Methods, devices, equipment and storage media for collision avoidance control of de-icing vehicle compartment

Abstract

This application discloses a method, device, equipment, and storage medium for collision avoidance control of a de-icing truck cabin. The method includes: acquiring a first distance value detected by millimeter-wave radar on the cabin of the de-icing truck, the first distance value being the detection height value of the cabin bottom generated by the millimeter-wave radar; determining that the first distance value is less than or equal to a preset threshold, then acquiring a second distance value representing the ground clearance value of the cabin bottom; and performing collision avoidance control on the cabin based on the comparison result of the first distance value and the second distance value. Thus, collision avoidance control can be performed on the cabin based on the combination of the first distance value detected by the millimeter-wave radar and the acquired second distance value representing the ground clearance value of the cabin bottom, effectively reducing the false detection rate and thereby improving the safety of the de-icing truck during operation.

Description

Technical Field

[0001] This application relates to the field of de-icing vehicles, and in particular to a method, device, equipment and storage medium for anti-collision control of de-icing vehicle cabin. Background Technology

[0002] Under icing conditions, ice, snow, and frost directly impact aircraft operational safety. They roughen the aircraft's surface, increase weight, restrict the range of motion of control surfaces, cause instrument errors, and in severe cases, increase stall speed and sudden abnormal pitch, significantly degrading flight performance. This is especially true during takeoff and climb, making flight attitude difficult to control and potentially leading to air disasters. Therefore, to ensure normal air transport and flight safety, it is essential to remove ice, frost, and snow from aircraft surfaces. De-icing vehicles currently used at airports have multiple functions, including de-icing, cleaning, and spraying anti-icing fluid.

[0003] In related technologies, during de-icing truck operations, to prevent collisions between the truck's cabin and ground obstacles, ultrasonic sensors are often used to detect the distance between the cabin and the obstacle. These ultrasonic sensors include an ultrasonic transmitter and a receiver. The transmitter emits ultrasonic signals and begins timing simultaneously with the emission. The ultrasonic waves propagate through the air, and upon encountering an obstacle, they are immediately reflected back. The receiver stops timing upon receiving the reflected wave. Thus, the distance between the cabin and the obstacle is measured based on the propagation time of the ultrasonic waves. However, the propagation of ultrasonic waves is easily affected by weather conditions. Fog, light rain, or snow can easily cause false detections. Furthermore, wind can cause the ultrasonic waves to malfunction, thus affecting the safety of de-icing truck operations. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method, device, equipment and storage medium for anti-collision control of de-icing truck cabin, which aims to effectively improve the safety of de-icing truck operation.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] In a first aspect, embodiments of this application provide a collision avoidance control method for a de-icing vehicle compartment, including:

[0007] Obtain the first distance value detected by the millimeter-wave radar on the cabin of the de-icing vehicle, wherein the first distance value is the detection height value of the bottom of the cabin generated by the millimeter-wave radar;

[0008] If the first distance value is determined to be less than or equal to a set threshold, then a second distance value representing the ground clearance of the bottom of the cabin is obtained;

[0009] Based on the comparison between the first distance value and the second distance value, collision avoidance control is performed on the cabin.

[0010] In some embodiments, the collision avoidance control of the cabin based on the comparison result of the first distance value and the second distance value includes:

[0011] If it is determined that the first distance value is less than the second distance value, then the descent of the cabin is prohibited.

[0012] In some embodiments, obtaining a second distance value representing the ground clearance of the bottom of the cabin includes:

[0013] Obtain the height value of the main boom of the de-icing truck detected by the first sensor;

[0014] Obtain the length value of the de-icing truck's boom detected by the second sensor;

[0015] Obtain the rotation angle value of the de-icing truck's boom detected by the third sensor;

[0016] The second distance value is generated based on the height value of the main arm, the length value of the flying arm, and the rotation angle value of the flying arm.

[0017] In some embodiments, the method further includes:

[0018] Adjust the set threshold.

[0019] Secondly, embodiments of this application provide a collision avoidance control device for a de-icing vehicle compartment, including:

[0020] The first acquisition module is used to acquire a first distance value detected by the millimeter-wave radar on the cabin of the de-icing vehicle, wherein the first distance value is the detection height value of the bottom of the cabin generated by the millimeter-wave radar;

[0021] The second acquisition module is used to determine if the first distance value is less than or equal to a set threshold, and then acquire a second distance value representing the ground clearance of the bottom of the cabin.

