A fixed multi-degree-of-freedom centralized deicing operation control system, method and application

Abstract

The present invention belongs to the field of civil aviation ground support equipment and intelligent control technology, and discloses a fixed multi-degree-of-freedom centralized deicing operation control system, method and application. The fixed multi-degree-of-freedom centralized deicing operation control system includes: a plurality of deicing mechanical arms connected to a deicing liquid supply pipeline and a deicing liquid recovery pipeline located under the deicing pad, which are used to perform independent deicing operations on different directions of the aircraft at the same time; a deicing liquid supply heating recovery station is arranged outside the deicing pad, and is connected to the deicing liquid recovery pipeline and the deicing liquid supply pipeline. Aiming at the situation that a large-volume busy hub airport needs to perform fast and efficient deicing operations on aircraft, the present invention constructs a deicing pad next to the aircraft taxiway and installs a base-fixed multi-degree-of-freedom deicing mechanical arm. Multiple deicing mechanical arms perform independent deicing operations on multiple directions of the aircraft at the same time, and the deicing liquid recovery pipeline collects the ground deicing liquid for recycling and secondary use, with high deicing efficiency and small space occupation.

Description

Technical Field

[0001] The present invention belongs to the field of civil aviation ground support equipment and intelligent control technology, and in particular relates to a fixed multi-degree-of-freedom centralized deicing operation control system, method and application. Background Art

[0002] As the number of airports and flights continues to increase, effective de-icing operations must be carried out for aircraft flights in winter. If the de-icing work of the aircraft is not carried out thoroughly before the aircraft takes off, it may further lead to accidents. Therefore, it is necessary to improve the de-icing efficiency and reduce flight delays in winter. At present, aircraft ground de-icing is mainly completed by manually driving de-icing vehicles and high-altitude operation driven spray systems.

[0003] Main issues in de-icing work:

[0004] (1) With the increase in the number of flights and the limited runways at airports, aircraft cannot take off immediately after de-icing operations, and the aircraft waiting time on the ground may cause secondary icing on the fuselage;

[0005] (2) De-icing at dispersed aircraft stands, with no centralized de-icing pad, poor performance of de-icing vehicles and the need for manual driving of the de-icing spraying system, which is inefficient and cannot fully realize de-icing automation. The large amount of time spent on de-icing vehicles’ round trips leads to flight delays;

[0006] (3) Improper recycling and reuse of de-icing fluid increases the cost of aircraft de-icing and causes environmental pollution.

[0007] Nowadays, the civil aviation industry has entered the era of intelligence and must move towards automation and intelligence. Existing technologies include an intelligent aircraft deicing spray system, which increases the automation and intelligence of deicing operations, but the deicing range is limited and it is impossible to de-ice the entire aircraft at the same time. The deicing efficiency needs to be improved. Another aircraft rail-type mechanical arm deicing system clearly plans the mechanical arm system structure diagram, which is clearly expressed, but the deicing fluid supply method is not clearly reflected. Therefore, in response to the deicing operation needs of busy hub airports, a new deicing operation method that is faster, more efficient, and effectively saves deicing fluid resources is needed.

[0008] Through the above analysis, the problems and defects of the prior art are as follows:

[0009] (1) In the prior art, the de-icing system performs independent de-icing operations on multiple positions of the aircraft simultaneously, but the effect is poor.

[0010] (2) The existing technology for automatically identifying the ice accumulation condition on the aircraft surface has low accuracy, resulting in low control of spraying de-icing fluid and low efficiency of de-icing operations; moreover, the de-icing fluid cannot be recycled and reused, resulting in a waste of resource costs.

[0011] (3) Existing deicing equipment takes up a large space and is inconvenient to move and store. Summary of the invention

[0012] In order to overcome the problems existing in the related art, the disclosed embodiments of the present invention provide a fixed multi-degree-of-freedom centralized deicing operation control system, method and application.

