Aviation fuel filling scheduling method and system

Abstract

This application provides a method and system for scheduling aviation fuel refueling. In this method, a cloud-side dispatch center establishes communication connections with various devices on the aviation fuel refueling side, including mobile terminals and other refueling devices. The dispatch center interacts with the other refueling devices via the mobile terminals to issue aviation fuel refueling scheduling tasks and destinations. The other refueling devices then execute the scheduling tasks based on the scheduling tasks and destinations.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation fuel filling scheduling, and in particular to an aviation fuel filling scheduling method and system. Background Art

[0002] In recent years, with the rapid development of China's economy, economic and technological exchanges between countries and cities have been expanding, and the civil aviation industry is playing an increasingly important role. Therefore, it is necessary to dispatch and manage civil aviation passenger and cargo traffic to make civil aviation transportation convenient, fast, and efficient.

[0003] Currently, this dispatch management is implemented through a dispatch system. The dispatch system comprises a cloud-based dispatch center and equipment on the refueling side. The refueling equipment includes refueling vehicles, mobile terminals, and auxiliary devices. Refueling vehicles communicate with the dispatch center by sending and receiving messages. Refueling attendants, through their mobile terminals, also interact with the dispatch center. Meanwhile, refueling attendants manually operate auxiliary devices.

[0004] However, the dispatch center only connects to refueling vehicles and mobile terminals, making it difficult to achieve collaborative operations among refueling vehicles, mobile terminals, auxiliary equipment, and the dispatch center. Therefore, how to achieve collaborative operations among refueling vehicles, mobile terminals, auxiliary equipment, and the dispatch center and reduce labor costs has become a pressing technical challenge. Summary of the Invention

[0005] The present application provides an improved aviation fuel filling scheduling method and system.

[0006] The dispatch center on the cloud side establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling devices except the mobile terminals;

[0007] The dispatch center interacts with the other refueling equipment through the mobile terminal to issue a dispatch task for aviation fuel refueling and a destination for the aviation fuel refueling;

[0008] The other refueling equipment performs the scheduling task according to the scheduling task and the destination.

[0009] In some embodiments, the other refueling equipment includes a refueling vehicle and auxiliary devices;

[0010] The dispatch center interacts with the other refueling equipment through the mobile terminal to issue a dispatch task for aviation fuel refueling and a destination for the aviation fuel refueling, including:

[0011] The dispatch center generates and sends a dispatch task to the mobile terminal;

[0012] When the dispatch center determines through the mobile terminal that the dispatch task can be executed, the dispatch center sends the dispatch task and the destination to the refueling vehicle;

[0013] The other refueling equipment performs the scheduling task according to the scheduling task and the destination, including:

[0014] When the refueling vehicle receives the dispatch task and the destination, the refueling vehicle drives toward the destination;

[0015] When the refueling vehicle reaches the destination, the auxiliary device performs aviation fuel filling and completes the scheduling task.

[0016] In some embodiments, the dispatch center generates and sends a dispatch task to the mobile terminal, including:

[0017] The scheduling center publishes a topic message containing the scheduling task to the mobile terminal through the subscription of the mobile terminal;

[0018] The mobile terminal publishes a subject message containing a feedback message for accepting or rejecting the scheduling task to the scheduling center through subscription to the scheduling center; the feedback message includes a gas station attendant code;

[0019] When the dispatch center determines through the mobile terminal that the dispatch task can be executed, the dispatch center issues the dispatch task to the refueling vehicle, including:

[0020] When the dispatch center receives the feedback message from the subscribed mobile terminal, which is a feedback message for executing the dispatch task, the dispatch center publishes a topic message including the driving route to the refueling vehicle through the refueling vehicle's subscription.

[0021] In some embodiments, the refueling vehicle travels toward the destination, including:

[0022] When the mobile terminal receives a topic message synchronized by the refueling vehicle to confirm that the refueling vehicle has received the driving route, the mobile terminal issues a driving control instruction to the dispatch center through subscription to the dispatch center; the driving control instruction includes a vehicle code;

[0023] Upon receiving the driving control instruction from the subscribed mobile terminal, the dispatch center publishes a topic message containing the driving control instruction to the refueling vehicle through the refueling vehicle's subscription;

[0024] When the refueling vehicle receives the control driving instruction, the refueling vehicle controls the refueling vehicle to travel toward the destination according to the control driving instruction, where the control driving instruction is used to control the refueling vehicle to start or control the refueling vehicle to stop.

[0025] In some embodiments, the mobile terminal and the auxiliary device are connected via a wireless network;

[0026] The auxiliary device performs aviation fuel filling and completes the scheduling task, including: the mobile terminal sends a start command to the auxiliary device through component communication, and synchronously publishes a topic message containing a message for starting the auxiliary device to the scheduling center through the subscription of the scheduling center; the topic message containing a message for starting the auxiliary device includes an auxiliary device code;

[0027] The auxiliary device publishes a topic message of the auxiliary device operation status to the dispatch center through subscription of the dispatch center, wherein the auxiliary device operation status includes one or more of the joint spatial position and Cartesian spatial posture of the manipulator;

[0028] The dispatch center publishes a topic message containing a control instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device;

[0029] When the auxiliary device receives the control instruction, the auxiliary device controls the auxiliary device to perform a corresponding action according to the control instruction.

[0030] In some embodiments, the method further comprises:

[0031] The refueling vehicle publishes a topic message containing the completion status of the current scheduling task to the scheduling center through subscription of the scheduling center;

[0032] The dispatch center publishes the current dispatch task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

[0033] In some embodiments, the refueling vehicle publishes a topic message containing the completion status of the current scheduling task to the scheduling center through the subscription of the scheduling center, including:

[0034] The refueling vehicle publishes a subject message to the dispatch center through subscription to the dispatch center for confirming that the refueling vehicle has received the driving route; the subject message for confirming that the refueling vehicle has received the driving route includes a vehicle code;

[0035] The dispatch center publishes the current dispatch task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages, including:

[0036] The dispatch center publishes the current dispatch task status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

[0037] In some embodiments, the refueling vehicle publishes a topic message containing the completion status of the current scheduling task to the scheduling center through the subscription of the scheduling center, including:

[0038] When the refueling vehicle reaches the destination, the refueling vehicle publishes a subject message including a completed driving route to the dispatch center through subscription of the dispatch center; the subject message including a completed driving route includes a vehicle code;

[0039] The dispatch center publishes the current dispatch task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages, including:

[0040] The dispatch center publishes the current dispatch task status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

[0041] In some embodiments, the other refueling equipment includes auxiliary devices;

[0042] The aviation fuel filling scheduling method further includes:

[0043] When the auxiliary device completes the scheduling task, the mobile terminal publishes a subject message including the completion of this refueling operation to the scheduling center through the subscription of the scheduling center; the subject message including the completion of this refueling operation includes the refueler code.

[0044] The present application provides an aviation fuel filling scheduling system, comprising:

[0045] The dispatch center on the cloud side establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling devices except the mobile terminals;

[0046] The dispatch center interacts with the other refueling equipment through the mobile terminal to issue a dispatch task for aviation fuel refueling and a destination for the aviation fuel refueling;

[0047] The other refueling equipment performs the scheduling task according to the scheduling task and the destination.

