Towing method, device, towing vehicle and docking control system

Abstract

The application discloses a traction method and device, a tractor and a docking control system. The method is used for controlling the docking of a tractor and an aircraft. A positioning sensor is connected to the tractor. When docking, the positioning sensor is fixed on the aircraft. The traction method comprises the following steps: acquiring positioning data between the tractor and the aircraft sent by the positioning sensor; and controlling the docking of the tractor and the aircraft according to the positioning data between the tractor and the aircraft. The positioning sensor is arranged on the tractor. When the first docking device and the second sensor are docked by self-moving, the positioning sensor is arranged on both sides of the second docking device. Thus, the weather influence on the radar and image methods is avoided, the positioning accuracy is improved, and the cost of the positioning sensor is lower than that of the radar or the image acquisition camera.

Description

Technical Field

[0001] This invention relates to the field of aircraft towing operation technology, and in particular to a towing method, device, towing vehicle and docking control system. Background Technology

[0002] Aircraft towing vehicles are crucial equipment for ensuring the ground movement of aircraft. Depending on the towing method, aircraft towing vehicles are divided into pole-mounted towing and poleless towing. Possession towing involves the towing vehicle connecting to the aircraft's nose landing gear via a towing bar, enabling towing or pushing the aircraft. Possession towing, on the other hand, involves the towing vehicle carrying the aircraft's nose landing gear, forming a single unit with the aircraft for towing or pushing. Possession towing is simpler to operate, has a smaller turning radius, requires fewer personnel, and offers better versatility.

[0003] The most common method of aircraft towing currently involves a manually driven tow truck docking with the aircraft. The process involves the driver slowly approaching the tow truck, aligning it with the aircraft's nose landing gear, and then towing or pushing the aircraft after docking. Because the tow truck driver has limited visibility, at least two towing guides are required to monitor the clearances between the tow truck and the towed aircraft, as well as between the towed aircraft and surrounding aircraft or fixed structures, and to provide warnings to the tow truck driver via voice communication.

[0004] Other technical approaches assist in the docking process between the tractor and the aircraft by using onboard LiDAR, camera image recognition, and other methods to collect the position and attitude information of the tractor and the aircraft's nose landing gear. While this method can reduce manual labor, it also has the following problems and drawbacks:

[0005] Firstly, foggy, rainy, or dusty weather conditions severely affect the ranging accuracy of lidar, easily leading to incorrect identification by the lidar.

[0006] Secondly, imaging is subject to numerous interference factors, placing extremely high demands on the precision of image recognition and analysis equipment. When the tractor operates outdoors, the lighting conditions, shadows, and occlusions around the aircraft's landing gear hubs are constantly changing during image acquisition, leading to unstable image feature information and potential image noise, which can easily cause misidentification. Misidentification can directly damage the aircraft's structure, resulting in ground accidents. Furthermore, the auxiliary docking method combining lidar and image recognition is costly. Summary of the Invention

[0007] This invention provides a traction method, device, tractor, and docking control system, which can effectively solve the problem that current docking methods using radar or image sensors are subject to many interference factors and cannot accurately dock.

[0008] According to one aspect of the present invention, a traction method is provided, the traction method being used to control a tractor vehicle to dock with an aircraft, the tractor vehicle being equipped with a positioning sensor and a first docking device, the positioning sensor being connected to the tractor vehicle, and the positioning sensor being fixed to the aircraft during docking, the traction method comprising: acquiring positioning data between the tractor vehicle and the aircraft transmitted by the positioning sensor; and controlling the tractor vehicle to dock with the aircraft based on the positioning data between the tractor vehicle and the aircraft.

[0009] Furthermore, before acquiring the positioning data between the tractor and the aircraft sent by the positioning sensor, the process includes: acquiring the aircraft model information; and adjusting the height of the first docking device according to the aircraft model information.

[0010] Furthermore, before acquiring the aircraft model information, the process includes: acquiring a docking start signal; when the docking start signal is a first docking mode, acquiring the aircraft model information from the memory; when the docking start signal is a second docking mode, switching to manual docking mode.

[0011] Furthermore, during docking, the positioning sensor is mounted on the second docking device of the aircraft.