[0013] The technical solution is as follows: A fixed multi-degree-of-freedom centralized deicing operation control system includes: a plurality of deicing mechanical arms, a deicing liquid supply pipeline, a deicing liquid recovery pipeline, a mechanical arm monitoring system, a deicing liquid supply pump, a deicing liquid supply heating recovery station, and a remote terminal; wherein each deicing mechanical arm includes: a mechanical arm base, a mechanical arm support rod, two multi-degree-of-freedom deicing mechanical arm branches, a deicing liquid nozzle, and an ice and snow autonomous sensing unit;

[0014] Several de-icing mechanical arms are connected to the de-icing liquid supply pipeline and de-icing liquid recovery pipeline located under the de-icing pad, and are used to perform independent de-icing operations on different positions of the aircraft at the same time;

[0015] The deicing liquid supply heating recovery station is set outside the deicing platform and connected to the deicing liquid recovery pipeline and the deicing liquid supply pipeline. The recovered deicing liquid is driven by the liquid supply pump after being processed and heated, and is transported to each deicing mechanical arm through the underground deicing liquid supply pipeline;

[0016] The robot arm monitoring system is used to monitor the operating status of the de-icing robot arm and upload the monitoring data to the remote terminal via the network.

[0017] In one embodiment, the de-icing mechanical arm comprises: a freely retractable first multi-degree-of-freedom mechanical arm branch and a freely retractable second multi-degree-of-freedom mechanical arm branch;

[0018] The first multi-degree-of-freedom manipulator branch is used to perform de-icing operations on the horizontal fuselage surface, wing surface and horizontal stabilizer;

[0019] The second multi-degree-of-freedom robotic arm branch is used for de-icing operations on the fuselage sides and vertical stabilizer in the vertical direction.

[0020] In one embodiment, the first multi-degree-of-freedom robotic arm branch and the second multi-degree-of-freedom robotic arm branch are both equipped with a deicing fluid spray head and an ice and snow autonomous sensing unit;

[0021] The de-icing fluid nozzle autonomously generates its own operating position and jet parameters. The ice and snow autonomous sensing unit on the top of the de-icing fluid nozzle contains a variety of sensors, which identify the aircraft model and ice and snow covered area through a variety of sensors, and send the identification information to the robotic arm monitoring system to adjust the flow, angle and position of the de-icing fluid nozzle in real time.

[0022] In one embodiment, the deicing robot arm further includes a robot arm base and a robot arm support rod; wherein the robot arm base is located underground and is used for storing deicing fluid; and the robot arm support rod is located above ground and connected to the robot arm base.

[0023] Another object of the present invention is to provide a fixed multi-degree-of-freedom centralized deicing operation control method comprising the following steps:

[0024] S1, several de-icing manipulators perform independent de-icing operations on multiple positions of the aircraft;

[0025] S2, the de-icing liquid nozzle carried by the de-icing robot arm autonomously generates its initial operating position and jet parameters through genetic algorithms. The upper ice and snow autonomous perception unit uses multiple sensors to identify the aircraft model and ice and snow covered area, and combines the Faster-RCNN algorithm to obtain the location, ice type, thickness and other parameter information of the de-icing point, and sends the information to the robot arm monitoring system. The angle and position of the de-icing liquid nozzle are adjusted in real time through the K-means clustering algorithm, and the flow rate is adjusted according to the thickness of the ice accumulation;

[0026] S3, the deicing liquid supply heating and recycling station is connected to the system in the deicing platform through pipelines. After the deicing liquid is heated, it is driven by the liquid supply pump and transported to each deicing mechanical arm through the deicing liquid supply pipeline; the mechanical arm base buffers the deicing liquid for the deicing liquid nozzle to spray the deicing liquid;

[0027] S4, while the deicing operation is in progress, the waste liquid on the deicing flat is recovered by the deicing liquid recovery pipeline to the deicing liquid supply heating recovery station for treatment;

[0028] S5, the robot arm monitoring system monitors the operating status of each de-icing robot arm and uploads the monitoring data to the remote terminal via the network.

[0029] In one embodiment, a centralized multi-robot collaborative operation method is adopted between the multiple deicing robotic arms. The centralized multi-robot collaborative operation method is based on a genetic algorithm to perform collaborative deicing operations between the multiple deicing robotic arms.