[0048] In some embodiments of the aviation fuel refueling scheduling method of the present application, the cloud-side dispatch center establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling equipment other than the mobile terminals; the dispatch center interacts with the other refueling equipment through the mobile terminals, and issues scheduling tasks for aviation fuel refueling and the destinations of the aviation fuel refueling; the other refueling equipment executes the scheduling tasks based on the scheduling tasks and the destinations. In this way, by establishing communication connections with each device on the aviation fuel refueling side through the cloud-side dispatch center, the dispatch center can send messages to other refueling equipment using handheld terminals to exchange information, thereby achieving automatic interactive control between the dispatch center and other refueling equipment, reducing manual operation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 FIG2 is a network diagram of an aviation fuel filling scheduling system applied to the aviation fuel filling scheduling method according to an embodiment of the present application;

[0050] Figure 2 FIG2 is a flow chart of the aviation fuel filling scheduling method according to an embodiment of the present application;

[0051] Figure 3 Shown Figure 2 The interactive schematic diagram of establishing communication of the aviation fuel filling scheduling method shown;

[0052] Figure 4 Shown Figure 2 The specific process diagram of the aviation fuel filling scheduling method shown in FIG.

[0053] Figure 5 Shown Figure 4 The interactive diagram of the scheduling center generating and issuing scheduling tasks in the aviation fuel refueling scheduling method shown;

[0054] Figure 6 Shown Figure 4 An interactive schematic diagram of a fueling vehicle traveling to a destination in the aviation fueling scheduling method shown;

[0055] Figure 7 Shown Figure 4 The interactive schematic diagram of the auxiliary device of the aviation fuel filling scheduling method performing aviation fuel filling and completing the scheduling task;

[0056] Figure 8 Shown is a module schematic diagram of an aviation fuel filling scheduling device according to an embodiment of the present application;

[0057] Figure 9 Shown is a module block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of one or more embodiments of this specification, as detailed in the appended claims.

[0059] It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than those described in this specification. In addition, a single step described in this specification may be broken down into multiple steps for description in other embodiments, and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0060] In order to solve the problem of how to achieve collaborative operations among refueling vehicles, mobile terminals, auxiliary devices and dispatching centers, reducing labor costs has become an urgent problem to be solved. An embodiment of the present application provides an aviation fuel filling scheduling method.

[0061] Among them, the dispatching center on the cloud side establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling equipment except the mobile terminals; the dispatching center interacts with the other refueling equipment through the mobile terminals, and issues the scheduling task of aviation fuel refueling and the destination of the aviation fuel refueling; and the other refueling equipment executes the scheduling task according to the scheduling task and the destination.

[0062] In this embodiment of the application, a cloud-based dispatch center establishes communication connections with various devices on the fuel refueling side. The dispatch center then uses handheld terminals to send messages to other fueling devices for information exchange. This enables automated interactive control between the dispatch center and other fueling devices, reducing manual operation costs. Furthermore, in airport scenarios, users using handheld terminals can participate in the dispatch process, allowing for manual intervention, thereby improving the safety of fuel trucks performing refueling tasks.

[0063] Figure 1 FIG2 is a network diagram of an aviation fuel filling scheduling system applied to the aviation fuel filling scheduling method according to an embodiment of the present application.

[0064] like Figure 1 As shown, the aviation fuel filling scheduling system may include, but is not limited to, a scheduling center on the cloud side and equipment on the aviation fuel filling side. The scheduling center establishes communication connections with each equipment on the aviation fuel filling side.

[0065] continue Figure 1 As shown in the figure, the dispatch center, as the hub of the dispatch system, is responsible for connecting and integrating flight information, aircraft information, refueling vehicle information, and refueler information, planning and designing the dispatch tasks for aircraft to refuel, collecting, transferring and issuing various types of information, and collaboratively completing the refueling tasks.

[0066] The mobile terminal may also be a smartphone, a wearable device, a handheld terminal, or other device, which will not be listed here. For example, the handheld terminal may be a PAD. Compared to the related art where the handheld terminal and the auxiliary device do not interact, the present application enables interaction between the handheld terminal and the auxiliary device.

[0067] The aforementioned other refueling equipment may include a refueling vehicle and an auxiliary device. The auxiliary device is used to assist in refueling aircraft and may be a robotic arm or a robot. Compared to related art where there is no interaction between the handheld terminal and the refueling vehicle, this application enables interaction between the handheld terminal and the refueling vehicle.

[0068] Furthermore, the refueling vehicle, acting as the vehicle for refueling, undertakes the specific refueling task. The refueling equipment consists of the refueling vehicle, the refueler's handheld terminal, and auxiliary devices. The refueling vehicle is defined as an autonomous vehicle with single-vehicle intelligence and can operate autonomously. Refuelers are assigned by dispatch tasks, and the refueler's handheld terminal is used to receive dispatch task instructions, initiate and terminate refueling task steps, and report refueling process data. Upon arrival at the destination, the refueling vehicle initiates communication with the dispatch center through the auxiliary device, ultimately refueling the aircraft.

[0069] Figure 2 Shown is a flow chart of the aviation fuel filling scheduling method according to an embodiment of the present application.

[0070] like Figure 2 As shown, in step 110, the dispatch center establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling devices except mobile terminals. Figure 1 The communication connection established as shown may include the refueling vehicle, mobile terminal, auxiliary device and dispatch center communicating based on a wireless network such as 4G or 5G, and the mobile terminal and auxiliary device communicating through WIFI (Wireless Fidelity).

[0071] Other refueling equipment may include, but is not limited to, refueling vehicles and auxiliary devices. Aviation refueling equipment may also include pagers and / or detectors. The mobile terminal, refueling vehicles, and auxiliary devices of this application each interact with the dispatch center through a coordinated interactive interface.

[0072] The above-mentioned collaborative interaction interface uses the MQTT (Message Queuing Telemetry Transport) protocol for data exchange. MQTT (Message Queuing Telemetry Transport) is a message protocol based on the publish / subscribe paradigm under the ISO (International Organization for Standardization) standard. It works on the TCP / IP (Transmission Control Protocol / Internet Protocol) protocol family and is a publish / subscribe messaging protocol designed for remote devices with low hardware performance and poor network conditions. ISO standards include IEC (International Electrotechnical Commission Pulse Repetition Frequency).

[0073] This allows for communication between a large number of remote sensors and control devices with limited computing power and operating over low-bandwidth, unreliable networks. The MQTT protocol eliminates the need for synchronous message sending and receiving, reduces overhead (e.g., a fixed-length header of 2 bytes), and minimizes protocol exchanges, thus reducing network traffic. Furthermore, TCP / IP is used to provide network connectivity, improving network transmission reliability.

[0074] Design the communication topic (Topic) and related enumeration definitions based on the collaborative interaction interface process and interaction interface content.