[0012] Furthermore, the tractor includes two positioning sensors, which are respectively disposed on both sides of the second docking device of the aircraft. Acquiring the positioning data between the tractor and the aircraft sent by the positioning sensors includes: acquiring the distance between the tractor and the second docking device of the aircraft and the orientation of the second docking device of the aircraft on the tractor sent by the two positioning sensors, and using the distance and the orientation as the positioning data.

[0013] Furthermore, controlling the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft includes: controlling the tractor to perform real-time calibration through positioning sensors during the docking process.

[0014] According to another aspect of the present invention, a traction device is provided for controlling a tractor to dock with an aircraft. The tractor is equipped with a positioning sensor and a first docking device. The positioning sensor is connected to the tractor. When docking, the positioning sensor is fixed to the aircraft. The traction device includes: a positioning module for acquiring positioning data between the tractor and the aircraft sent by the positioning sensor; and a docking module for controlling the tractor to dock with the aircraft based on the positioning data between the tractor and the aircraft.

[0015] According to another aspect of the present invention, a tractor is provided for docking with an aircraft. The tractor includes: a frame; a first docking device disposed on the frame; a drive device disposed on the frame for controlling the movement of the frame; and a traction device disposed on the frame for controlling the docking of the tractor with the aircraft. The traction device includes: a positioning module for acquiring positioning data between the tractor and the aircraft sent by the positioning sensor; and a docking module for controlling the docking of the tractor with the aircraft based on the positioning data between the tractor and the aircraft.

[0016] According to another aspect of the present invention, a docking control system is provided, comprising: an aircraft and a tractor; the tractor is used to dock with the aircraft, the tractor comprising: a frame; a positioning sensor disposed on the frame; a first docking device disposed on the frame; a drive device disposed on the frame for controlling the movement of the frame; a traction device disposed on the frame for controlling the docking of the tractor with the aircraft, the traction device comprising: a positioning module for acquiring positioning data between the tractor and the aircraft transmitted by the positioning sensor; a docking module for controlling the docking of the tractor with the aircraft based on the positioning data between the tractor and the aircraft; the aircraft is used to dock with the tractor, the aircraft comprising: a second docking device disposed on the aircraft for connecting to the first docking device.

[0017] Furthermore, when the first docking device and the second docking device perform self-moving docking, the positioning sensors are set on both sides of the second docking device.

[0018] Furthermore, the tractor is positioned within a preset range of the aircraft.

[0019] Furthermore, the tractor includes two positioning sensors, which are respectively located on both sides of the second docking device of the aircraft.

[0020] The advantage of this invention lies in the fact that, by installing positioning sensors on the tractor, when the first docking device and the second sensor perform self-moving docking, the positioning sensors are located on both sides of the second docking device. These positioning sensors collect positioning data, which is then stably transmitted via lead wires. This avoids the influence of weather conditions on methods such as radar and imaging, improving positioning accuracy. Furthermore, the cost of the positioning sensors is lower than that of radar or image-collecting cameras. Attached Figure Description

[0021] The technical solution and other beneficial effects of the present invention will become apparent from the following detailed description of specific embodiments of the invention, in conjunction with the accompanying drawings.

[0022] Figure 1 A flowchart illustrating the steps of the traction method provided in an embodiment of the present invention.

[0023] Figure 2 This is a diagram illustrating an actual application scenario of the traction method provided in an embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the traction device provided in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the structure of a tractor provided in an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0028] like Figure 1 The diagram shows a flowchart of the traction method provided in an embodiment of the present invention. The traction method controls the docking of a traction vehicle with an aircraft. The traction vehicle is equipped with a positioning sensor and a first docking device. The positioning sensor is connected to the traction vehicle. During docking, the positioning sensor is fixed to the aircraft. The traction method includes:

[0029] Step S110: Obtain the positioning data between the tractor and the aircraft sent by the positioning sensor.

[0030] In some embodiments, to improve the accuracy of the positioning sensors transmitting the positions of the tractor and the aircraft, at least two positioning sensors are installed on the tractor. The two positioning sensors are respectively located on both sides of the second docking device of the aircraft. Acquiring the positioning data between the tractor and the aircraft transmitted by the positioning sensors includes: acquiring the distance between the tractor and the second docking device of the aircraft and the orientation of the second docking device of the aircraft relative to the tractor, as transmitted by the two positioning sensors, and using the distance and the orientation as the positioning data.

