Aircraft ground mobile deicing operation mechanism, deicing method and computer equipment

Abstract

The present invention belongs to the field of civil aviation ground support technology, and discloses a mobile deicing mechanism, deicing method and computer equipment for aircraft on the ground. The multiple movable intelligent deicing mechanical arms of the mobile deicing mechanism for aircraft on the ground identify the ice type and thickness of ice on the surface, locate the accumulated ice, autonomously adjust the deicing trajectory and jet parameters, and plan the deicing trajectory for deicing; the mobile deicing robot is deployed in the blind area of ​​the deicing operation of the multiple mobile intelligent deicing mechanical arms to perform residual ice detection and secondary deicing operations, and the blind area of ​​the deicing operation includes the wings, engine nacelle and under the tail. The use of the mobile intelligent deicing mechanical arm array of the present invention avoids the operating personnel from entering the dangerous area of ​​the engine and reduces labor costs, improves safety, greatly improves the deicing efficiency, and is conducive to improving the punctuality rate of the aircraft.

Description

Technical Field

[0001] The invention belongs to the technical field of civil aviation ground support, and in particular relates to a mobile ground deicing operation mechanism, a deicing method and a computer device for an aircraft. Background Art

[0002] Every winter, when encountering ice and snow weather, ice will accumulate on the surface of the aircraft, which will destroy the aerodynamic performance of the aircraft, reduce lift, increase drag, and reduce thrust. As a result, it will be more difficult for the pilot to control the aircraft, affecting the safety and operability of the aircraft during takeoff, and even causing flight accidents. Therefore, before the aircraft takes off, the ice and snow covering on the surface of the aircraft must be cleared in time. However, due to the complexity of the aircraft structure and the large size, the deicing process is more difficult, so some special mechanical equipment must be used to complete the deicing task on the surface of the aircraft. At present, the airport's deicing operation for aircraft is mainly achieved through deicing vehicles. The deicing vehicle uses a mechanical arm to lift the operator and the nozzle into the air and deice manually. This method is highly dependent on manual labor, and the deicing effect is limited by the technical level of the operator. At the same time, the operator has certain dangers when working at high altitudes. Therefore, a safer and more effective technology is needed for deicing operations.

[0003] Existing technologies, such as a fixed deicing liquid spraying device, can be remotely controlled to perform deicing operations. Although it gets rid of manual on-site participation, it still needs to rely on the remote control of the operator. The efficiency of its deicing is difficult to guarantee and depends on the technical level of the operator. At the same time, due to the immobility of its device, it also needs to build a separate deicing pad. Another example is another track-type aircraft deicing robot arm system, which uses the ground to lay tracks to complete the movement of the robot arm chassis. Although it improves the automation level of deicing operations, it is subject to site restrictions and requires a separate deicing pad to lay tracks, which increases construction costs and reduces the mobility of deicing response. In addition, the aircraft needs to go to the deicing pad, making the deicing process more cumbersome and increasing time costs. Therefore, studying how to quickly, efficiently, and conveniently perform deicing operations is an urgent problem that needs to be solved. It can save manpower and material resources, improve safety, and better ensure flight safety. It has broad research significance and application prospects.

[0004] Through the above analysis, the problems and defects of the prior art are as follows:

[0005] (1) The existing technology for deicing aircraft is limited by the specific deicing site, cannot meet the deicing needs, and the deicing effect is poor;

[0006] (2) The existing technology has poor safety in deicing operations in dangerous areas of the engine and high labor costs. Summary of the invention

[0007] In order to overcome the problems existing in the related art, the embodiments disclosed in the present invention provide an aircraft ground mobile deicing operation mechanism array, a deicing method and a computer device.

[0008] The technical solution is as follows: a mobile ground deicing operation mechanism for an aircraft comprises: a plurality of mobile intelligent deicing machines, arms and a mobile deicing robot;

[0009] The multiple mobile intelligent de-icing robot arms are respectively deployed at different positions of the aircraft to identify the ice type and thickness of the surface ice, locate the ice accumulation, autonomously adjust the de-icing trajectory and jet parameters, plan the de-icing trajectory, and use the distributed multi-robot collaborative task allocation method to coordinate the mobile de-icing robot to de-icing;

[0010] The movable deicing robot is deployed in the blind area of ​​deicing operation of multiple movable intelligent deicing robotic arms, and utilizes a distributed multi-robot collaborative task allocation method to coordinate multiple movable intelligent deicing robotic arms to perform residual ice detection and secondary deicing operations. The blind area of ​​deicing operation includes the wings, engine nacelle and under the tail wing.