[0075] The subject consists of 5 fixed parts, each separated by " / ", defined as:

[0076] [Business Type] / [Business Subtype] / [Business Action] / [Business Object Type] / [Business Object Code]

[0077] 1. Business type, which is used to define the business field to which the subject message (also called topic) belongs. The definition is as follows:

[0078] Business Type describe heartbeat heartbeat schedulingTask Scheduling tasks pathPlan Planning a path driving Vehicle driving gasTask Refueling operations

[0079] 2. Business subtype, which is used to describe the business subdivision type under the business type, is defined as follows:

[0080]

[0081]

[0082] 3. Business action, used to describe message actions, is defined as follows:

[0083] Business Actions describe report Report sync synchronous issue Issue feedback feedback

[0084] 4. Business object, used to describe the object of the message, is defined as follows:

[0085] Business Objects describe av Refueling vehicles ad Assistive devices pad mobile terminals gasStaff gas station attendant

[0086] 5. Business object code is used to describe the object of specific function, which is defined as follows:

[0087] Business object encoding describe carCode Refueling vehicle code adCode Auxiliary device coding padCode Mobile terminal coding gasStaffCode Gas station attendant code, can be employee

[0088] The collaborative interaction interface message body is a JSON (JavaScript Object Notation) structure, and a standard message body is designed, which is divided into a header and a body. The header has fixed attributes, and the body is used to carry specific communication content.

[0089] The above header includes the message publishing timestamp (timestamp), the business object pubObjType (pubObjType), the object code pubObjCode (pubObjCode), the business object type topicObjType (topObjType), and the business object code topicObjCode (topObjCode). The message publishing timestamp can be accurate to milliseconds. The business object pubObjType (pubObjType) is defined by the business object definition and is filled in by the message publisher. The object code pubObjCode (pubObjCode) is defined by the object code definition and is filled in by the message publisher.

[0090] In an embodiment of the present application, a collaborative interaction interface defined based on the MQTT protocol is used to realize real-time push and reception of interaction messages between roles.

[0091] Figure 3 Shown Figure 2 The interactive schematic diagram of establishing communication in the aviation fuel filling scheduling method is shown.

[0092] like Figure 3As shown, the collaborative interaction interface includes a heartbeat reporting interface. The mobile terminal, refueling vehicle, and auxiliary device respectively subscribe to the dispatch center and use the heartbeat reporting interface to publish a topic message containing a heartbeat for establishing a connection to the dispatch center; the topic message containing the heartbeat for establishing a connection includes a business object and an object code. Exemplarily, the publishing topic is: heartbeat / state / report / [business object] / [object code]; the subscription topic is: heartbeat / #. In this way, the publish / subscribe message mode is used to provide one-to-many message publishing, decouple multiple applications, and realize collaborative interaction between mobile terminals, refueling vehicles, auxiliary devices, and the dispatch center without the need to send and receive messages synchronously.

[0093] In step 120, the dispatch center interacts with other refueling equipment via the mobile terminal to issue the dispatch task and destination of aviation fuel refueling.

[0094] The above-mentioned destination is used to realize the location for refueling of the aircraft, such as a parking space.

[0095] Step 130: Other refueling equipment executes the dispatch task according to the dispatch task and the destination.

[0096] In such Figure 2 In the illustrated embodiment, the aviation fuel filling scheduling system improves the efficiency of aviation fuel filling and reduces the workload of manual services.

[0097] Figure 4 Shown Figure 2 The specific flow chart of the aviation fuel filling scheduling method is shown.

[0098] Combine Figure 2 As shown and Figure 4 As shown, the above step 120 may further include the following steps 121 and 122. And, the above step 130 may further include the following steps 131 and 132, which are detailed as follows:

[0099] Step 121: The dispatch center generates and sends a dispatch task to the mobile terminal.

[0100] The above-mentioned generation of scheduling tasks is an internal capability of the scheduling center and does not involve coordination with mobile terminals and refueling vehicles.

[0101] Step 122: When the dispatch center determines that the dispatch task can be executed through the mobile terminal, the dispatch center sends the dispatch task and the destination to the refueling vehicle.

[0102] Step 131: When the refueling vehicle receives the dispatching task and the destination, the refueling vehicle drives toward the destination.

[0103] In step 132, when the refueling vehicle reaches the destination, the auxiliary device performs aviation fuel filling and completes the scheduling task.

[0104] exist Figure 4 In the embodiment shown, the dispatch center, refueling vehicles, and mobile terminals are decoupled and publish and / or subscribe asynchronously, achieving independent division of labor and mutual collaboration to achieve the issuance and subscription of dispatch tasks.

[0105] Figure 5 Shown Figure 4 The diagram shows an interactive diagram of the dispatch center generating and issuing dispatch tasks in the aviation fuel refueling dispatch method.

[0106] like Figure 4 and Figure 5 As shown, in some embodiments of the above step 121 and the above step 122, the above step 121 may further include step 1 and step 2. The above step 122 may further include step 3, which is described in detail as follows:

[0107] Step 1: The dispatch center publishes a topic message containing the dispatch task to the mobile terminal through the mobile terminal's subscription.

[0108] Continue as Figure 5 As shown, the collaborative interaction interface can include a dispatch task delivery interface. The dispatch center, through subscriptions from mobile terminals, uses this interface to publish topic messages containing dispatch tasks to mobile terminals. Data flows from the dispatch center to mobile terminals, with the dispatch center publishing topics and mobile terminals subscribing to them. Dispatch task information primarily includes information such as the service vehicle, refueler, assigned mobile terminal, service flight, aircraft model, service time, and the flight's parking bay location.

[0109] Release topic: schedulingTask / plan / issue / gasStaff / [gas staff code]

[0110] Subscribe to the topic: schedulingTask / plan / issue / gasStaff / [gas staff code]

[0111] In step 2, the mobile terminal publishes a topic message containing a feedback message for accepting or rejecting the scheduling task to the scheduling center through subscription of the scheduling center; the feedback message includes the gas station attendant code.

[0112] In continuing Figure 5In some specific examples, the collaborative interaction interface may include a scheduling task processing method feedback interface. A mobile terminal, through a subscription to the scheduling center, uses this interface to publish a topic message containing a feedback message indicating whether to accept or reject the scheduled task. Data flows from the mobile terminal to the scheduling center, with the mobile terminal publishing the topic and the scheduling center subscribing to the topic. Upon receiving a scheduled task, the mobile terminal can decide whether to execute it and provide feedback indicating acceptance or rejection.

[0113] Publish topic: schedulingTask / plan / feedback / gasStaff / [gas staff code]

[0114] Subscribe to topics: schedulingTask / plan / feedback / gasStaff / +

[0115] In continuing Figure 5 In some other specific examples shown, similar to the above specific examples, the difference compared to the above specific examples is that in other specific examples, the mobile terminal can first feedback the receipt of the scheduling task to the scheduling center so that the scheduling task can be accurately issued, and then feedback the acceptance or refusal to execute the scheduling task. Specifically, the collaborative interaction interface may include a scheduling task interface. The mobile terminal subscribes to the scheduling center and uses the scheduling task interface to publish a topic message to the scheduling center that the mobile terminal has received the scheduling task. The data flow is from the mobile terminal to the scheduling center, the mobile terminal publishes the topic, and the scheduling center subscribes to the topic.

[0116] Publish topic: schedulingTask / plan / feedback / gasStaff / [gas staff code]

[0117] Subscribe to topics: schedulingTask / plan / feedback / gasStaff / +

[0118] In step 3, upon receiving feedback from the subscribed mobile terminal regarding the execution of the dispatch task, the dispatch center publishes a topic message containing the driving route to the refueling vehicle through the refueling vehicle's subscription. The refueling vehicle is an autonomous vehicle and receives the driving route, i.e., the driving route coordinates, from the dispatch center.