[0031] In some embodiments, the distance is specifically the distance between the location of the positioning sensor and the tractor. This distance can be calculated using a lead wire connected between the positioning sensor and the tractor. When the positioning sensor moves, the lead wire is pulled, and the length of the lead wire's extension can be used as the distance. The orientation can be determined by transmitting the orientation signal sent by the tractor through the lead wire, thereby determining the orientation of the signal received by the positioning sensor and achieving orientation calibration.

[0032] In some embodiments, the distance between the positioning sensor and the tractor is determined by two positioning sensors, which is not affected by the environment. The positioning sensor and the tractor are connected by a lead wire, which can directly transmit positioning data. Therefore, the stability of the transmitted data is high, compared to positioning by radar or vision sensors, which are affected by environmental factors.

[0033] Specifically, the positioning sensor has an accuracy of ±0.05% and a measurement range of 0~10000mm.

[0034] In some embodiments, prior to acquiring the towing vehicle position and the aircraft position transmitted by the positioning sensor, the following is included:

[0035] Obtain aircraft model information.

[0036] Adjust the height of the first docking device according to the aircraft model information.

[0037] Specifically, the tractor stores the height of the second docking device of different aircraft models, and adjusts the height of the tractor's first docking device to match the height of the second docking device of the aircraft.

[0038] In some embodiments, prior to obtaining the aircraft model information, the following steps are included:

[0039] Obtain a start signal.

[0040] When the docking start signal is in the first docking mode, the aircraft model information is retrieved from the memory.

[0041] When the docking start signal is the second docking mode, the system switches to manual docking mode.

[0042] Specifically, depending on the needs of the actual scenario, when the manual docking mode is selected, the driver of the tractor unit continues to cooperate with ground staff to conduct manual docking.

[0043] Step S120: Based on the positioning data between the tractor and the aircraft, control the tractor to dock with the aircraft.

[0044] For example, controlling the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft includes: controlling the tractor to perform real-time calibration through positioning sensors during the docking process. That is, during the docking process, before the first docking device of the tractor has completed connection with the second docking device of the aircraft, the tractor calibrates its position in real time until docking with the aircraft is completed.

[0045] It should be noted that, in this article, "at least one," when used with a series of items, means that different combinations of one or more of the listed items may be used, and only one of each item in the list may be required. For example, "at least one of items A, B, and C" may include, but is not limited to, item A or items A and B. This example may also include items A, B, and C, or items B and C. In other examples, "at least one" may be, for example, but not limited to, two items A, one item B and ten items C, four items B and seven items C, or some other suitable combination.

[0046] See also Figure 2 In actual operation, the towing vehicle is parked 4-5 meters from the landing gear wheels of the front aircraft. The operator selects whether to enter automatic mode in the human-machine interface module. If "yes" is selected, the pilot selects the aircraft type to be towed (different aircraft types have different lengths and heights of the second docking device on their landing gear) in the human-machine interface module, then gets out of the vehicle and fixes the position recognition module (including two positioning sensors) to both sides of the aircraft docking device. If "no" is selected, the pilot continues with manual docking in cooperation with ground personnel. The docking height adjustment module automatically adjusts the height of the towing vehicle docking device to match the height of the aircraft docking device based on the selected aircraft type. After the position recognition module is fixed, the position information of the towing vehicle and the aircraft docking device is sent to the position calculation and control module to begin automatic docking control. After calculating the position information, the position calculation and control module outputs the steering angle and speed of each wheel to the omnidirectional movement system. The omnidirectional movement system completes the movement, continuously correcting the relative position of the towing vehicle docking device.

[0047] This invention discloses a traction method, device, tractor, and docking control system. The tractor is equipped with positioning sensors, which are positioned on both sides of the second docking device during self-moving docking of the first docking device and the second sensor. This avoids the weather-related influence of radar or image acquisition methods, improving positioning accuracy. Furthermore, the positioning sensors are less expensive than radar or image-collecting cameras.