[0030] In the genetic algorithm, the position to be de-iced on the aircraft is taken as the task point, randomly assigned to the de-icing robot arm and encoded in two sections, representing the chromosome. The first section represents the order of the task, and the second section represents the information of the grouping, generating the initial population. The value of each chromosome, that is, the total time for the de-icing robot arm to complete the de-icing task, is used as the fitness function. The optimization goal is to select multiple chromosomes that can make the fitness function value as small as possible, select individuals with low fitness function values ​​to participate in genetic operations, and individuals with high fitness function values ​​are eliminated. The collection of individuals after genetic operations (selection, crossover, and mutation) forms a new generation of populations. Selection: According to the fitness of individuals, according to the principle of survival of the fittest, unreasonable individuals are eliminated; crossover: crossover recombination of encoding, similar to the crossover recombination of chromosomes; mutation: changes in encoding caused by small probability perturbations, similar to gene mutations. After reaching the number of iterations, the individual with the lowest fitness function value in the population represents the optimal solution to the problem. The optimal individual in the last generation of the population is decoded to achieve the mapping from the decoding space to the solution space, and finally the de-icing task allocation scheme for several de-icing robot arms is obtained.

[0031] In one embodiment, the image recognition device in the ice and snow autonomous sensing unit on multiple de-icing mechanical arms takes images and identifies the de-icing points through the Faster-RCNN algorithm. The Faster-RCNN algorithm first extracts features through a convolutional neural network. The purpose of convolution calculation is to extract different features of the input. The first convolution layer only extracts some low-level features such as edges, lines and angles. More layers of the network can iteratively extract more complex features from low-level features. Usually, features with large dimensions are obtained after the convolution layer. At this time, pooling is required to cut the features into several regions, take their maximum or average value, and obtain a new feature map with smaller dimensions. Then, a series of candidate regions are generated on the extracted feature map through the RPN (region proposal network) structure, and then these regions are compared with the marked real data through the Softmax function to determine whether these regions belong to the foreground or background. After the foreground and background of the candidate regions are marked through network training, the approximate location of the target is obtained. Finally, the type and location of the detected target are classified and regressed in the fully connected layer to obtain the location of the de-icing point and parameters such as ice type and thickness.

[0032] In one embodiment, a single deicing robot arm uses an ice and snow autonomous perception unit to identify the respective operating areas, perceive deicing points, plan deicing routes based on the K-means clustering algorithm, and perform horizontal and vertical clustering on the deicing points. The first multi-degree-of-freedom robot arm branch and the second multi-degree-of-freedom robot arm branch are respectively responsible for the horizontal and vertical deicing operations. The tasks of the horizontal and vertical deicing operations are a vector set, and the vector set is a clustering space. The clustered task points are divided into two cluster clusters. The first multi-degree-of-freedom robot arm branch and the second multi-degree-of-freedom robot arm branch are respectively responsible for planning the task points in a cluster cluster, and assigning the task points to the cluster center line closest to themselves. Each time a deicing operation is performed, the cluster center line of the cluster is recalculated according to the existing objects in the cluster, and this is repeated until the deicing operation is completed.

[0033] Another object of the present invention is to provide a deicing robot, which is equipped with the fixed multi-degree-of-freedom centralized deicing operation control system and performs deicing operations on different directions of the aircraft at the same time through a deicing robot arm.

[0034] Another object of the present invention is to provide a computer device, which 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 fixed multi-degree-of-freedom centralized deicing operation control method.

[0035] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor executes the fixed multi-degree-of-freedom centralized deicing operation control method.

[0036] Combining all the above technical solutions, the advantages and positive effects of the present invention are as follows:

[0037] 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. The specific description is as follows: A busy hub airport with large traffic volume needs to perform fast and efficient de-icing operations on aircraft. A de-icing pad is built next to the aircraft taxiway, and a base-fixed multi-degree-of-freedom de-icing mechanical arm system is installed to ensure the timeliness of the de-icing operation; when the de-icing operation begins, the multi-degree-of-freedom de-icing mechanical arm is deployed, and several de-icing mechanical arms perform independent de-icing operations on multiple directions of the aircraft at the same time. The ice and snow autonomous sensing unit automatically identifies the ice accumulation condition on the aircraft surface and sprays de-icing liquid autonomously to improve the efficiency of the de-icing operation; the mechanical arm monitoring system monitors the operating status of these several de-icing mechanical arm systems, the liquid supply pipeline provides sufficient de-icing liquid, and the de-icing liquid recovery pipeline collects the ground de-icing liquid for recycling and secondary use to ensure the continuity of the operation process and the saving of resources; after the de-icing operation is completed, the multi-degree-of-freedom de-icing mechanical arm is stored underground to save space.