[0119] Continue as Figure 5 As shown, the collaborative interaction interface can include a route-dispatching interface. The dispatch center, through the subscription of the refueling vehicle, uses this route-dispatching interface to publish a topic message containing the route to the refueling vehicle. The data flow is from the dispatch center to the refueling vehicle, with the dispatch center publishing topics and the refueling vehicle subscribing to them.

[0120] Release topic: pathPlan / plan / issue / av / [vehicle code]

[0121] Subscribe to the topic: pathPlan / plan / issue / av / [vehicle code]

[0122] In other embodiments of the above step 121 and the above step 122, the dispatching center, the refueling vehicle, the mobile terminal and the auxiliary device directly issue the dispatching task.

[0123] In an embodiment of the present application, the method may further include steps a and b: a. The refueling vehicle publishes a subject message containing the current scheduling task completion status to the dispatching center through the subscription of the dispatching center. b. The dispatching center publishes the current scheduling task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages. Among them, the current scheduling task completion status may include, but is not limited to, the status of the refueling vehicle confirming receipt of the driving route or reporting the completion of the driving route and arrival at the destination. In this way, the dispatching center confirms that the message is published in place, thereby improving the effectiveness of message publishing and subscription. In addition, the current scheduling task completion status is synchronized to the mobile terminal, so that the mobile terminal can obtain the latest data in a timely manner for better operation. The detailed description is as follows:

[0124] Continue to combine Figure 4 and Figure 5 As shown, the refueling vehicle receiving the scheduling task in step 131 may further include the following step 1. Correspondingly, the method further includes: step 2.

[0125] In step 1, the refueling vehicle subscribes to the dispatch center and publishes a topic message to the dispatch center confirming that the refueling vehicle has received the driving route. The confirmation message includes the vehicle code. This allows the dispatch center to receive the confirmation message directly, ensuring the accurate issuance of dispatch tasks.

[0126] Continue as Figure 5 As shown, the collaborative interaction interface can include a route feedback interface. The refueling vehicle, through a subscription to the dispatch center, uses the route feedback interface to publish a topic message to the dispatch center confirming that the refueling vehicle has received the route. The data flow is from the refueling vehicle to the dispatch center, with the refueling vehicle publishing the topic and the dispatch center subscribing to the topic.

[0127] Release topic: pathPlan / plan / feedback / av / [vehicle code]

[0128] Subscribe to the topic: pathPlan / plan / feedback / av / +

[0129] In the second step, the dispatch center publishes the current dispatch status of the refueling vehicle to the mobile terminal through subscription, synchronizing information between the mobile terminal and the refueling vehicle. This decouples the dispatch center and the various devices involved in refueling, allowing for asynchronous operation. The latest information is then synchronized with the mobile terminal, facilitating operations and enabling collaborative work. The mobile terminal can relay messages but does not have the ability to establish a service to process them, effectively acting as a transceiver.

[0130] Continue as Figure 5 As shown, the dispatch center uses the feedback received from the driving path interface to publish the current dispatch task status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal. The data flow is from the dispatch center to the mobile terminal, the dispatch center publishes the topic, and the mobile terminal subscribes to the topic.

[0131] Release topic: pathPlan / plan / issue / av / [vehicle code]

[0132] Subscribe to the topic: pathPlan / plan / issue / av / [vehicle code]

[0133] Figure 6 Shown Figure 4 The interactive schematic diagram of the aviation fuel refueling scheduling method shown is a diagram of a refueling vehicle traveling to a destination.

[0134] Continue to combine Figure 4 and Figure 6 As shown, the refueling vehicle driving to the destination in step 131 may further include the following first and third steps.

[0135] In the first step, when the mobile terminal receives a synchronized message from the refueling vehicle confirming the refueling vehicle's route, it subscribes to the dispatch center and publishes a message with driving control instructions to the dispatch center. The driving control instructions include the vehicle code. This allows for manual assistance and safer manual control.

[0136] In the second step, upon receiving the driving control instruction from the subscribed mobile terminal, the dispatch center publishes a topic message containing the driving control instruction to the refueling vehicle through the refueling vehicle's subscription;

[0137] In step 3, upon receiving the control driving command, the refueling vehicle controls the refueling vehicle to travel to the destination according to the control driving command. The control driving command is used to start or stop the refueling vehicle. In another embodiment, a human operator can directly control the start of the refueling vehicle, that is, the interaction between the human operator and the refueling vehicle can achieve autonomous driving of the refueling vehicle.

[0138] The control driving instruction includes a start driving instruction or a safety stop instruction. The start driving instruction is used to control the start of the refueling vehicle. The safety stop instruction is used to control the stop of the refueling vehicle.

[0139] The aviation fuel refueling scheduling method further includes: a first step, when a refueling vehicle reaches its destination, the refueling vehicle, through a subscription to the dispatch center, publishes a topic message containing a completed driving route to the dispatch center; the topic message containing a vehicle code. A second step, the dispatch center, through a subscription to the mobile terminal, publishes a topic message containing the current dispatch task status of the refueling vehicle to the mobile terminal, thereby synchronizing messages between the mobile terminal and the refueling vehicle.

[0140] The aviation fuel refueling scheduling method further includes: a first step in which the refueling vehicle, through a subscription to the dispatch center, publishes a topic message to the dispatch center indicating that the vehicle has completed its route and reached its destination. A second step in which the dispatch center, through a subscription to the mobile terminal, publishes the refueling vehicle's current dispatch task status to the mobile terminal, thereby synchronizing messages between the mobile terminal and the refueling vehicle.

[0141] Continue as Figure 6 As shown, the collaborative interaction interface can include an interface for reporting the need to start driving instructions, an interface for issuing start driving instructions, an interface for reporting the need to safely stop instructions, an interface for reporting driving status, an interface for issuing safe stop instructions, and an interface for reporting the completion of the driving route and reaching the destination.

[0142] (1) Report the need to start driving instructions:

[0143] The mobile terminal, through its subscription to the dispatch center, uses the "Report Start Driving Instruction Request" interface to publish a topic message with the "Start Driving Instruction" message, which is used to control driving instructions. This data flow is from the mobile terminal to the dispatch center, with the mobile terminal publishing the topic and the dispatch center subscribing to it.

[0144] Post topic: driving / start / report / av / [vehicle code]

[0145] Subscribe to the topic: driving / start / report / av / +

[0146] (2) Issue the start driving instruction:

[0147] When the dispatch center receives a start driving command from a subscribed mobile terminal, it uses the Start Driving Command API to publish a topic message containing the start driving command to the refueling vehicle through the refueling vehicle's subscription. The data flow is from the dispatch center to the refueling vehicle, with the dispatch center publishing the topic and the refueling vehicle subscribing to it.

[0148] Post topic: driving / start / issue / av / [vehicle code]

[0149] Subscribe to the topic: driving / start / issue / av / [vehicle code]

[0150] (3) Report driving status

[0151] Refueling vehicles subscribe to the dispatch center and use the driving status reporting interface to publish topic messages to the dispatch center, which control driving instructions as safe stops. Data flows from the refueling vehicle to the dispatch center, with the refueling vehicle publishing topics and the dispatch center subscribing to topics. Refueling vehicles report their driving status to the dispatch center at a fixed frequency (e.g., 10 Hz), including driving position, direction, speed, acceleration, braking, lighting, door status, and obstacles detected by onboard sensors.