[0048] like Figure 3 As shown, this invention provides a traction device for controlling the docking of a traction vehicle with an aircraft. The traction vehicle is equipped with a positioning sensor and a first docking device. The positioning sensor is fixed on the aircraft. The traction device includes a positioning module 10 and a docking module 20.

[0049] The positioning module 10 is used to acquire positioning data between the tractor and the aircraft transmitted by the positioning sensors. In some embodiments, to improve the accuracy of the tractor and aircraft positions transmitted by the positioning sensors, at least two positioning sensors are provided on the tractor. The two positioning sensors are respectively located on both sides of the second docking device of the aircraft. Acquiring the positioning data between the tractor and the aircraft transmitted by the positioning sensors includes: acquiring the distance between the tractor and the second docking device of the aircraft and the orientation of the second docking device of the aircraft on the tractor transmitted by the two positioning sensors, and using the distance and the orientation as the positioning data.

[0050] Understandably, determining the distance between the positioning sensor and the tractor using two positioning sensors is unaffected by the environment. The positioning sensor and the tractor are connected by a lead wire that can directly transmit positioning data, resulting in high data transmission stability. This is in contrast to positioning using radar or vision sensors, which are affected by environmental factors.

[0051] Specifically, the positioning sensor has an accuracy of ±0.05% and a measurement range of 0~10000mm.

[0052] In some embodiments, prior to acquiring the towing vehicle position and the aircraft position transmitted by the positioning sensor, the following is included:

[0053] Obtain aircraft model information.

[0054] Adjust the height of the first docking device according to the aircraft model information.

[0055] Specifically, the tractor stores the height of the second docking device of different aircraft models, and adjusts the height of the tractor's first docking device to match the height of the second docking device of the aircraft.

[0056] In some embodiments, prior to obtaining the aircraft model information, the following steps are included:

[0057] Obtain a start signal.

[0058] When the docking start signal is in the first docking mode, the aircraft model information is retrieved from the memory.

[0059] When the docking start signal is the second docking mode, the system switches to manual docking mode.

[0060] Specifically, depending on the needs of the actual scenario, when the manual docking mode is selected, the driver of the tractor unit continues to cooperate with ground staff to conduct manual docking.

[0061] The docking module 20 is used to control the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft.

[0062] For example, controlling the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft includes: controlling the tractor to perform real-time calibration through positioning sensors during the docking process. That is, during the docking process, before the first docking device of the tractor has completed connection with the second docking device of the aircraft, the tractor calibrates its position in real time until docking with the aircraft is completed.

[0063] It should be noted that, in this article, "at least one," when used with a series of items, means that different combinations of one or more of the listed items may be used, and only one of each item in the list may be required. For example, "at least one of items A, B, and C" may include, but is not limited to, item A or items A and B. This example may also include items A, B, and C, or items B and C. In other examples, "at least one" may be, for example, but not limited to, two items A, one item B and ten items C, four items B and seven items C, or some other suitable combination.

[0064] This invention discloses a traction method, device, tractor, and docking control system. The tractor is equipped with positioning sensors, which are positioned on both sides of the second docking device during self-moving docking of the first docking device and the second sensor. This avoids the weather-related influence of radar or image acquisition methods, improving positioning accuracy. Furthermore, the positioning sensors are less expensive than radar or image-collecting cameras.

[0065] This invention also provides a tractor for docking with an aircraft, the tractor comprising: a frame, a first docking device, a drive device, and a traction device.

[0066] A first docking device is mounted on the chassis. A drive unit is mounted on the chassis and is used to control the movement of the chassis. A traction device is mounted on the chassis and is used to control the docking of the traction vehicle with the aircraft; the traction device includes:

[0067] The positioning module 10 is used to obtain the position of the tractor and the position of the aircraft sent by the positioning sensor.

[0068] The docking module 20 is used to control the docking of the tractor and the aircraft based on the positions of the tractor and the aircraft.

[0069] This invention also provides a docking control system, comprising: an aircraft and a tractor.

[0070] The tractor unit includes: a frame, a first docking device, a drive unit, and a traction device.