[0011] In one embodiment, the movable intelligent deicing mechanical arm includes a movable chassis, a multi-degree-of-freedom deicing mechanical arm, and an intelligent detection device;

[0012] The movable chassis is provided with intelligent detection devices around it, and the movable chassis includes: a controller, a power device and a deicing liquid storage system; wherein the controller and the power device provide steering and movement capabilities for the movable intelligent deicing mechanical arm; the deicing liquid storage system can store a certain amount of deicing liquid so that the movable intelligent deicing mechanical arm can temporarily leave the liquid filling device to work; the multi-degree-of-freedom mechanical arm is used to increase the effective working range and deicing efficiency; the intelligent detection device determines the target position of deicing and provides a guiding function for the work of the movable intelligent deicing mechanical arm;

[0013] The multi-degree-of-freedom deicing robot arm is fixed on a movable chassis; an intelligent detection device is fixed at the end of the multi-degree-of-freedom deicing robot arm, and the intelligent detection device includes an intelligent snow and ice autonomous sensing unit, a distance measuring device, and a wind speed sensing device. The snow and ice autonomous sensing unit is responsible for identifying the location, type, and thickness of ice accumulation on the surface; the distance measuring device is responsible for detecting the distance to nearby objects to avoid collisions during movement; and the wind speed sensing device is responsible for detecting the wind speed so as to reinforce the base of the robot arm when the wind speed is too high.

[0014] In one embodiment, the multi-degree-of-freedom deicing robot arm includes a support arm, a telescopic arm, and a deicing fluid nozzle;

[0015] There are multiple multi-degree-of-freedom deicing robotic arms distributed at four positions of the aircraft: rear left, rear right, front left and front right, which are respectively the first deicing robotic arm, the second deicing robotic arm, the third deicing robotic arm and the fourth deicing robotic arm.

[0016] The first deicing mechanical arm, the second deicing mechanical arm, the third deicing mechanical arm and the fourth deicing mechanical arm are all connected with a mobile liquid adding device.

[0017] In one embodiment, the movable deicing robot is deployed under the aircraft and includes a movable chassis, a deicing fluid spraying device, and a deicing fluid spraying ice and snow autonomous sensing unit;

[0018] The movable chassis includes a power device and a deicing liquid storage system, and the movable deicing robot is provided with a distance measuring device around it;

[0019] The deicing liquid spraying device includes a rotating mechanism and a nozzle, which is used to spray the deicing liquid in any direction upward; a deicing liquid spraying ice and snow autonomous sensing unit is arranged near the deicing liquid nozzle, which is used for detecting and locating ice accumulation.

[0020] Another object of the present invention is to provide a deicing method for an aircraft ground mobile deicing operation mechanism, comprising the following steps:

[0021] S1, based on the characteristics of the aircraft, deploy an intelligent de-icing system around the aircraft to be de-iced, with the goal of selecting the largest de-icing operation range possible, and automatically plan the optimal position of each de-icing device near the aircraft to be de-iced;

[0022] S2, multiple robotic arms in the array are deployed at the rear left, rear right, front left and front right positions of the aircraft respectively, and the movable de-icing robot is located under the aircraft; and a distributed multi-robot collaborative task allocation method is used to coordinate multiple intelligent de-icing mechanisms;

[0023] S3, de-icing operation: de-icing in rapid de-icing mode and subsequent residual ice detection and secondary de-icing mode.

[0024] In one embodiment, in step S2, the distributed multi-robot collaborative task allocation method adopts a distributed multi-robot collaborative task allocation method that combines a consensus-based bundle algorithm (CBBA) with an ant colony algorithm.

[0025] In one embodiment, in step S3, the deicing method includes the following steps:

[0026] 1) Upon receiving the de-icing operation instruction, the de-icing operation units use a distributed multi-robot collaborative task allocation method to allocate their respective de-icing tasks; and the de-icing robot arms are quickly deployed at the corresponding positions on both sides of the taxiway according to the characteristics of the aircraft model to be de-iced, and the movable de-icing robots enter the taxiway and wait to complete the de-icing task;

[0027] 2) The aircraft enters the working range of the de-icing mechanism, and the array enters the rapid de-icing operation mode; the intelligent detection device at the end of the multi-degree-of-freedom de-icing robot arm identifies the ice type and thickness of the surface ice and locates the ice accumulation. The controller autonomously adjusts the de-icing trajectory and jet parameters, plans the de-icing trajectory, and performs de-icing in a timely manner;

[0028] 3) The first deicing robot arm and the second deicing robot arm are responsible for ice accumulation detection and deicing operations on the left and right sides of the rear of the aircraft, including the horizontal stabilizing surface, tail and fuselage; the third deicing robot arm and the fourth deicing robot arm are responsible for ice accumulation detection and deicing operations on the left and right sides of the front of the aircraft, including the nose, wings, wing boxes, engine nacelle and spoiler; the mobile deicing robot is responsible for ice accumulation detection and deicing operations on the blind areas where deicing operations cannot be performed due to the high height of the multi-degree-of-freedom deicing robot arm, including the wings, engine nacelle and the bottom of the tail;

[0029] 4) After completing the rapid de-icing, the array enters the residual ice detection stage, and detects the residual ice on various parts of the aircraft. If there is no residual ice, the de-icing operation is completed and the aircraft leaves the de-icing area; if there is residual ice, the spray flow and angle of the spray guns of each de-icing operation mechanism are automatically adjusted to perform secondary de-icing;

[0030] 5) The aircraft leaves the array's working range and the de-icing operation is completed; if there is no subsequent de-icing task, the aircraft's ground-mounted movable de-icing operation mechanism quickly evacuates the de-icing area and waits for the next de-icing instruction.