[0152] Post topic: driving / state / report / av / [vehicle code]

[0153] Subscribe to the topic: driving / state / report / av / +

[0154] (4) Report safety parking instruction requirements

[0155] The mobile terminal, through its subscription to the dispatch center, uses the "Safe Stop Instruction Reporting" API to publish a topic message to the dispatch center, indicating that the driver is commanding a safe stop. This data flow is from the mobile terminal to the dispatch center, with the mobile terminal publishing the topic and the dispatch center subscribing to it.

[0156] Post topic: driving / stop / report / av / [vehicle code]

[0157] Subscribe to the topic: driving / stop / report / av / +

[0158] (5) Issue a safety parking instruction

[0159] If the dispatch center receives a safe stop command from a subscribed mobile terminal, it uses the safe stop command delivery interface to publish a topic message containing the safe stop command to the refueling vehicle through the refueling vehicle's subscription. The data flow is from the dispatch center to the refueling vehicle, with the dispatch center publishing the topic and the refueling vehicle subscribing to the topic.

[0160] Post topic: driving / stop / issue / av / [vehicle code]

[0161] Subscribe to the topic: driving / stop / issue / av / [vehicle code]

[0162] (6) Feedback on receiving a safety stop instruction

[0163] The refueling vehicle subscribes to the dispatch center, uses the feedback interface to receive the safe stop instruction, and publishes a topic message to the dispatch center, including a message confirming that the refueling vehicle has received the safe stop instruction. The data flow is from the refueling vehicle to the dispatch center, with the refueling vehicle publishing the topic and the dispatch center subscribing to the topic.

[0164] Post topic: driving / stop / feedback / av / [vehicle code]

[0165] Subscribe to topics: driving / stop / feedback / av / +

[0166] (7) Report the completion of the route and arrival at the destination

[0167] The refueling vehicle subscribes to the dispatch center and uses the Report Completed Route and Destination Arrival interface to publish a topic message containing information about the route completed and destination reached. The data flow is from the refueling vehicle to the dispatch center, with the refueling vehicle publishing the topic and the dispatch center subscribing to the topic.

[0168] Release topic: pathPlan / complete / sync / av / [vehicle code]

[0169] Subscribe to the topic: pathPlan / complete / sync / av / [vehicle code]

[0170] (8) Synchronous scheduling task status

[0171] The dispatch center uses the route feedback interface to publish the current dispatch status of refueling vehicles to mobile terminals through subscriptions with mobile terminals, synchronizing information between the mobile terminals and the refueling vehicles. Data flows from the dispatch center to the mobile terminals, with the dispatch center publishing topics and the mobile terminals subscribing to them.

[0172] Release topic: pathPlan / plan / issue / av / [vehicle code]

[0173] Subscribe to the topic: pathPlan / plan / issue / av / [vehicle code]

[0174] In such Figure 6 In the illustrated embodiment, the dispatch center, refueling vehicles, mobile terminals, and auxiliary devices are decoupled and can communicate with each other, thereby achieving independent division of labor and mutual collaboration.

[0175] Figure 7 Shown Figure 4 The diagram shows an interaction diagram of the auxiliary device of the aviation fuel filling scheduling method executing aviation fuel filling and completing the scheduling task.

[0176] like Figure 7 As shown, the mobile terminal and the auxiliary device are connected via a wireless network.

[0177] The auxiliary device in step 132 may further perform the fuel filling and scheduling tasks as follows:

[0178] In the first step, the mobile terminal sends a start command to the auxiliary device through component communication, and simultaneously publishes a topic message containing a method for starting the auxiliary device to the dispatch center through subscription of the dispatch center; the topic message containing a method for starting the auxiliary device includes an auxiliary device code.

[0179] The component communication method may include, but is not limited to, a specific SDK (Software Development Kit).

[0180] In the second step, the auxiliary device publishes a topic message of the auxiliary device operation status to the dispatch center through the subscription of the dispatch center. The auxiliary device operation status includes one or more of the robot arm joint space position and Cartesian space posture.

[0181] In the third step, the dispatch center publishes a topic message containing control instructions for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device.

[0182] Step 4: When the auxiliary device receives the control instruction, the auxiliary device controls the auxiliary device to perform the corresponding action according to the control instruction. For example, if the control instruction includes a stop instruction, the auxiliary device will be controlled to stop accordingly. If the control instruction includes a return instruction, the auxiliary device will be controlled to return accordingly.

[0183] In the embodiment of the present application, asynchronous communication between the participating auxiliary devices and the dispatch center through the mobile terminal can not only improve the safety of the operation, but also improve the efficiency and effectiveness of the communication.

[0184] In some embodiments, the aviation fuel refueling scheduling method further includes:

[0185] When the auxiliary device completes the dispatching task, the mobile terminal publishes a subject message including the completion of this refueling operation to the dispatching center through subscription of the dispatching center; the subject message including the refueling attendant code.

[0186] Continue as Figure 7As shown, the collaborative interaction interface can include an auxiliary device synchronization interface, an auxiliary device operation status reporting interface, a stop command issuing interface, a stop command receipt feedback interface, a homing command issuing interface, an auxiliary device homing status reporting interface, an auxiliary device refueling completion notification reporting interface, and a scheduling task completion notification reporting interface.

[0187] <1> , starting auxiliary device

[0188] The startup auxiliary device interface may be a non-MQTT protocol interface. The handheld terminal and the auxiliary device are connected to the network via WIFI. The handheld terminal uses a specific SDK (Software Development Kit) as the startup auxiliary device interface to communicate with the auxiliary device and send a startup command.

[0189] <2> , Synchronous start auxiliary device

[0190] The mobile terminal, through the subscription of the dispatch center, uses the synchronization auxiliary device interface to publish a topic message containing the information for activating the auxiliary device to the dispatch center. The data flow is from the handheld terminal to the dispatch center, with the handheld terminal publishing the topic and the dispatch center subscribing to the topic.

[0191] Release topic: gasTask / start / sync / ad / [auxiliary device code]

[0192] Subscribe to the topic: gasTask / start / sync / ad / [auxiliary device code]

[0193] <3> , report the operating status of auxiliary devices

[0194] The auxiliary device, through its subscription to the dispatch center, publishes topic messages about its operating status to the dispatch center using the Auxiliary Device Operating Status Reporting API. Data flows from the auxiliary device to the dispatch center, with the auxiliary device publishing topics and the dispatch center subscribing to them. During refueling operations, the auxiliary device reports its operating status, such as the joint position and Cartesian pose of the robotic arm, to the dispatch center.

[0195] Release topic: gasTask / state / report / ad / [auxiliary device code]

[0196] Subscription topic: gasTask / state / report / ad / +

[0197] <4> , issue a stop command

[0198] The interface for issuing a stop command may not be an interface based on the MQTT protocol. The handheld terminal and the auxiliary device are connected via WIFI. The handheld terminal uses a specific SDK as the interface for issuing a stop command to communicate with the auxiliary device and send a stop command command.

[0199] <5> , issue a stop command

[0200] The dispatch center, through the auxiliary device's subscription, uses the Stop Command API to publish topic messages containing control instructions for controlling the auxiliary device's operation. The control instructions are stop commands. This data flow is from the dispatch center to the auxiliary device, with the dispatch center publishing topics and the auxiliary device defining them. This API is designed to allow the dispatch center to remotely stop auxiliary device operations.