[0038] 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 as follows: the system of the present invention includes a number of autonomous deicing robotic arms, a deicing fluid supply system and a robotic arm monitoring system located on both sides of the deicing pad. In view of the need for fast and efficient deicing operations on aircraft at busy hub airports with large traffic volumes, a deicing pad is built next to the aircraft taxiway, and a base-fixed multi-degree-of-freedom deicing robotic arm is installed. Multiple deicing robotic arms perform independent deicing operations on multiple positions of the aircraft at the same time, and the deicing fluid recovery pipeline collects the ground deicing fluid for recycling and secondary use, with high deicing efficiency and small footprint. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 is a schematic diagram of a fixed multi-degree-of-freedom centralized deicing operation control system provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the structure of a mechanical arm in a deicing operation mode provided by an embodiment of the present invention;

[0042] Figure 3 A main structural diagram of a fixed multi-degree-of-freedom centralized deicing operation control system provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of a fixed multi-degree-of-freedom centralized deicing operation mode provided by an embodiment of the present invention, in which the robot arm is stored underground during the non-operation phase;

[0044] Figure 5 It is a flow chart of a fixed multi-degree-of-freedom centralized deicing operation control method provided by an embodiment of the present invention;

[0045] In the figure: 1. Deicing robotic arm; 2. Robotic arm base; 3. Robotic arm support rod; 4. First multi-degree-of-freedom robotic arm branch; 5. Second multi-degree-of-freedom robotic arm branch; 6. Deicing fluid nozzle; 7. Ice and snow autonomous sensing unit; 8. Deicing fluid supply pipeline; 9. Deicing fluid recovery pipeline; 10. Robotic arm monitoring system; 11. Deicing fluid supply pump; 12. Deicing fluid supply heating recovery station; 13. Remote terminal. DETAILED DESCRIPTION

[0046] 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.

[0047] 1. Explanation of the embodiment:

[0048] Example 1

[0049] like Figure 1 to Figure 4 As shown, the fixed multi-degree-of-freedom centralized deicing operation control system provided by the embodiment of the present invention includes: a plurality of deicing mechanical arms 1, a deicing liquid supply pipeline 8, a deicing liquid recovery pipeline 9, a mechanical arm monitoring system 10, a deicing liquid supply pump 11, a deicing liquid supply heating recovery station 12, and a remote terminal 13;

[0050] A plurality of deicing mechanical arms 1 are arranged around the aircraft, and the deicing mechanical arms 1 are connected to a deicing liquid supply pipeline 8 and a deicing liquid recovery pipeline 9 located under the deicing pad;

[0051] A deicing liquid supply heating recovery station 12 is arranged outside the deicing platform and connected to the deicing liquid recovery pipeline 9 and the deicing liquid supply pipeline 8. The recovered deicing liquid is treated and heated, and then driven by the liquid supply pump 11 and transported to each robot arm through the underground deicing liquid supply pipeline 8;

[0052] A robot arm monitoring system 10, used to monitor the operating status of the de-icing robot arm 1 and upload the monitoring data to the remote terminal 13 via the network;

[0053] Each de-icing robot arm 1 includes: a robot arm base 2, a robot arm support rod 3, a first multi-degree-of-freedom robot arm branch 4, a second multi-degree-of-freedom robot arm branch 5, a de-icing fluid nozzle 6, and an ice and snow autonomous sensing unit 7; wherein the robot arm base 2 is located underground and has a de-icing fluid storage function; the robot arm support rod 3 is located on the ground and connected to the base 2, and is made of high-strength alloy steel; the first multi-degree-of-freedom robot arm branch 4 and the second multi-degree-of-freedom robot arm branch 5 are divided into horizontal and vertical directions; the de-icing fluid nozzle 6 is fixed at the top of the robot arm, and the ice and snow autonomous sensing unit 7 is located above the de-icing fluid nozzle 6.