[0071] A first docking device is mounted on the chassis. A drive unit is mounted on the chassis and is used to control the movement of the chassis. A traction device is mounted on the chassis and is used to control the docking of the traction vehicle with the aircraft; the traction device includes:

[0072] The positioning module 10 is used to acquire the position of the tractor and the position of the aircraft sent by the positioning sensor.

[0073] The docking module 20 is used to control the docking of the tractor and the aircraft based on the positions of the tractor and the aircraft.

[0074] The aircraft is used to dock with the tractor, and the aircraft includes a second docking device, which is disposed on the aircraft and used to connect with the first docking device.

[0075] For example, when the first docking device performs self-moving docking with the second sensor, the positioning sensor is positioned on both sides of the second docking device.

[0076] For example, the tractor is positioned within a preset range of the aircraft.

[0077] For example, the tractor includes two positioning sensors, which are respectively disposed on both sides of the second docking device of the aircraft.

[0078] The tractor unit may include components such as one or more processors 401 with processing cores, one or more memory media 402, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 4 The equipment structure shown does not constitute a limitation on the equipment. The tractor may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0079] The processor 401 is the control center of the device, connecting various parts of the device through various interfaces and lines. It executes software programs and / or unit modules stored in the memory 402, and calls data stored in the memory 402 to perform various functions and process data, thereby providing overall monitoring of the tractor. Optionally, the processor 401 may include one or more processing cores; the processor 401 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may not be integrated into the processor 401.

[0080] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function, etc.; the data storage area may store data created based on the use of the tractor, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0081] The tractor unit may also include a power supply 403 that supplies power to various components. Preferably, the power supply 403 is logically connected to the processor 401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0082] The tractor may also include an input unit 404 and an output unit 405. The input unit 404 can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0083] Although not shown, the tractor unit may also include a display unit, etc., which will not be described in detail here. Specifically, in this application, the processor 401 in the tractor unit loads the executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 runs the application programs stored in the memory 402 to realize various functions, as follows:

[0084] Obtain the position of the tractor and the position of the aircraft sent by the positioning sensor;

[0085] Based on the positions of the tractor and the aircraft, control the tractor to dock with the aircraft.

[0086] Those skilled in the art will understand that all or part of the steps in the various methods described above can be accomplished by instructions, or by controlling related hardware with instructions. These instructions can be stored in a storage medium and loaded and executed by the processor 401.

[0087] Therefore, embodiments of this application provide a storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. Computer instructions are stored thereon, and these computer instructions are loaded by a processor 401 to execute the steps in any of the traction methods provided in this application. For example, when the computer instructions are executed by the processor 401, they perform the following functions:

[0088] Obtain the position of the tractor and the position of the aircraft sent by the positioning sensor;

[0089] Based on the positions of the tractor and the aircraft, control the tractor to dock with the aircraft.

[0090] The computer instructions stored in the storage medium can execute the steps of the tractor control method in any embodiment of this application. Therefore, the beneficial effects that the tractor control method in any embodiment of this application can achieve can be realized, as detailed in the preceding description, and will not be repeated here.

[0091] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A traction method, characterized in that, The method is used to control the docking of a tractor with an aircraft. The tractor is equipped with a positioning sensor and a first docking device. The positioning sensor is connected to the tractor. During docking, the positioning sensor is fixed to the aircraft. The traction method includes: Acquire the positioning data between the tractor and the aircraft sent by the positioning sensor; Based on the positioning data between the tractor and the aircraft, control the tractor to dock with the aircraft; During docking, the positioning sensor is mounted on the second docking device of the aircraft; The tractor unit includes two positioning sensors, which are respectively disposed on both sides of the second docking device of the aircraft. Acquiring the positioning data between the tractor unit and the aircraft transmitted by the positioning sensors includes: The distance between the tractor and the second docking device of the aircraft, as transmitted by the two positioning sensors, and the orientation of the second docking device of the aircraft on the tractor are obtained, and the distance and the orientation are used as the positioning data. The positioning sensor is connected to the tractor via a lead wire. The distance can be calculated by the length of the lead wire when it is stretched, and the orientation can be transmitted via the lead wire using the orientation signal sent by the tractor.

2. The traction method according to claim 1, characterized in that, Before acquiring the positioning data between the tractor and the aircraft transmitted by the positioning sensor, the following steps are included: Obtain aircraft model information; Adjust the height of the first docking device according to the aircraft model information.