[0031] In one embodiment, in step 2), when the multi-degree-of-freedom deicing robot arm is performing deicing operations, the mobile chassis enters a slow-moving mode, and cooperates with the extension and rotation of the multi-degree-of-freedom deicing robot arm to expand the deicing range of a single multi-degree-of-freedom deicing robot arm while maintaining overall stability; at the same time, the moving area of ​​each robot arm chassis is limited;

[0032] The deicing liquid storage system in the mobile chassis is connected to the mobile liquid filling device through pipelines when the multi-degree-of-freedom deicing manipulator is performing deicing operations, so that the deicing liquid can be replenished at any time;

[0033] A limit device is provided in the multi-degree-of-freedom deicing robot arm to prevent the multi-degree-of-freedom deicing robot arm from overturning due to instability of the center of gravity due to excessive extension or rotation angle;

[0034] The intelligent detection device is equipped with a wind speed sensing device to detect the wind speed during de-icing operations. When the wind speed reaches a level that causes the robotic arm to become unstable, an alarm is sounded and the operation is stopped. The operation is continued after the movable chassis is loaded with weight to lower the center of gravity and maintain stability.

[0035] In one embodiment, in step 3), distance measuring devices are arranged around the movable chassis of the movable deicing robot. When performing deicing operations, the distance measuring devices cooperate with the intelligent detection device at the end of the multi-degree-of-freedom deicing robot arm to constantly detect the distance between the multi-degree-of-freedom deicing robot arm and other surrounding objects. When the distance is less than the safety warning range, an alarm is issued, and the multi-degree-of-freedom deicing robot arm and the mobile chassis change the moving direction.

[0036] Another object of the present invention is to provide a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the de-icing method of the aircraft ground mobile de-icing operation mechanism.

[0037] Combining all the above technical solutions, the advantages and positive effects of the present invention are as follows:

[0038] First, in view of the technical problems existing in the above-mentioned prior art and the difficulty of solving the problems, the technical solutions to be protected by the present invention and the results and data in the research and development process are closely combined to analyze in detail and deeply how the technical solutions of the present invention solve the technical problems, and some creative technical effects brought about after solving the problems: For the above-mentioned prior art, it is necessary to build a de-icing pad separately. However, for small and medium-sized airports with limited land resources and airports with a small number of de-icing tasks, there is no ability or need to build a de-icing pad separately. Therefore, the present invention proposes a rapidly deployable ground mobile aircraft de-icing operation mechanism for airports without de-icing pads, so as to meet the need for de-icing without de-icing pads, and to complete the de-icing task quickly, efficiently and conveniently. The present invention can quickly construct an aircraft de-icing mechanical arm array, quickly respond to de-icing commands, and immediately start operations on aircraft to be de-iced without being restricted by specific de-icing sites, so as to meet the needs of airports that do not have de-icing pads but need de-icing; arrays with different positions are established according to the characteristics of the aircraft model, and the flow rate and angle of the nozzle are automatically adjusted to achieve the best de-icing effect; secondary de-icing is performed on the residual ice on the aircraft through automatic detection to ensure the completion of the de-icing task; finally, the use of the movable intelligent de-icing mechanical arm array will avoid the operating personnel from entering the engine danger zone and reduce labor costs, improve safety, greatly improve the de-icing efficiency, and help to improve the punctuality rate of the aircraft.

[0039] Second, considering the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows: it includes multiple movable intelligent deicing mechanical arms and movable deicing robots, which are deployed around the aircraft to be deiced according to the characteristics of the aircraft model to form an intelligent deicing system, and automatically plan the optimal position of each deicing device near the aircraft to be deiced to achieve the purpose of maximum deicing range and highest efficiency; multiple mechanical arms in the array are respectively deployed at the rear left, rear right, front left and front right positions of the aircraft, and the movable deicing robot is located under the aircraft. A distributed multi-robot collaborative task allocation method is used to solve the coordination problem between multiple intelligent deicing mechanisms. The deicing methods are mainly: rapid deicing mode and subsequent residual ice detection and secondary deicing mode; when the deicing mechanical arm is in operation, the intelligent detection device at the end of the mechanical arm identifies the ice type and thickness of the surface ice and plans the deicing trajectory; at the same time, the chassis moves with the telescopic and rotating postures of the mechanical arm to maintain stability and expand the deicing range as much as possible. In view of the situation that there is no de-icing pad in the flight area, the present invention quickly deploys the de-icing robot arm array to both sides of the taxiway to perform de-icing operations on the designated aircraft, and the mobile liquid filling device is used to replenish the de-icing liquid, which greatly improves the de-icing efficiency; reduces manual participation and improves safety; and provides residual ice detection to ensure that the ice and snow covering on the aircraft is completely removed, which is conducive to strengthening the safety of flights.