[0054] Example 2

[0055] like Figure 5 As shown, the fixed multi-degree-of-freedom centralized deicing operation control method provided by the embodiment of the present invention includes the following steps:

[0056] S101, the aircraft is de-icing in a dedicated de-icing pad near the runway, and the de-icing mechanical arm 1 is folded and retracted in the non-operating stage, and unfolded during the de-icing operation; a plurality of de-icing mechanical arms 1 are distributed at the four corners of the de-icing pad, and independently de-icing operations are performed on four directions of the aircraft at the same time. Two branches of the de-icing mechanical arm 1 in each mechanical arm are freely extended and retracted to the optimal spraying position according to the aircraft model. In the horizontal direction, the first multi-degree-of-freedom mechanical arm branch 4 performs de-icing operations on the fuselage surface, the wing surface or the horizontal stabilizer, and in the vertical direction, the second multi-degree-of-freedom mechanical arm branch 5 performs de-icing operations on the fuselage side and the vertical stabilizer;

[0057] S102, the deicing liquid nozzle 6 carried by the deicing robot 1 autonomously generates its initial operating position and jet parameters through a genetic algorithm, and the upper ice and snow autonomous sensing unit 7 uses a variety of sensors (such as image recognition devices, infrared sensors, ice detectors and ice thickness detectors) to identify the aircraft model and ice and snow covered areas, and combines the Faster-RCNN algorithm to obtain the location, ice type, thickness and other parameter information of the deicing point to be deiced, and sends the information to the robot monitoring system 10, and adjusts the angle and position of the deicing liquid nozzle 6 in real time through the K-means clustering algorithm, and adjusts the flow rate according to the thickness of the ice accumulation;

[0058] S103, the deicing liquid supply heating recovery station 12 is set outside the deicing platform, and is connected to the system in the deicing platform through a pipeline. After the deicing liquid is heated, it is driven by the liquid supply pump 11 and transported to each robot arm through the deicing liquid supply pipeline 8; the robot arm base 2 caches the deicing liquid, and there is a power device to drive the deicing liquid to flow to the deicing liquid nozzle 6, so that the deicing liquid nozzle 6 sprays the deicing liquid;

[0059] S104, while the deicing operation is in progress, the waste liquid on the deicing flat is recovered by the deicing liquid recovery pipeline 9 to the deicing liquid supply heating recovery station 12 for treatment;

[0060] S105 , the robot arm monitoring system 10 monitors the operating status of the entire deicing robot arm 1 , and the monitoring data of the robot arm monitoring system 10 and the deicing robot arm 1 are uploaded to the remote terminal 13 via the network.

[0061] Example 3

[0062] Based on the fixed multi-degree-of-freedom centralized de-icing operation control method provided by an embodiment of the present invention, further, a centralized multi-robot task collaborative operation allocation method can be used between multiple de-icing robotic arms 1 to solve the collaboration problem. The collaborative operation method is based on a genetic algorithm, which simulates the biological evolution process, uses natural selection and genetics principles, and adds a greedy strategy to improve the global search capability and obtain the optimal solution, so as to increase the collaboration ability between multiple robotic arms and improve the efficiency of de-icing operations.

[0063] In the genetic algorithm, the position to be de-iced on the aircraft is taken as the task point, randomly assigned to the de-icing robot arm 1 and encoded in two sections, representing the chromosome. The first section represents the order of the tasks, and the second section represents the information of the grouping, generating the initial population. The value of each chromosome, that is, the total time for the de-icing robot arm 1 to complete the de-icing task, is used as the fitness function. The optimization goal is to select multiple chromosomes that can make the fitness function value as small as possible, select individuals with low fitness function values ​​to participate in genetic operations, and individuals with high fitness function values ​​are eliminated. The collection of individuals after genetic operations (selection, crossover, and mutation) forms a new generation of populations. Selection: According to the size of individual fitness, according to the principle of survival of the fittest, unreasonable individuals are eliminated; crossover: crossover recombination of encoding, similar to the crossover recombination of chromosomes; mutation: the change of encoding caused by small probability perturbation, similar to gene mutation. After reaching the number of iterations, the individual with the lowest fitness function value in the population represents the optimal solution to the problem. The optimal individual in the last generation of the population is decoded to realize the mapping from the decoding space to the solution space, and finally obtains the de-icing task allocation scheme of several de-icing robot arms 1.