3. The traction method according to claim 2, characterized in that, Before obtaining the aircraft model information, the process includes: Obtain a start signal; When the docking start signal is in the first docking mode, the aircraft model information is retrieved from the memory; When the docking start signal is the second docking mode, the system switches to manual docking mode.

4. The traction method according to claim 1, characterized in that, The step of controlling the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft includes: The positioning sensor performs real-time calibration during the docking process between the tractor and the aircraft.

5. A traction device, characterized in that, For controlling the docking of a tractor with an aircraft, the tractor is equipped with a positioning sensor and a first docking device. The positioning sensor is connected to the tractor, and during docking, the positioning sensor is fixed to the aircraft. The traction device includes: The positioning module is used to acquire positioning data between the tractor and the aircraft sent by the positioning sensor; The docking module is used to control the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft. During docking, the positioning sensor is mounted on the second docking device of the aircraft; The tractor unit includes two positioning sensors, which are respectively disposed on both sides of the second docking device of the aircraft. Acquiring the positioning data between the tractor unit and the aircraft transmitted by the positioning sensors includes: The distance between the tractor and the second docking device of the aircraft, as transmitted by the two positioning sensors, and the orientation of the second docking device of the aircraft on the tractor are obtained, and the distance and the orientation are used as the positioning data. The positioning sensor is connected to the tractor via a lead wire. The distance can be calculated by the length of the lead wire when it is stretched, and the orientation can be transmitted via the lead wire using the orientation signal sent by the tractor.

6. A tractor unit, characterized in that, The tractor unit is used for docking with the aircraft; Frame; The first docking device is mounted on the vehicle frame; A drive unit, mounted on the frame, is used to control the movement of the frame; A towing device, mounted on the chassis, is used to control the docking of the towing vehicle with the aircraft. The towing device includes: The positioning module is used to acquire positioning data between the tractor and the aircraft sent by the positioning sensor; The docking module is used to control the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft. During docking, the positioning sensor is mounted on the second docking device of the aircraft; The tractor unit includes two positioning sensors, which are respectively disposed on both sides of the second docking device of the aircraft. Acquiring the positioning data between the tractor unit and the aircraft transmitted by the positioning sensors includes: The distance between the tractor and the second docking device of the aircraft, as transmitted by the two positioning sensors, and the orientation of the second docking device of the aircraft on the tractor are obtained, and the distance and the orientation are used as the positioning data. The positioning sensor is connected to the tractor via a lead wire. The distance can be calculated by the length of the lead wire when it is stretched, and the orientation can be transmitted via the lead wire using the orientation signal sent by the tractor.

7. A docking control system, characterized in that, include: Aircraft and tractor; The tractor unit is used for docking with the aircraft, and the tractor unit includes: Frame; A positioning sensor is mounted on the vehicle frame; The first docking device is mounted on the vehicle frame; A drive unit, mounted on the frame, is used to control the movement of the frame; A towing device, mounted on the chassis, is used to control the docking of the towing vehicle with the aircraft. The towing device includes: The positioning module is used to acquire positioning data between the tractor and the aircraft sent by the positioning sensor; The docking module is used to control the docking of the tractor and the aircraft based on the positioning data between the tractor and the aircraft. The aircraft is used to dock with the tractor, and the aircraft includes: A second docking device is installed on the aircraft for connection to the first docking device; The tractor includes two positioning sensors, which are respectively located on both sides of the second docking device of the aircraft. When the first docking device and the second docking device perform self-moving docking, the positioning sensors are set on both sides of the second docking device; The step of acquiring the positioning data between the tractor and the aircraft sent by the positioning sensor includes: The distance between the tractor and the second docking device of the aircraft, as transmitted by the two positioning sensors, and the orientation of the second docking device of the aircraft on the tractor are obtained, and the distance and the orientation are used as the positioning data. The positioning sensor is connected to the tractor via a lead wire. The distance can be calculated by the length of the lead wire when it is stretched, and the orientation can be transmitted via the lead wire using the orientation signal sent by the tractor.

8. The docking control system according to claim 7, characterized in that, The tractor is positioned within a preset range of the aircraft.

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