[0201] Release topic: gasTask / stop / issue / ad / [auxiliary device code]

[0202] Subscribe to the topic: gasTask / stop / issue / ad / [auxiliary device code]

[0203] <6> , feedback received stop command

[0204] The auxiliary device, through its subscription to the dispatch center, uses the "Stop Command Received" interface to publish a topic message to the dispatch center confirming receipt of the stop command. Data flows from the auxiliary device to the dispatch center, with the auxiliary device publishing the topic and the dispatch center subscribing to it. Upon receiving a stop command from the dispatch center or a handheld terminal, the auxiliary device proactively reports receipt of the stop command to the dispatch center.

[0205] Release topic: gasTask / stop / feedback / ad / [auxiliary device code]

[0206] Subscription topics: gasTask / stop / feedback / ad / +

[0207] <7> , issue a homing command

[0208] The dispatch center, through the auxiliary device's subscription, uses the homing command interface to publish topic messages containing control instructions for the auxiliary device's operation. These control instructions are homing commands. This interface is not based on the MQTT protocol. Instead, the handheld terminal and the auxiliary device are connected via Wi-Fi, and the handheld terminal communicates with the auxiliary device using a specific SDK. After the refueling operation is completed, the handheld terminal sends the homing command to the auxiliary device.

[0209] In the embodiment of the present application, the mobile terminal publishes a subject message including the current status of the auxiliary device to the dispatch center through subscription of the dispatch center to report the message. <8> to <10> .

[0210] <8> , report the auxiliary device homing status

[0211] Mobile terminals, through subscriptions to the dispatch center, use the auxiliary device homing status reporting interface to publish a topic message containing the auxiliary device's homing status to the dispatch center. Data flows from the handheld terminal to the dispatch center, with the handheld terminal publishing the topic and the dispatch center subscribing to it. Once the auxiliary device has been successfully relocated and has been manually confirmed, the handheld terminal reports the status to the dispatch center.

[0212] Release topic: gasTask / completeBack / report / ad / [auxiliary device code]

[0213] Subscribe to the topic: gasTask / completeBack / report / ad / +

[0214] <9> , Report the auxiliary device refueling completion notification

[0215] The mobile terminal, through its subscription to the dispatch center, uses the "Report Auxiliary Device Refueling Completion Notification" interface to publish a topic message containing the message "Report Auxiliary Device Refueling Completion Notification" to the dispatch center. Data flows from the handheld terminal to the dispatch center, with the handheld terminal publishing the topic and the dispatch center subscribing to it. Once the auxiliary device completes refueling and receives manual confirmation, the handheld terminal reports the notification to the dispatch center.

[0216] Release topic: gasTask / complete / report / ad / [auxiliary device code]

[0217] Subscribe to the topic: gasTask / complete / report / ad / +

[0218] <10> , Report the completion notification of the scheduling task

[0219] The mobile terminal, through its subscription to the dispatch center, uses the dispatch task completion notification interface to publish a topic message containing a dispatch task completion notification to the dispatch center. Data flows from the handheld terminal to the dispatch center, with the handheld terminal publishing the topic and the dispatch center subscribing to it. Upon completion of the refueling dispatch operation, the handheld terminal reports the dispatch task completion notification to the dispatch center, indicating the completion of the operation.

[0220] Publish topic: schedulingTask / complete / report / gasStff / [gas attendant code]

[0221] Subscribe to the topic: schedulingTask / complete / report / gasStff / +

[0222] In an embodiment of the present application, a special vehicle dispatching system for aviation fuel refueling is provided to coordinate the interaction of various roles and relationships, as well as the interaction logic of each role, to complete the refueling coordination process.

[0223] Based on the same application concept as the above method, an embodiment of the present application provides an aviation fuel refueling scheduling method, which is applied to the scheduling center on the cloud side. The aviation fuel refueling scheduling method may include steps 1) and 2): 1) The scheduling center on the cloud side establishes a communication connection with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include a mobile terminal and other refueling equipment other than the mobile terminal; and, 2) The scheduling center interacts with the other refueling equipment through the mobile terminal, and issues the scheduling task of aviation fuel refueling and the destination of the aviation fuel refueling, so that the other refueling equipment performs the scheduling task according to the scheduling task and the destination.

[0224] In some embodiments, the other refueling equipment includes a refueling vehicle and auxiliary devices; the above 2) may further include the dispatching center generating and sending a dispatching task to the mobile terminal; and, when the dispatching center determines through the mobile terminal that the dispatching task can be executed, the dispatching center sends the dispatching task and the destination to the refueling vehicle, so that when the refueling vehicle receives the dispatching task and the destination, the refueling vehicle travels to the destination; when the refueling vehicle reaches the destination, the auxiliary device performs aviation fuel filling and completes the dispatching task.

[0225] In some embodiments, the dispatch center generates and issues a dispatch task to a mobile terminal, including: the dispatch center publishes a subject message containing the dispatch task to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal publishes a subject message containing a feedback message for receiving or refusing to execute the dispatch task to the dispatch center through the subscription of the dispatch center; the feedback message includes a gas station attendant code; and, when the dispatch center determines through the mobile terminal that it can execute the dispatch task, the dispatch center issues a dispatch task to the refueling vehicle, including: when the dispatch center receives a feedback message from the subscribed mobile terminal as a feedback message for receiving and executing the dispatch task, the dispatch center publishes a subject message containing a driving path to the refueling vehicle through the subscription of the refueling vehicle.

[0226] In some embodiments, the method also includes: when the refueling vehicle publishes a topic message containing the current scheduling task completion status to the scheduling center through the subscription of the scheduling center, the scheduling center publishes the current scheduling task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

[0227] In some embodiments, the method also includes: when the mobile terminal receives the refueling vehicle synchronization message as a subject message for confirming that the refueling vehicle has received the driving route, and the mobile terminal publishes a subject message for controlling driving instructions to the dispatch center through the subscription of the dispatch center, the dispatch center, upon receiving the control driving instructions from the subscribed mobile terminal, publishes a subject message containing the control driving instructions to the refueling vehicle through the subscription of the refueling vehicle; the control driving instructions include a vehicle code; so that when the refueling vehicle receives the control driving instructions, the refueling vehicle controls the refueling vehicle to travel to the destination according to the control driving instructions, and the control driving instructions are used to control the start of the refueling vehicle or control the stop of the refueling vehicle.

[0228] In some embodiments, the other refueling equipment includes an auxiliary device; the mobile terminal and the auxiliary device are connected via a wireless network; when the mobile terminal sends a start command to the auxiliary device via component communication, and synchronously publishes a subject message containing a function to start the auxiliary device to the dispatch center through the subscription of the dispatch center, and the auxiliary device publishes a subject message containing a function to start the auxiliary device to the dispatch center through the subscription of the dispatch center, the dispatch center publishes a subject message containing a control instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device, so that when the auxiliary device receives the control instruction, the auxiliary device controls the auxiliary device to perform a corresponding action according to the control instruction; the subject message containing a function to start the auxiliary device includes an auxiliary device code.

[0229] Figure 8 Shown is a module schematic diagram of the aviation fuel filling scheduling device according to an embodiment of the present application.

[0230] like Figure 8As shown, based on the same application concept as the above method, an embodiment of the present application provides a cloud-side dispatching center, which may include the following modules: a communication establishment module 41, used to establish communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling devices other than the mobile terminals; and a task issuing module 42, used to interact with the other refueling devices through the mobile terminal, and issue the scheduling task of aviation fuel refueling and the destination of the aviation fuel refueling, so that the other refueling devices perform the scheduling task according to the scheduling task and the destination.