[0040] Third, as auxiliary evidence of the creativity of the claims of the present invention, it is also reflected in that the technical solution of the present invention does not need to build a special de-icing pad, reducing land and capital costs, and reduces manual participation to improve safety, which can improve the convenience, speed and efficiency of de-icing operations and better ensure flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] Figure 1 It is a flow chart of a deicing method of a mobile deicing mechanism for aircraft provided on the ground in an embodiment of the present invention;

[0043] Figure 2 It is a schematic diagram of the on-site layout of the aircraft ground mobile deicing operation mechanism provided by an embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of an intelligent deicing mechanical arm provided by an embodiment of the present invention;

[0045] Figure 4 is a schematic diagram of a mobile deicing robot provided by an embodiment of the present invention;

[0046] Figure 5 is a block diagram of a multi-degree-of-freedom deicing mechanical arm provided by an embodiment of the present invention;

[0047] Figure 6 is a schematic diagram of a deicing process provided by an embodiment of the present invention;

[0048] In the figure: 1. Mobile chassis; 2. Multi-degree-of-freedom deicing robotic arm; 2-1. First deicing robotic arm; 2-2. Second deicing robotic arm; 2-3. Third deicing robotic arm; 2-4. Fourth deicing robotic arm; 3. Intelligent detection device; 4. Movable chassis; 5. Deicing liquid injection device; 6. Ice and snow autonomous sensing unit; 7. Distance measuring device; 8. Movable intelligent deicing robotic arm; 9. Movable deicing robot; 10. Mobile liquid filling device. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0050] 1. Explanation of the embodiment:

[0051] Example 1

[0052] like Figure 1 As shown, the deicing method of the aircraft ground mobile deicing operation mechanism provided by the embodiment of the present invention comprises the following steps:

[0053] S101, based on the characteristics of the aircraft model, deploy an intelligent de-icing system around the aircraft to be de-iced, and automatically plan the optimal position of each de-icing device near the aircraft to be de-iced, so as to achieve the purpose of maximizing the de-icing range and achieving the highest efficiency;

[0054] S102, multiple robotic arms in the array are respectively deployed at the rear left, rear right, front left and front right positions of the aircraft, and the movable de-icing robot 9 is located under the aircraft; and a distributed multi-robot collaborative task allocation method is used to solve the coordination problem between multiple intelligent de-icing mechanisms.

[0055] S103, deicing: deicing is performed in a rapid deicing mode and a subsequent residual ice detection and secondary deicing mode.

[0056] In step S103, when the movable intelligent deicing robot arm 8 is working, the intelligent detection device 3 at the end of the multi-degree-of-freedom deicing robot arm 2 identifies the ice type and thickness of the surface ice and plans the deicing trajectory; at the same time, the mobile chassis 1 moves in coordination with the telescopic and rotational postures of the multi-degree-of-freedom deicing robot arm 2 with the goal of maintaining stability and expanding the deicing range as much as possible.

[0057] In view of the situation that there is no de-icing pad in the flight area, the present invention quickly deploys the de-icing robot arm array to both sides of the taxiway to perform de-icing operations on the designated aircraft, and the mobile liquid adding device 10 is used to replenish the de-icing liquid, which greatly improves the de-icing efficiency; reduces manual participation and improves safety; and provides residual ice detection to ensure that the ice and snow covering on the aircraft is completely removed, which is conducive to strengthening the safety of flights.

[0058] In a preferred embodiment of the present invention, for better deicing efficiency and safety, the aircraft ground mobile deicing operation mechanism has the following configuration:

[0059] The de-icing operation mechanisms adopt a distributed multi-robot collaborative task allocation method that combines a consensus-based bundle algorithm (CBBA) with an ant colony algorithm, that is, the multi-intelligent de-icing equipment system assigns multiple tasks to each de-icing device based on environmental knowledge and the need to complete the task to achieve a de-icing task. Each de-icing operation mechanism establishes a schedule for the tasks assigned to it and completes its respective tasks simultaneously according to the schedule. The CBBA algorithm is divided into a task selection stage and a consensus stage. In the task selection stage, an auction-based algorithm is used. The de-icing operation mechanisms use an ant colony algorithm to select tasks based on the information they know about the task, environment, and other mechanisms, and then communicate with other de-icing operation mechanisms to reach a consensus. The CBBA algorithm iterates between two different stages and eventually obtains a conflict-free solution.

[0060] Phase 1: Task selection phase. Each agent builds a task bag locally, which contains all the tasks it plans to complete during the assignment process. Then the agent continuously adds tasks to the bag and sorts them appropriately until the upper limit of the number of tasks it can complete is reached. Each agent i's task bag contains two task-related vectors: b i and p i . Where b i To sort by the order in which they were added to the package, p i The order in which the agents plan to complete their tasks. Indicates that agent i follows p iThe bids for executing tasks in the order of tasks in the package (i.e., the shorter the time it takes to complete all tasks, the higher the bid). When a new task j is inserted into the package, Indicates inserting task j into task path p i The total bid for the nth position. ij [b i ] represents the bid increase caused by adding task j to the task package. Each agent has i Insert new task j into all possible positions in c ij [b i ] The largest position n. Then add all the tasks that can be completed by the agent to the task bag at once, so as to determine the completion path p with the maximum bid i .

[0061] Phase 2: Consensus phase. To avoid too many agents being assigned the same task, each agent i needs to know the task information of another agent k, so that i Indicates the update time, expressed in y i represents the highest bid price among the current bids for each task, y ij represents the bid of agent i for task j; z i represents the agent with the highest bid, z ij = k means that agent i believes that task j is assigned to agent k. Agent i can take three possible actions for task j:

[0062] (1) Update: When y ij <y kj When ij =y kj , z ij =y kj ;

[0063] (2) Retention: When y ij >y kj When ij =y ij , z ij =y ij ;

[0064] (3) Reset: When path p i There have been other changes in

[0065] If the above rules change the agent's bid, each agent will check whether the updated or reset task is in its task bag. If so, it will delete the task and all subsequent tasks in the task bag and re-execute the task selection phase.