[0064] Example 4

[0065] Based on the fixed multi-degree-of-freedom centralized deicing operation control method provided by an embodiment of the present invention, further, a single deicing robot arm 1 uses the ice and snow autonomous perception unit 7 to identify the respective operation areas, perceive the deicing points, and plan the deicing route based on the K-means clustering algorithm. The deicing points are clustered and divided into horizontal and vertical directions, which are respectively governed by the first multi-degree-of-freedom robot arm branch 4 and the second multi-degree-of-freedom robot arm branch 5 of the multi-degree-of-freedom deicing robot arm 1. The horizontal and vertical direction tasks are regarded as a vector set, namely, the clustering space. The clustered task points are divided into two cluster clusters. The first multi-degree-of-freedom robot arm branch 4 and the second multi-degree-of-freedom robot arm branch 5 are respectively responsible for planning the task points in a cluster cluster, and assigning the task points to the horizontal or vertical cluster center line closest to themselves. Each time a deicing operation is performed, the cluster center line of the cluster will be recalculated according to the existing objects in the cluster. This process will be repeated until the deicing operation is completed. The coordination strategy realizes independent operation of each robot arm branch to avoid collision.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 2. Application examples:

[0070] Application Example 1

[0071] An application embodiment of the present invention also 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.

[0072] Application Example 2

[0073] The application 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.

[0074] Application Example 3

[0075] The application embodiment of the present invention also provides an information data processing terminal, which is used to provide a user input interface to implement the steps in the above method embodiments when executed on an electronic device. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0076] Application Example 4

[0077] The application 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.

[0078] Application Example 5

[0079] 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.

[0080] 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.

[0081] III. Evidence of the relevant effects of the embodiments:

[0082] Nowadays, the civil aviation industry has entered the era of intelligence and must move towards automation and intelligence. The de-icing range of the existing technology is limited, and it is impossible to de-ice the entire aircraft at the same time. The de-icing efficiency needs to be improved; and it relies on human participation and manual de-icing operations. Therefore, in response to the de-icing operation needs of busy hub airports, the present invention proposes a new de-icing operation method that is faster, more efficient, and effectively saves de-icing fluid resources. Experiments show that multiple de-icing robotic arms 1 can perform independent de-icing operations on multiple positions of the aircraft at the same time, and the de-icing fluid recovery pipeline 9 collects the ground de-icing fluid for recycling and secondary use. The de-icing efficiency is high and the space occupied is small.

[0083] 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 fixed multi-degree-of-freedom centralized deicing operation control method, characterized in that: The fixed multi-degree-of-freedom centralized deicing operation control method comprises the following steps: S1, a plurality of de-icing mechanical arms (1) perform independent de-icing operations on multiple positions of the aircraft; S2, the deicing liquid nozzle (6) carried by the deicing mechanical arm (1) autonomously generates its initial operating position and jet parameters through a genetic algorithm, and the upper ice and snow autonomous sensing unit (7) uses a variety of sensors to identify the aircraft model and the ice and snow covered area, and combines the Faster-RCNN algorithm to obtain parameter information on the position, ice type, and thickness of the deicing point, and sends the information to the mechanical arm monitoring system (10), and adjusts the angle and position of the deicing liquid nozzle (6) in real time through the K-means clustering algorithm, and adjusts the flow rate according to the thickness of the accumulated ice; S3, the deicing liquid supply heating recovery station (12) is connected to the system in the deicing platform through a pipeline, and the deicing liquid is heated and driven by the liquid supply pump (11) and transported to each deicing mechanical arm (1) through the deicing liquid supply pipeline (8); the mechanical arm base (2) buffers the deicing liquid for the deicing liquid nozzle (6) to spray the deicing liquid; S4, while the deicing operation is in progress, the waste liquid on the deicing platform is recovered through the deicing liquid recovery pipeline (9) to the deicing liquid supply heating recovery station (12) for treatment; S5, the robot arm monitoring system (10) monitors the operating status of each deicing robot arm (1), and uploads the monitoring data to the remote terminal (13) via the network; A fixed multi-degree-of-freedom centralized deicing operation control system for implementing the fixed multi-degree-of-freedom centralized deicing operation control method comprises: A plurality of deicing mechanical arms (1) are connected to a deicing liquid supply pipeline (8) and a deicing liquid recovery pipeline (9) located under the deicing platform, and are used to perform independent deicing operations on different positions of the aircraft at the same time; A deicing liquid supply heating recovery station (12) is arranged outside the deicing platform and is connected to the deicing liquid recovery pipeline (9) and the deicing liquid supply pipeline (8). The recovered deicing liquid is treated and heated, and then driven by a liquid supply pump (11) and transported to each deicing mechanical arm (1) through the underground deicing liquid supply pipeline (8); The robot arm monitoring system (10) is used to monitor the operating status of the deicing robot arm (1) and upload the monitoring data to the remote terminal (13) via the network.