[0231] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0232] Based on the same application concept as the above method, the present application provides an aviation fuel filling scheduling method, which is applied to other refueling equipment on the aviation fuel filling side except for mobile terminals. Each device on the aviation fuel filling side establishes a communication connection with the scheduling center respectively. The aviation fuel filling scheduling method includes the other refueling equipment interacting with the scheduling center on the cloud side through the mobile terminal, receiving the aviation fuel filling scheduling task and the aviation fuel filling destination of the scheduling center, so that other refueling equipment can execute the scheduling task according to the scheduling task and the destination.

[0233] In some embodiments, the other refueling equipment includes a refueling vehicle and an auxiliary device; the other refueling equipment executes the scheduling task according to the scheduling task and the destination, including: when the scheduling center determines through the mobile terminal that it can execute the scheduling task generated and issued by the scheduling center, the refueling vehicle receives the scheduling task and destination issued by the scheduling center, and the refueling vehicle drives to the destination; and when the refueling vehicle reaches the destination, the auxiliary device performs aviation fuel filling and completes the scheduling task.

[0234] In some embodiments, the mobile terminal and the auxiliary device are connected via a wireless network; the auxiliary device performs aviation fuel refueling and completes the scheduling task, including: when the mobile terminal sends a start command to the auxiliary device through component communication, and synchronously publishes a subject message containing a function of starting the auxiliary device to the scheduling center through the subscription of the scheduling center, the auxiliary device publishes a subject message containing a function of starting the auxiliary device to the scheduling center through the subscription of the scheduling center, so that the scheduling center publishes a subject message containing a control instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; when the auxiliary device receives the control instruction, the auxiliary device controls the auxiliary device to perform corresponding actions according to the control instruction; the auxiliary device operating status includes one or more of the spatial position of the robotic arm joint and the Cartesian space posture, and the subject message containing the function of starting the auxiliary device includes the auxiliary device code.

[0235] In some embodiments, the aviation fuel refueling scheduling method also includes: when the auxiliary device completes the scheduling task, the mobile terminal publishes a subject message including the completion of this refueling operation to the scheduling center through the subscription of the scheduling center; the subject message including the completion of this refueling operation includes the refueler code.

[0236] In some embodiments, the other refueling equipment includes a refueling vehicle and auxiliary devices; the method also includes: the refueling vehicle publishes a topic message containing the current scheduling task completion status to the dispatch center through the subscription of the dispatch center; so that the dispatch center publishes the current scheduling task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

[0237] In some embodiments, the method further includes: when the mobile terminal subscribes to the dispatch center and publishes a subject message for controlling driving instructions to the dispatch center, and when the dispatch center receives the controlling driving instructions from the subscribed mobile terminal, the dispatch center publishes a subject message containing the controlling driving instructions to the refueling vehicle through the refueling vehicle's subscription, the refueling vehicle receives the controlling driving instructions; when the refueling vehicle receives the controlling driving instructions, the refueling vehicle controls the refueling vehicle to travel to the destination according to the controlling driving instructions, and the controlling driving instructions are used to control the refueling vehicle to start or control the refueling vehicle to stop; the controlling driving instructions include a vehicle code.

[0238] In some embodiments, the aviation fuel refueling scheduling method also includes: when the refueling vehicle reaches the destination, the refueling vehicle publishes a subject message including the completed driving route to the dispatch center through the subscription of the dispatch center, so that the dispatch center publishes the current scheduling task status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages; the subject message of the completed driving route includes a vehicle code.

[0239] Based on the same application concept as the above method, an embodiment of the present application provides a device on the aviation fuel refueling side, and each device on the aviation fuel refueling side establishes a communication connection with the dispatching center respectively. The device on the aviation fuel refueling side includes a scheduling task execution module, which is used to interact with the dispatching center on the cloud side through a mobile terminal, receive the aviation fuel refueling scheduling task and the destination of the aviation fuel refueling from the dispatching center, so that other refueling equipment can execute the scheduling task according to the scheduling task and the destination.

[0240] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0241] Figure 9 Shown is a module block diagram of an electronic device provided in an embodiment of the present application.

[0242] like Figure 9 As shown, the electronic device 50 includes one or more processors 51 for implementing the above aviation fuel filling scheduling method.

[0243] In some embodiments, the electronic device 50 may include a computer-readable storage medium 59, which may store a program that can be called by the processor 51 and may include a non-volatile storage medium. In some embodiments, the electronic device 50 may include a memory 58 and an interface 57. In some embodiments, the electronic device 50 may also include other hardware depending on the actual application.

[0244] The electronic devices may include devices at a dispatch center, fuel refueling stations, or smart devices, which are not listed here one by one. Smart devices may include smartphones.

[0245] The computer-readable storage medium 59 of the embodiment of the present application stores a program thereon, which, when executed by the processor 51 , is used to implement the aviation fuel refueling scheduling method described above.

[0246] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 59 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media 59 include permanent and non-permanent, removable and non-removable media, and may implement information storage by any method or technology. The information may be computer-readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media 59 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0247] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

[0248] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, the phrase "comprises a ..." defining an element does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

Claims

1. A method for scheduling aviation fuel filling, characterized in that: The cloud-side dispatch center establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling equipment other than the mobile terminals; the other refueling equipment includes auxiliary devices; the mobile terminals include handheld terminals used by refuelers; the auxiliary devices are auxiliary refueling devices used to refuel aircraft; and the auxiliary refueling devices include robotic arms or robots. The handheld terminal is connected to the auxiliary refueling device via a wireless network; The handheld terminal, the refueling vehicle and the auxiliary device respectively interact with the dispatch center; The aviation fuel filling scheduling method includes: The dispatch center interacts with the other refueling equipment through the mobile terminal to issue a dispatch task for aviation fuel refueling and a destination for the aviation fuel refueling; The other refueling equipment executes the scheduling task according to the scheduling task and the destination; wherein the scheduling task is executed by the following steps: sending a start command to the auxiliary device through the handheld terminal, and synchronously publishing a topic message containing a message for starting the auxiliary device to the scheduling center through the subscription of the scheduling center; The auxiliary device publishes a topic message of the auxiliary device operation status to the dispatch center through subscription of the dispatch center; the auxiliary device operation status includes one or more of the joint spatial position and Cartesian spatial posture of the manipulator; The dispatch center publishes a topic message containing a control instruction for controlling the position and / or posture of the auxiliary device to the auxiliary device through the auxiliary device's subscription; and When the auxiliary device receives the control instruction through the subscription of the auxiliary device, the auxiliary device controls the auxiliary device to perform a corresponding action according to the control instruction to perform the scheduling task; The method further includes: the handheld terminal communicating with the auxiliary device to send a stop instruction command; The dispatch center publishes a topic message containing a stop instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; The auxiliary device publishes a topic message to the dispatch center through subscription to the dispatch center, which is used to confirm that the auxiliary device has received the stop instruction; The dispatch center publishes a topic message containing a stop instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; The auxiliary device publishes a topic message to the dispatch center through subscription to the dispatch center, which is used to confirm that the auxiliary device has received the stop instruction; The dispatch center publishes a topic message containing a homing instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; The handheld terminal publishes a topic message containing the homing status of the auxiliary device to the dispatch center through subscription of the dispatch center to report the message; The handheld terminal publishes a subject message including a notification of completion of refueling of the auxiliary device to the dispatch center through subscription of the dispatch center, thereby reporting the message; The handheld terminal publishes a subject message containing a notification of completion of a scheduling task to the scheduling center through subscription of the scheduling center, so as to report the message.