[0066] The algorithm iterates these two phases until they converge to a conflict-free solution.

[0067] For example, when the movable intelligent de-icing robot arm 8 selects the position in the rapid deployment stage, it selects the position with the shortest time according to its distance from the target point and the distance from the subsequent target point. The time consumed is the bid of the robot arm. The shorter the time consumed, the higher the bid. If it is found in the consensus stage that the task selected by other institutions conflicts with its own and the bid is higher, that is, the time is shorter, then the task will be abandoned and the task selection stage will be re-entered until a solution with no conflicts and the shortest total time is finally obtained.

[0068] Example 2

[0069] like Figure 2 As shown, the aircraft ground mobile deicing operation mechanism provided by the embodiment of the present invention is composed of a plurality of movable intelligent deicing mechanical arms 8 and a movable deicing robot 9.

[0070] The multiple mobile intelligent deicing robot arms 8 are respectively deployed at different positions of the aircraft to identify the ice type and thickness of the surface ice, locate the ice accumulation, autonomously adjust the deicing trajectory and jet parameters, plan the deicing trajectory, and use the distributed multi-robot collaborative task allocation method to collaborate with the mobile deicing robot 9 to deicer;

[0071] The movable deicing robot 9 is deployed in the blind area of ​​deicing operation of multiple movable intelligent deicing robot arms 8, and utilizes the distributed multi-robot collaborative task allocation method to coordinate multiple movable intelligent deicing robot arms 8 to perform residual ice detection and secondary deicing operations. The blind area of ​​deicing operation includes the wings, engine hood and under the tail wing.

[0072] In a preferred embodiment of the present invention, the movable intelligent deicing mechanical arm 8 in the aircraft ground mobile deicing operation mechanism is as follows: Figure 3 As shown, the movable intelligent deicing mechanical arm 8 includes a movable chassis 1, a multi-degree-of-freedom deicing mechanical arm 2, and an intelligent detection device 3; the movable chassis 1 is surrounded by intelligent distance measuring devices 7, and the movable chassis 1 includes a controller (not shown), a power device and a deicing liquid storage system; wherein the controller and the power device in the movable chassis 1 provide the movable intelligent deicing mechanical arm 8 with a directional movement function; the deicing liquid storage system enables the movable intelligent deicing mechanical arm 8 to temporarily leave the liquid filling device to work; the multi-degree-of-freedom mechanical arm 2 is used to increase the effective working range and deicing efficiency; the intelligent detection device 3 determines the target position of deicing and provides a guiding function for the work of the movable intelligent deicing mechanical arm 8;

[0073] The multi-degree-of-freedom deicing robot arm 2 includes a support arm, a telescopic arm and a deicing liquid nozzle; the multi-degree-of-freedom deicing robot arm 2 is fixed on a movable chassis 1; an intelligent detection device 3 is set at the end of the multi-degree-of-freedom deicing robot arm 2, and the intelligent detection device 3 includes an intelligent detection ice and snow autonomous sensing unit 6, a distance measuring device 7 and a wind speed sensing device (not shown). The ice and snow autonomous sensing unit 6 is responsible for identifying the location, ice type and thickness of ice accumulation on the surface; the distance measuring device 7 is responsible for detecting the distance to nearby objects to avoid collisions during movement; the wind speed sensing device is responsible for detecting the wind speed, and is used to reinforce the base of the robot arm when the wind speed is too high.

[0074] In a preferred embodiment of the present invention, the movable deicing robot 9 in the aircraft ground mobile deicing operation mechanism is as follows: Figure 4 As shown, it includes a movable chassis 4, a deicing liquid spraying device 5 and an ice and snow autonomous sensing unit 6;

[0075] The movable chassis 4 includes a power unit and a deicing fluid storage system, and a distance measuring device 7 is arranged around the robot; the deicing fluid spraying device 5 includes a rotating mechanism and a nozzle, which can spray deicing fluid in any direction upward; a deicing fluid spraying ice and snow autonomous sensing unit 6 is arranged near the deicing fluid nozzle to realize the detection and positioning of ice accumulation.

[0076] Example 3

[0077] Based on the aircraft ground mobile deicing mechanism described in Example 2, as a preferred embodiment, the layout of the aircraft ground mobile deicing mechanism is as follows: multiple movable intelligent deicing robotic arms 8 and movable deicing robots 9 are deployed around the aircraft to be deiced to form an intelligent deicing system, and automatically plan the optimal position of a single intelligent deicing robotic arm near the aircraft to be deiced according to the aircraft's full length, wingspan, aircraft height and aspect ratio, so as to achieve the purpose of maximum deicing range and highest efficiency; the multi-degree-of-freedom deicing robotic arms 2 in the array are distributed in the aircraft's rear left, rear right, front left and front right four directions, numbered as areas 1 to 4 respectively; the multi-degree-of-freedom deicing robotic arms 2 in the area are numbered as the first deicing robotic arm 2-1; the second deicing robotic arm 2-2; the third deicing robotic arm 2-3, the fourth deicing robotic arm 2-4, etc.; wherein, the first deicing robotic arm 2-1; the second deicing robotic arm 2-2; the third deicing robotic arm 2-3, the fourth deicing robotic arm 2-4 are at least two. Figure 5 shown.

