipe toward the refueling port of the aircraft; and, the system receives a first control signal sent by the mobile terminal to control the movable system to move in the left, right, up, down, forward and / or backward directions, a second control signal to control the movable system to move the refueling pipe to a position at a predetermined distance from the refueling port and hover, and / or a third control signal to control the movable system to move the refueling pipe away from the refueling port and reset. and Send a control signal to the movable system to control the movable system to move the refueling probe toward the refueling port of the aircraft body so that the refueling probe is aligned with the refueling port, or control the movable system to move the refueling probe that is separated from the refueling port away from the refueling port to reset it; The movable system includes a distance sensor; by using the distance sensor to determine the safe distance between the movable system and the wing, it will automatically stop.

2. The control method for lifting the refueling hose as described in claim 1, characterized in that, The method includes: If the aircraft body image does not include the refueling port image, then a control signal is generated to control the distance between the movable system and the aircraft body to be greater than a predetermined distance.

3. The control method for lifting the refueling hose as described in claim 2, characterized in that, If the aircraft body image does not include the refueling port image, a control signal is generated to control the distance between the movable system and the aircraft body to be greater than a predetermined distance. This includes: determining the pitch information of the vision system, the position of the aircraft body in the aircraft body image, and the relative position of the aircraft body relative to the vision system; determining the distance between the movable system and the aircraft body based on the pitch information, the position, and the relative position; and if the determined distance reaches the predetermined distance, generating a control signal to control the movable system to move away from the aircraft body and then move forward or backward in the horizontal direction towards the refueling port.

4. The control method for lifting the refueling hose as described in claim 2, characterized in that, If the aircraft body image does not include the refueling port image, then generating the control signal for controlling the distance between the movable system and the aircraft body to be greater than a predetermined distance includes: acquiring the distance signal generated by the ranging sensor; determining the distance between the movable system and the aircraft body based on the distance signal; if the determined distance reaches the predetermined distance, generating the control signal for controlling the movable system to move away from the aircraft body and then move forward or backward in the horizontal direction towards the refueling port.

5. The control method for lifting the refueling hose as described in claim 3 or 4, characterized in that, Sending the control signal to the mobile system includes sending the control signal to the mobile system via a 5G communication module.

6. The control method for lifting the refueling hose as described in claim 1, characterized in that, The method further includes: If the aircraft body identification result is that the aerial image has an aircraft body identification result, then the aerial image is determined to be the aircraft body image; based on the aircraft body image, it is determined whether the aircraft body image contains the refueling port image.

7. The control method for lifting the refueling hose as described in claim 1, characterized in that, The process of obtaining control signals for moving the mobile system includes: Obtain the movement path of the refueling pipe relative to the refueling port; A fourth control signal containing the movement path is generated, the fourth control signal being used to control the movable system to move the refueling pipe according to the movement path.

8. The control method for lifting the refueling hose as described in claim 7, characterized in that, The step of obtaining the movement path of the refueling pipe relative to the refueling port includes: Determine multiple planned paths between the mobile system and the oil receiving port; The multiple planned paths are divided into segments to obtain N sub-paths for each planned path; N is a positive integer greater than 1. Determine the optimal sub-path for each of the N sub-paths in the multiple planned paths; and Optimize the N optimal sub-paths to obtain the moving path.

9. A control system for lifting a refueling hose, characterized in that, It includes one or more processors for implementing the control method for lifting the refueling hose as described in any one of claims 1-8.

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