[0022] The collision avoidance control module is used to perform collision avoidance control on the cabin based on the comparison result of the first distance value and the second distance value.

[0023] In some embodiments, the collision avoidance control module performs collision avoidance control on the cabin based on a comparison result of the first distance value and the second distance value, including:

[0024] If it is determined that the first distance value is less than the second distance value, then the descent of the cabin is prohibited.

[0025] In some embodiments, the second acquisition module acquires a second distance value representing the ground clearance of the bottom of the cabin, including:

[0026] Obtain the height value of the main boom of the de-icing truck detected by the first sensor;

[0027] Obtain the length value of the de-icing truck's boom detected by the second sensor;

[0028] Obtain the rotation angle value of the de-icing truck's boom detected by the third sensor;

[0029] The second distance value is generated based on the height value of the main arm, the length value of the flying arm, and the rotation angle value of the flying arm.

[0030] In some embodiments, the apparatus further includes:

[0031] The parameter setting module is used to adjust the set threshold.

[0032] Thirdly, embodiments of this application provide a control device for a de-icing vehicle, the de-icing vehicle including a cabin, the control device including: a processor and a memory for storing a computer program capable of running on the processor, wherein, when the processor is used to run the computer program, it executes the steps of the method described in the first aspect of embodiments of this application.

[0033] Fourthly, embodiments of this application provide a computer storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect of embodiments of this application.

[0034] The technical solution provided in this application embodiment obtains a first distance value detected by millimeter-wave radar on the body of the de-icing truck. The first distance value is the detection height value of the bottom of the body generated by the millimeter-wave radar. If the first distance value is determined to be less than or equal to a set threshold, a second distance value representing the ground clearance value of the bottom of the body is obtained. Based on the comparison result of the first distance value and the second distance value, collision avoidance control of the body is performed. In this way, collision avoidance control of the body can be performed based on the combination of the first distance value detected by millimeter-wave radar and the obtained second distance value representing the ground clearance value of the bottom of the body, effectively reducing the false detection rate and thus improving the safety of the de-icing truck during operation. Attached Figure Description

[0035] Figure 1 This is a schematic flowchart of the anti-collision control method for the de-icing vehicle compartment according to an embodiment of this application;

[0036] Figure 2 This is a schematic diagram illustrating the conversion principle of the ground clearance value of the bottom of the de-icing vehicle's cabin in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the anti-collision control device for the de-icing vehicle compartment in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of the control equipment of the de-icing vehicle in an embodiment of this application. Detailed Implementation

[0039] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0041] This application provides a collision avoidance control method for a de-icing truck cabin. The de-icing truck includes a vehicle body, a main boom mounted on the vehicle body, and a rotatable and retractable boom connected to the main boom via a cross arm. The end of the boom is connected to the cabin. Figure 1 As shown, the control method includes:

[0042] Step 101: Obtain the first distance value detected by the millimeter-wave radar on the cabin of the de-icing vehicle. The first distance value is the detection height value of the bottom of the cabin generated by the millimeter-wave radar.

[0043] For example, a millimeter-wave radar can be installed at the bottom of the de-icing vehicle's cabin, and the de-icing vehicle's processor can receive the first distance value detected by the millimeter-wave radar in real time or periodically.

[0044] For example, the millimeter-wave radar operates at a frequency of 77 GHz. The oscillator inside the millimeter-wave sensor generates a signal whose frequency gradually increases over time. When this signal encounters an obstacle, it bounces back, with a time delay of twice the distance per light speed. There is a frequency difference between the returned waveform and the emitted waveform, and this frequency difference is linearly related to the time delay; that is, the farther away the object, the later the returned wave is received, and the greater the frequency difference between it and the incident wave. Thus, by subtracting these two frequencies, we can obtain the frequency difference (beat frequency). By judging the level of the beat frequency, we can determine the distance to the obstacle, i.e., obtain the first distance value.