[0078] The first deicing robot arm 2-1 and the second deicing robot arm 2-2 located in areas 1 and 2 respectively are deployed at the front end of the deicing operation area; the third deicing robot arm 2-3 and the fourth deicing robot arm 2-4 located in areas 3 and 4 respectively are deployed in the second row; the movable deicing robot 9 is deployed under the aircraft.

[0079] The first deicing mechanical arm 2 - 1 , the second deicing mechanical arm 2 - 2 , the third deicing mechanical arm 2 - 3 , and the fourth deicing mechanical arm 2 - 4 are all connected to a mobile liquid adding device 10 .

[0080] Example 4

[0081] Based on the deicing method of the aircraft ground mobile deicing operation mechanism recorded in Example 1, Figure 6 As shown, further, in step S103, the embodiment of the present invention provides an operation method of a ground mobile deicing operation mechanism for an aircraft, which specifically includes the following steps:

[0082] 1) Upon receiving a de-icing operation instruction, the de-icing operation mechanisms use a distributed multi-robot collaborative task allocation method to allocate their respective de-icing tasks; and the de-icing robot arms are quickly deployed at corresponding positions on both sides of the taxiway according to the characteristics of the aircraft model to be de-iced, and the movable de-icing robot 9 enters the taxiway to wait for the de-icing task to be completed;

[0083] 2) The aircraft enters the working range of the de-icing operation mechanism, and the array enters the rapid de-icing operation mode; the intelligent detection device 3 at the end of the multi-degree-of-freedom de-icing robot arm 2 identifies the ice type and thickness of the surface ice, and locates the ice accumulation. The controller autonomously adjusts the de-icing trajectory and jet parameters, plans the de-icing trajectory, and performs de-icing in a timely manner;

[0084] 3) The first deicing robot arm 2-1 and the second deicing robot arm 2-2 in areas 1 and 2 are mainly responsible for ice accumulation detection and deicing operations on the left and right sides of the rear of the aircraft, including the horizontal stabilizing surface, tail and fuselage; the third deicing robot arm 2-3 and the fourth deicing robot arm 2-4 in areas 3 and 4 are mainly responsible for ice accumulation detection and deicing operations on the left and right sides of the front of the aircraft, including the nose, wings, wing boxes, engine nacelle and spoiler; the mobile deicing robot 9 is mainly responsible for ice accumulation detection and deicing operations on the blind areas where the multi-degree-of-freedom deicing robot arm 2 is too high and cannot perform deicing operations, including the wings, engine nacelle and the bottom of the tail;

[0085] 4) After completing the rapid de-icing, the array enters the residual ice detection stage, and detects the residual ice on various parts of the aircraft. If there is no residual ice, the de-icing operation is completed and the aircraft leaves the de-icing area; if there is residual ice, the spray flow and angle of the spray guns of each de-icing operation mechanism are automatically adjusted to perform secondary de-icing;

[0086] 5) The aircraft leaves the array's operating range, and the de-icing operation is completed; if there is no subsequent de-icing task, the aircraft's ground-mounted movable de-icing operation mechanism quickly evacuates the de-icing area and waits for the next de-icing instruction.

[0087] Example 5

[0088] Based on the operating method of the aircraft ground mobile deicing operating mechanism recorded in Example 4, further, in step 2), when the multi-degree-of-freedom deicing robot arm 2 is performing deicing operations, the mobile chassis 1 enters a slow movement mode, and cooperates with the extension and rotation of the multi-degree-of-freedom deicing robot arm 2 to expand the deicing range of a single multi-degree-of-freedom deicing robot arm 2 while maintaining overall stability, thereby improving the deicing efficiency; at the same time, the moving area of ​​each robot arm chassis is limited, and it cannot move out of bounds during operation to prevent accidents caused by mutual collisions.

[0089] Example 6

[0090] Based on the operating method of the aircraft ground mobile deicing operating mechanism recorded in Example 4, further, in step 2), when the multi-degree-of-freedom deicing robot arm 2 performs deicing operations, the deicing liquid storage system in the mobile chassis 1 is connected to the mobile liquid adding device 10 through a pipeline, so that the deicing liquid can be replenished at any time to ensure the continuity of the deicing process.

[0091] A limit device (not shown) is provided in the multi-degree-of-freedom deicing robot arm 2 to prevent the multi-degree-of-freedom deicing robot arm 2 from extending or rotating too much, causing the center of gravity to become unstable and causing the multi-degree-of-freedom deicing robot arm 2 to tip over.

[0092] In a preferred embodiment of the present invention, a wind speed sensing device (not shown) is provided in the intelligent detection device 3 to detect the wind speed during the de-icing operation. When the wind speed reaches a speed that may cause the mechanical arm to become unstable due to excessive wind speed, an alarm is sounded and the operation is stopped. The operation is continued after the movable chassis 4 is loaded with weight to lower the center of gravity and maintain stability.