2. The fixed multi-degree-of-freedom centralized deicing operation control method according to claim 1 is characterized in that: The deicing mechanical arm (1) comprises: a freely retractable first multi-degree-of-freedom mechanical arm branch (4) and a second multi-degree-of-freedom mechanical arm branch (5); The first multi-degree-of-freedom mechanical arm branch (4) is used to perform de-icing operations on the horizontal surface of the fuselage, the wing surface and the horizontal stabilizer; The second multi-degree-of-freedom mechanical arm branch (5) is used to perform de-icing operations on the fuselage side and the vertical stabilizer in the vertical direction.

3. The fixed multi-degree-of-freedom centralized deicing operation control method according to claim 2 is characterized in that: The first multi-degree-of-freedom mechanical arm branch (4) and the second multi-degree-of-freedom mechanical arm branch (5) are both equipped with a deicing liquid spray head (6) and an ice and snow autonomous sensing unit (7); The deicing liquid nozzle (6) autonomously generates its own operating position and jet parameters. The ice and snow autonomous sensing unit (7) on the upper part of the deicing liquid nozzle (6) includes a plurality of sensors, which recognize the aircraft model and the ice and snow covered area through the plurality of sensors, and send the recognition information to the robot arm monitoring system (10), so as to adjust the flow rate, angle and position of the deicing liquid nozzle (6) in real time.

4. The fixed multi-degree-of-freedom centralized deicing operation control method according to claim 2 is characterized in that: The deicing mechanical arm (1) further comprises a mechanical arm base (2) and a mechanical arm support rod (3); wherein the mechanical arm base (2) is located underground and is used for storing deicing liquid; and the mechanical arm support rod (3) is located above ground and is connected to the mechanical arm base (2).

5. The fixed multi-degree-of-freedom centralized deicing operation control method according to claim 1, characterized in that: A centralized multi-robot collaborative operation method is adopted between the multiple deicing mechanical arms (1). The centralized multi-robot collaborative operation method is based on a genetic algorithm and performs collaborative deicing operations between the multiple deicing mechanical arms (1).

6. The fixed multi-degree-of-freedom centralized deicing operation control method according to claim 1, characterized in that: A single deicing robot arm (1) uses an ice and snow autonomous sensing unit (7) to identify its own operating area, sense deicing points, plan deicing routes based on a K-means clustering algorithm, perform horizontal clustering and vertical clustering on the deicing points, and the first multi-degree-of-freedom robot arm branch (4) and the second multi-degree-of-freedom robot arm branch (5) are respectively responsible for managing the horizontal and vertical deicing operations. The tasks of the horizontal and vertical deicing operations are a vector set, and the vector set is a clustering space. The clustered task points are divided into two cluster clusters. The first multi-degree-of-freedom robot arm branch (4) and the second multi-degree-of-freedom robot arm branch (5) are respectively responsible for planning the task points in a cluster cluster, and assigning the task points to the cluster center line closest to them. Each time a deicing operation is performed, the cluster center line is recalculated according to the existing objects in the cluster, and this is repeated until the deicing operation is completed.

7. A de-icing robot, characterized in that: The deicing robot is equipped with a fixed multi-degree-of-freedom centralized deicing operation control system that implements the fixed multi-degree-of-freedom centralized deicing operation control method according to any one of claims 1 to 4, and performs deicing operations on different directions of the aircraft simultaneously through a deicing robot arm (1).

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the fixed multi-degree-of-freedom centralized deicing operation control method according to any one of claims 5-6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the processor executes the fixed multi-degree-of-freedom centralized deicing operation control method as described in any one of claims 5-6.

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