[0045] It should be noted that millimeter-wave radar has a narrow beam, high angular resolution, wide bandwidth, and good concealment. Compared with infrared, laser, and ultrasonic equipment, it has excellent penetration and propagation characteristics through smoke, dust, rain, and fog, is unaffected by severe weather, and has strong resistance to environmental changes. This allows it to meet the all-weather, all-day operation needs of de-icing trucks.

[0046] Step 102: If the first distance value is determined to be less than or equal to a set threshold, then a second distance value representing the ground clearance of the bottom of the cabin is obtained.

[0047] Considering the lag in braking, a reasonable braking buffer distance needs to be set. Based on this, if the first distance value detected by the millimeter-wave radar is less than or equal to the set threshold, it is determined whether to activate the obstacle avoidance mechanism. At this time, the processor of the de-icing truck can obtain the second distance value, which represents the ground clearance value of the bottom of the cabin.

[0048] It should be noted that since the processor only needs to obtain the second distance value when it determines that the first distance value is less than or equal to the set threshold, the processor can avoid frequently obtaining the second distance value, thereby effectively reducing the processor's resource consumption.

[0049] Step 103: Based on the comparison result of the first distance value and the second distance value, perform collision avoidance control on the cabin.

[0050] Here, the processor of the de-icing vehicle can compare the acquired first distance value and second distance value, and based on the comparison result, perform collision avoidance control on the cabin.

[0051] It is understood that the control method of this application embodiment can perform cabin collision avoidance control based on the combination of the first distance value detected by millimeter-wave radar and the second distance value obtained representing the ground clearance value of the bottom of the cabin, effectively reducing the false detection rate and effectively avoiding collisions between the cabin and the aircraft during operation, thereby improving the safety of the de-icing truck operation.

[0052] For example, the collision avoidance control of the cabin based on the comparison result of the first distance value and the second distance value includes:

[0053] If it is determined that the first distance value is less than the second distance value, then the descent of the cabin is prohibited.

[0054] For example, the processor of the de-icing truck compares the acquired first distance value and second distance value. If it is determined that the first distance value is less than the second distance value, that is, if it is determined that the detection height value of the bottom of the cabin detected by the millimeter-wave radar is less than the ground clearance value of the bottom of the cabin, then it is determined that there is an obstacle on the ground below the cabin. At this time, the processor can control the relevant mechanism to force the brake and prohibit the cabin from descending. For example, it can drive the braking mechanism to lock the downward drive mechanism to lock the cabin and effectively avoid the cabin from colliding with the obstacle below.

[0055] For example, the processor of the de-icing vehicle compares the acquired first distance value and second distance value. If it is determined that the first distance value is greater than or equal to the second distance value, the cabin is allowed to continue descending without activating the aforementioned forced braking protection mechanism, that is, the cabin is allowed to operate normally.

[0056] In some embodiments, obtaining a second distance value representing the ground clearance of the bottom of the cabin includes:

[0057] Obtain the height value of the main boom of the de-icing truck detected by the first sensor;

[0058] Obtain the length value of the de-icing truck's boom detected by the second sensor;

[0059] Obtain the rotation angle value of the de-icing truck's boom detected by the third sensor;

[0060] The second distance value is generated based on the height value of the main arm, the length value of the flying arm, and the rotation angle value of the flying arm.

[0061] For example, it can be combined Figure 2 This section explains the conversion process for the ground clearance of the bottom of the de-icing truck's cabin. For example... Figure 2 As shown, the de-icing vehicle includes: a main boom 1, which is connected to a flying boom 3 via a horizontally positioned crossarm 2. The flying boom 3 is hinged to the crossarm 2 and is extendable. The end of the flying boom 3 is connected to a cabin 4, and a millimeter-wave radar 5 is installed at the bottom of the cabin 4. The de-icing vehicle is also equipped with a first sensor for detecting the height L1 of the main boom 1, a second sensor for detecting the length L2 of the flying boom 3, and a third sensor for detecting the rotation angle α of the flying boom 3 relative to the crossarm 2. When the flying boom 3 is above the crossarm 2, the rotation angle α is positive; when the flying boom 3 is below the crossarm 2, the rotation angle α is negative. The millimeter-wave radar 5 detects a first distance value h1 and a second distance value h2 (the ground clearance of the bottom of the cabin 4).