[0093] Example 7

[0094] Based on the operating method of the aircraft ground mobile deicing operating mechanism recorded in Example 4, further, in step 3), the movable chassis 4 of the movable deicing robot 9 is surrounded by distance measuring devices 7. When performing deicing operations, the distance measuring device 7 cooperates with the intelligent detection device 3 at the end of the multi-degree-of-freedom deicing robot arm 2 to constantly detect the distance between the multi-degree-of-freedom deicing robot arm 2 and other surrounding objects (such as aircraft wings, fuselage, landing gear, small movable intelligent deicing robot 9 and multi-degree-of-freedom deicing robot arm 2, etc.). When the distance is less than the safety warning range, an alarm is issued, and the multi-degree-of-freedom deicing robot arm 2 and the mobile chassis 1 immediately change the moving direction.

[0095] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] Since the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present invention, their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0097] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0098] 2. Application examples:

[0099] An embodiment of the present invention further provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0100] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0101] An embodiment of the present invention further provides an information data processing terminal, which, when executed on an electronic device, provides a user input interface to implement the steps in the above method embodiments. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0102] An embodiment of the present invention further provides a server, which is used to provide a user input interface to implement the steps in the above method embodiments when executed on an electronic device.

[0103] An embodiment of the present invention provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0105] III. Evidence of the relevant effects of the embodiments:

[0106] Compared with the existing de-icing schemes at airports, the de-icing method described in the present invention does not require the establishment of a special de-icing pad, thus reducing land and capital costs, and reduces manual participation to improve safety. It can improve the convenience, speed and efficiency of de-icing operations and better ensure flight safety.

[0107] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. A mobile deicing mechanism for aircraft, characterized in that: The aircraft ground mobile deicing operation mechanism comprises: a plurality of movable intelligent deicing mechanical arms (8) and a movable deicing robot (9); The plurality of movable intelligent deicing mechanical arms (8) are respectively deployed at different positions of the aircraft, identify the ice type and thickness of ice accumulated on the aircraft surface, locate the ice accumulation, autonomously adjust the deicing trajectory and jet parameters, plan the deicing trajectory, and utilize a distributed multi-robot collaborative task allocation method to coordinate the movable deicing robot (9) to perform deicing; The movable deicing robot (9) is deployed under the wings, engine nacelle and tail wing, and uses a distributed multi-robot collaborative task allocation method to coordinate multiple movable intelligent deicing robot arms (8) to perform residual ice detection and secondary deicing operations, and the blind area of ​​the deicing operation includes the wings, engine nacelle and tail wing. The deicing method of the aircraft ground mobile deicing operation mechanism comprises the following steps: S1, according to the characteristics of the aircraft model, deploy an intelligent de-icing system around the aircraft to be de-iced, select the largest de-icing operation range, and automatically plan the optimal position of each de-icing equipment near the aircraft to be de-iced; S2, multiple robotic arms in the array are respectively deployed at the rear left, rear right, front left and front right positions of the aircraft, and the movable deicing robot (9) is located under the aircraft; and a distributed multi-robot collaborative task allocation method is used to coordinate multiple intelligent deicing mechanisms; S3, deicing operation: deicing in rapid deicing mode and subsequent residual ice detection and secondary deicing mode; In step S2, the distributed multi-robot collaborative task allocation method adopts a distributed multi-robot collaborative task allocation method that combines a consensus-based bundle algorithm with an ant colony algorithm.

2. The aircraft ground mobile deicing operation mechanism according to claim 1, characterized in that: The movable intelligent deicing mechanical arm (8) comprises: a movable chassis (1), a multi-degree-of-freedom deicing mechanical arm (2), and an intelligent detection device (3); The mobile chassis (1) is provided with intelligent detection devices (3) around it, and the mobile chassis (1) comprises: a controller, a power device and a deicing liquid storage system; wherein the controller and the power device provide the movable intelligent deicing mechanical arm (8) with steering and movement capabilities; the deicing liquid storage system can store deicing liquid so that the movable intelligent deicing mechanical arm (8) can temporarily leave the liquid filling device to work; the multi-degree-of-freedom deicing mechanical arm (2) is used to increase the effective working range and deicing efficiency; the intelligent detection device (3) determines the target position of deicing and provides a guiding function for the operation of the movable intelligent deicing mechanical arm (8); The multi-degree-of-freedom deicing mechanical arm (2) is fixed on a mobile chassis (1); an intelligent detection device (3) is fixed at the end of the multi-degree-of-freedom deicing mechanical arm (2), and the intelligent detection device (3) comprises an intelligent ice and snow autonomous sensing unit (6), a distance measuring device (7) and a wind speed sensing device; wherein the ice and snow autonomous sensing unit (6) is used to identify the position, ice type and thickness of ice accumulation on the surface; the distance measuring device (7) is used to detect the distance to nearby objects to avoid collision during movement; and the wind speed sensing device is used to detect the wind speed and is used to reinforce the mechanical arm base when the wind speed is too high.

3. The aircraft ground mobile deicing operation mechanism according to claim 2, characterized in that: The multi-degree-of-freedom deicing mechanical arm (2) comprises a support arm, a telescopic arm and a deicing liquid nozzle; The multi-degree-of-freedom deicing mechanical arms (2) are multiple and are distributed at four positions of the aircraft: rear left, rear right, front left and front right, namely a first deicing mechanical arm (2-1), a second deicing mechanical arm (2-2), a third deicing mechanical arm (2-3) and a fourth deicing mechanical arm (2-4); The first deicing mechanical arm (2-1), the second deicing mechanical arm (2-2), the third deicing mechanical arm (2-3) and the fourth deicing mechanical arm (2-4) are all connected to a mobile liquid adding device (10).