[0062] After the processor of the de-icing truck obtains the current main boom height value L1, the boom length value L2, and the boom rotation angle α, it can calculate the second distance value h2 based on the following formula:

[0063] h2=L1+SIN(α)*L2

[0064] For example, when processing angle values, the processor performs calculations based on radians, and can convert the rotation angle α into the corresponding radian value, as follows:

[0065] A = (π / 180) * α

[0066] Where A is the rotational radius of the flying arm 3 relative to the horizontal arm 2, in rad.

[0067] Accordingly, the conversion formula for the second distance value h2 is as follows:

[0068] h2=L1+SIN(A*180 / π)*L2

[0069] In some embodiments, the control method further includes:

[0070] Adjust the set threshold.

[0071] It is understandable that the aforementioned threshold values ​​can be reasonably determined based on experimental data, thus allowing for the reasonable setting of safe collision avoidance distances. For example, this threshold value could be 1000 mm. In this case, when the de-icing truck's processor determines that the first distance value detected by the millimeter-wave radar is less than or equal to 1000 mm, it acquires the current second distance value. If it determines that the first distance value is less than the current second distance value, the processor controls the relevant mechanisms to apply the brakes, prohibiting the descent of the cabin. The processor can also issue audible and visual alarm signals to promptly remind operators, effectively ensuring the safety of the de-icing truck during operation and preventing collisions between the cabin and obstacles.

[0072] In order to implement the method of the embodiments of this application, the embodiments of this application also provide a de-icing vehicle compartment anti-collision control device, which corresponds to the above-mentioned de-icing vehicle compartment anti-collision control method. The steps in the embodiments of the above-mentioned de-icing vehicle compartment anti-collision control method are also fully applicable to the embodiments of this de-icing vehicle compartment anti-collision control device.

[0073] like Figure 3 As shown, the anti-collision control device for the de-icing vehicle's cabin includes: a first acquisition module 301, a second acquisition module 302, and an anti-collision control module 303. The first acquisition module 301 acquires a first distance value detected by millimeter-wave radar on the de-icing vehicle's cabin, where the first distance value is the detection height value of the cabin's bottom generated by the millimeter-wave radar. The second acquisition module 302, if the first distance value is less than or equal to a set threshold, acquires a second distance value representing the ground clearance value of the cabin's bottom. The anti-collision control module 303 performs anti-collision control on the cabin based on the comparison result between the first distance value and the second distance value.

[0074] In some embodiments, the collision avoidance control module 303 performs collision avoidance control on the cabin based on a comparison result of the first distance value and the second distance value, including:

[0075] If it is determined that the first distance value is less than the second distance value, then the descent of the cabin is prohibited.

[0076] In some embodiments, the second acquisition module 302 acquires a second distance value representing the ground clearance of the bottom of the cabin, including:

[0077] Obtain the height value of the main boom of the de-icing truck detected by the first sensor;

[0078] Obtain the length value of the de-icing truck's boom detected by the second sensor;

[0079] Obtain the rotation angle value of the de-icing truck's boom detected by the third sensor;

[0080] The second distance value is generated based on the height value of the main arm, the length value of the flying arm, and the rotation angle value of the flying arm.

[0081] In some embodiments, the de-icing vehicle cabin anti-collision control device further includes a parameter setting module 304 for adjusting the set threshold.

[0082] In practical applications, the first acquisition module 301, the second acquisition module 302, the anti-collision control module 303, and the parameter setting module 304 can be implemented by the processor in the de-icing vehicle. Of course, the processor needs to run the computer program in the memory to implement its functions.

[0083] It should be noted that the above-described embodiment of the de-icing truck compartment anti-collision control device is only illustrated by the division of the above-described program modules when performing de-icing truck compartment anti-collision control. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the de-icing truck compartment anti-collision control device and the de-icing truck compartment anti-collision control method embodiment provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0084] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a control device for a de-icing vehicle. Figure 4 The structure of this control device is shown as an example only, not the entire structure; it can be implemented as needed. Figure 4 The structure shown may be part or all of the structure.

[0085] Understandably, a de-icing truck consists of a vehicle body, a main boom mounted on the vehicle body, a rotatable and extendable boom connected to the main boom via a cross arm, and the end of the boom connected to the cabin.