4. The aircraft ground mobile deicing operation mechanism according to claim 1, characterized in that: The movable deicing robot (9) is deployed under the aircraft and comprises a movable chassis (4), a deicing liquid spraying device (5) and a deicing liquid spraying ice and snow autonomous sensing unit (6); The movable chassis (4) includes a power device and a deicing liquid storage system, and the movable deicing robot (9) is provided with a distance measuring device (7) around it; The deicing liquid spraying device (5) comprises a rotating mechanism and a spray head, and is used for spraying the deicing liquid upward in any direction; A deicing liquid spraying ice and snow autonomous sensing unit (6) is arranged near the deicing liquid spraying nozzle for detecting and locating ice accumulation.

5. The aircraft ground mobile deicing operation mechanism according to claim 3, characterized in that: In step S3, the deicing operation includes the following steps: 1) Upon receiving a de-icing operation instruction, the de-icing operation units use a distributed multi-robot collaborative task allocation method to allocate their respective de-icing tasks; and the de-icing robot arms are quickly deployed at corresponding positions on both sides of the taxiway according to the characteristics of the aircraft model to be de-iced, and the movable de-icing robot (9) enters the taxiway and waits to complete the de-icing task; 2) The aircraft enters the working range of the de-icing operation mechanism, and the array enters the rapid de-icing operation mode; the intelligent detection device (3) at the end of the multi-degree-of-freedom de-icing robot arm (2) identifies the ice type and thickness of the surface ice and locates the ice accumulation; the controller autonomously adjusts the de-icing trajectory and jet parameters, plans the de-icing trajectory, and performs de-icing in a timely manner; 3) The first deicing mechanical arm (2-1) and the second deicing mechanical arm (2-2) are responsible for ice accumulation detection and deicing operations on the left and right sides of the rear of the aircraft, including the horizontal stabilizing surface, the tail and the fuselage; the third deicing mechanical arm (2-3) and the fourth deicing mechanical arm (2-4) are responsible for ice accumulation detection and deicing operations on the left and right sides of the front of the aircraft, including the nose, wings, wing boxes, engine nacelle and spoiler; the movable deicing robot (9) is responsible for ice accumulation detection and deicing operations in blind areas where deicing operations cannot be performed due to the multi-degree-of-freedom deicing mechanical arm (2) being too high, including the wings, the engine nacelle and the bottom of the tail; 4) After completing the rapid de-icing, the array enters the residual ice detection stage, and detects the residual ice on various parts of the aircraft. If there is no residual ice, the de-icing operation is completed and the aircraft leaves the de-icing area; if there is residual ice, the spray flow and angle of the spray guns of each de-icing operation mechanism are automatically adjusted to perform secondary de-icing; 5) The aircraft leaves the array's working range and the de-icing operation is completed; if there is no subsequent de-icing task, the aircraft's ground-mounted movable de-icing operation mechanism quickly evacuates the de-icing area and waits for the next de-icing instruction.

6. The aircraft ground mobile deicing operation mechanism according to claim 5, characterized in that: In step 2), when the multi-degree-of-freedom deicing robot arm (2) is performing deicing operations, the mobile chassis (1) enters a slow-moving mode, and cooperates with the extension and rotation of the multi-degree-of-freedom deicing robot arm (2) to expand the deicing range of a single multi-degree-of-freedom deicing robot arm (2) while maintaining overall stability; at the same time, the moving area of ​​each robot arm chassis is limited; When the multi-degree-of-freedom deicing mechanical arm (2) performs deicing operations, the deicing liquid storage system in the mobile chassis (1) is connected to the mobile liquid adding device (10) through a pipeline so as to replenish the deicing liquid at any time; A limit device is provided in the multi-degree-of-freedom deicing mechanical arm (2) to prevent the multi-degree-of-freedom deicing mechanical arm (2) from losing its center of gravity and tipping over due to excessive extension or rotation angles; The intelligent detection device (3) is provided with a wind speed sensing device to detect the wind speed during the deicing operation. When the wind speed reaches a level that causes the mechanical arm to become unstable due to excessive wind speed, an alarm is sounded and the operation is stopped. The operation is continued after the mobile chassis (1) is loaded with more weight to lower the center of gravity and maintain stability.

7. The aircraft ground mobile deicing operation mechanism according to claim 5, characterized in that: In step 3), the movable chassis (4) of the movable deicing robot (9) is surrounded by distance measuring devices (7). When performing deicing operations, the distance measuring devices (7) cooperate with the intelligent detection device (3) at the end of the multi-degree-of-freedom deicing robot arm (2) to constantly detect the distance between the multi-degree-of-freedom deicing robot arm (2) and other surrounding objects. When the distance is less than the safety warning range, an alarm is sounded, and the multi-degree-of-freedom deicing robot arm (2) and the movable chassis (1) change the moving direction.

8. A computer device, characterized in that: The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the deicing method of the aircraft ground mobile deicing operation mechanism according to claim 1.

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