[0086] like Figure 4As shown, the control device 400 for a de-icing vehicle provided in this embodiment includes: at least one processor 401, a memory 402, a user interface 403, and at least one network interface 404. The various components in the de-icing vehicle 400 are coupled together via a bus system 405. It can be understood that the bus system 405 is used to realize communication between these components. In addition to a data bus, the bus system 405 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 4 The general designated all buses as Bus System 405.

[0087] The user interface 403 may include a monitor, keyboard, mouse, trackball, click wheel, buttons, touchpad, or touch screen.

[0088] The memory 402 in this embodiment is used to store various types of data to support the operation of the de-icing vehicle. Examples of such data include any computer programs used for operation on the de-icing vehicle.

[0089] The anti-collision control method for the de-icing vehicle compartment disclosed in this application can be applied to, or implemented by, the processor 401. The processor 401 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the anti-collision control method for the de-icing vehicle compartment can be completed by the integrated logic circuits in the hardware of the processor 401 or by instructions in software form. The processor 401 can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 401 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium, specifically memory 402. The processor 401 reads information from memory 402 and, in conjunction with its hardware, completes the steps of the anti-collision control method for the de-icing vehicle compartment provided in the embodiments of this application.

[0090] In an exemplary embodiment, the control device of the de-icing vehicle may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0091] It is understood that memory 402 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0092] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a memory 402 that stores a computer program. This computer program can be executed by the processor 401 of the de-icing vehicle to complete the steps described in the method of this application embodiment. The computer-readable storage medium can be a ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM, etc.

[0093] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0094] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0095] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for collision avoidance control of a de-icing vehicle cabin, characterized in that, include: Obtain the first distance value detected by the millimeter-wave radar on the cabin of the de-icing vehicle, wherein the first distance value is the detection height value of the bottom of the cabin generated by the millimeter-wave radar; If the first distance value is determined to be less than or equal to a set threshold, then a second distance value representing the ground clearance of the bottom of the cabin is obtained; Based on the comparison result of the first distance value and the second distance value, the cabin is subjected to collision avoidance control; The collision avoidance control of the cabin based on the comparison result of the first distance value and the second distance value includes: If it is determined that the first distance value is less than the second distance value, then the descent of the cabin is prohibited; The acquisition of the second distance value, representing the ground clearance of the bottom of the cabin, includes: Obtain the height value of the main boom of the de-icing truck detected by the first sensor; Obtain the length value of the de-icing truck's boom detected by the second sensor; Obtain the rotation angle value of the de-icing truck's boom detected by the third sensor; The second distance value is generated based on the height value of the main arm, the length value of the flying arm, and the rotation angle value of the flying arm.

2. The method according to claim 1, characterized in that, The method further includes: Adjust the set threshold.

3. A collision avoidance control device for a de-icing vehicle cabin, characterized in that, include: The first acquisition module is used to acquire a first distance value detected by the millimeter-wave radar on the cabin of the de-icing vehicle, wherein the first distance value is the detection height value of the bottom of the cabin generated by the millimeter-wave radar; The second acquisition module is used to determine if the first distance value is less than or equal to a set threshold, and then acquire a second distance value representing the ground clearance of the bottom of the cabin. The collision avoidance control module is used to perform collision avoidance control on the cabin based on the comparison result of the first distance value and the second distance value; The collision avoidance control module performs collision avoidance control on the cabin based on the comparison result of the first distance value and the second distance value, including: If it is determined that the first distance value is less than the second distance value, then the descent of the cabin is prohibited; The second acquisition module acquires a second distance value representing the ground clearance of the bottom of the cabin, including: Obtain the height value of the main boom of the de-icing truck detected by the first sensor; Obtain the length value of the de-icing truck's boom detected by the second sensor; Obtain the rotation angle value of the de-icing truck's boom detected by the third sensor; The second distance value is generated based on the height value of the main arm, the length value of the flying arm, and the rotation angle value of the flying arm.

4. The apparatus according to claim 3, characterized in that, The device further includes: The parameter setting module is used to adjust the set threshold.

5. A control device for a de-icing vehicle, characterized in that, The de-icing vehicle includes a cabin, and the control device includes a processor and a memory for storing computer programs capable of running on the processor, wherein... The processor, when running a computer program, performs the steps of the method according to any one of claims 1 to 2.

6. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 2.

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