2. The aviation fuel filling scheduling method according to claim 1, characterized in that: Said other refueling equipment includes refueling vehicles; The dispatch center interacts with the other refueling equipment through the mobile terminal to issue a dispatch task for aviation fuel refueling and a destination for the aviation fuel refueling, including: The dispatch center generates and sends a dispatch task to the mobile terminal; When the dispatch center determines through the mobile terminal that the dispatch task can be executed, the dispatch center sends the dispatch task and the destination to the refueling vehicle; The other refueling equipment performs the scheduling task according to the scheduling task and the destination, including: When the refueling vehicle receives the dispatch task and the destination, the refueling vehicle drives toward the destination; When the refueling vehicle reaches the destination, the auxiliary device performs aviation fuel filling and completes the scheduling task.

3. The aviation fuel filling scheduling method according to claim 2, characterized in that: The dispatch center generates and sends a dispatch task to the mobile terminal, including: The scheduling center publishes a topic message containing the scheduling task to the mobile terminal through the subscription of the mobile terminal; The mobile terminal publishes a subject message containing a feedback message for accepting or rejecting the scheduling task to the scheduling center through subscription to the scheduling center; the feedback message includes a gas station attendant code; When the dispatch center determines through the mobile terminal that the dispatch task can be executed, the dispatch center issues the dispatch task to the refueling vehicle, including: When the dispatch center receives the feedback message from the subscribed mobile terminal, which is a feedback message for executing the dispatch task, the dispatch center publishes a topic message including the driving route to the refueling vehicle through the refueling vehicle's subscription.

4. The aviation fuel filling scheduling method according to claim 2, characterized in that: The refueling vehicle travels toward the destination, comprising: When the mobile terminal receives a topic message synchronized by the refueling vehicle to confirm that the refueling vehicle has received a driving route, the mobile terminal issues a driving control instruction to the dispatch center through subscription to the dispatch center; the driving control instruction includes a vehicle code; Upon receiving the driving control instruction from the subscribed mobile terminal, the dispatch center publishes a topic message containing the driving control instruction to the refueling vehicle through the refueling vehicle's subscription; When the refueling vehicle receives the control driving instruction, the refueling vehicle controls the refueling vehicle to travel toward the destination according to the control driving instruction, where the control driving instruction is used to control the refueling vehicle to start or control the refueling vehicle to stop.

5. The aviation fuel filling scheduling method according to claim 2, characterized in that: The subject message for activating the auxiliary device includes an auxiliary device code.

6. The aviation fuel filling scheduling method according to claim 1, characterized in that: The method further comprises: The refueling vehicle publishes a topic message containing the completion status of the current scheduling task to the scheduling center through subscription of the scheduling center; The dispatch center publishes the current dispatch task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

7. The aviation fuel filling scheduling method according to claim 6, characterized in that: The refueling vehicle publishes a topic message containing the completion status of the current scheduling task to the scheduling center through the subscription of the scheduling center, including: The refueling vehicle publishes a subject message to the dispatch center through subscription to the dispatch center for confirming that the refueling vehicle has received the driving route; the subject message for confirming that the refueling vehicle has received the driving route includes a vehicle code; The dispatch center publishes the current dispatch task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages, including: The dispatch center publishes the current dispatch task status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

8. The aviation fuel filling scheduling method according to claim 6, characterized in that: The refueling vehicle publishes a topic message containing the completion status of the current scheduling task to the scheduling center through the subscription of the scheduling center, including: When the refueling vehicle reaches the destination, the refueling vehicle publishes a subject message including a completed driving route to the dispatch center through subscription of the dispatch center; the subject message including a completed driving route includes a vehicle code; The dispatch center publishes the current dispatch task completion status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages, including: The dispatch center publishes the current dispatch task status of the refueling vehicle to the mobile terminal through the subscription of the mobile terminal, so that the mobile terminal and the refueling vehicle synchronize messages.

9. The aviation fuel filling scheduling method according to claim 1, characterized in that: The aviation fuel filling scheduling method further includes: When the auxiliary device completes the scheduling task, the mobile terminal publishes a subject message including the completion of this refueling operation to the scheduling center through the subscription of the scheduling center; the subject message including the completion of this refueling operation includes the refueler code.

10. An aviation fuel filling scheduling system, characterized in that: The dispatch center on the cloud side establishes communication connections with each device on the aviation fuel refueling side, and the devices on the aviation fuel refueling side include mobile terminals and other refueling devices except the mobile terminals; The other refueling equipment includes an auxiliary device; the mobile terminal includes a handheld terminal of a refueler; the auxiliary device is an auxiliary refueling device for refueling an aircraft; the auxiliary refueling device includes a robotic arm or a robot; The handheld terminal is connected to the auxiliary refueling device via a wireless network; The handheld terminal, the refueling vehicle and the auxiliary device respectively interact with the dispatch center; The aviation fuel filling scheduling system includes: The dispatch center interacts with the other refueling equipment through the mobile terminal to issue a dispatch task for aviation fuel refueling and a destination for the aviation fuel refueling; The other refueling equipment performs the scheduling task according to the scheduling task and the destination; wherein the other refueling equipment performs the scheduling task according to the scheduling task and the destination, including: The scheduling task is executed by: sending a start command to the auxiliary device through the handheld terminal, and publishing a topic message containing a message for starting the auxiliary device to the scheduling center through the subscription of the scheduling center; The auxiliary device publishes a topic message of the auxiliary device operation status to the dispatch center through subscription of the dispatch center; the auxiliary device operation status includes one or more of the joint spatial position and Cartesian spatial posture of the manipulator; The dispatch center publishes a topic message containing a control instruction for controlling the position and / or posture of the auxiliary device to the auxiliary device through the auxiliary device's subscription; and When the auxiliary device receives the control instruction through the subscription of the auxiliary device, the auxiliary device controls the auxiliary device to perform a corresponding action according to the control instruction to perform the scheduling task; The aviation fuel filling scheduling system further includes: the handheld terminal communicating with the auxiliary device to send a stop instruction command; The dispatch center publishes a topic message containing a stop instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; The auxiliary device publishes a topic message to the dispatch center through subscription to the dispatch center, which is used to confirm that the auxiliary device has received the stop instruction; The dispatch center publishes a topic message containing a stop instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; The auxiliary device publishes a topic message to the dispatch center through subscription to the dispatch center, which is used to confirm that the auxiliary device has received the stop instruction; The dispatch center publishes a topic message containing a homing instruction for controlling the operation of the auxiliary device to the auxiliary device through the subscription of the auxiliary device; The handheld terminal publishes a topic message containing the homing status of the auxiliary device to the dispatch center through subscription of the dispatch center to report the message; The handheld terminal publishes a subject message including a notification of completion of refueling of the auxiliary device to the dispatch center through subscription of the dispatch center, thereby reporting the message; The handheld terminal publishes a subject message containing a notification of completion of a scheduling task to the scheduling center through subscription of the scheduling center, so as to report the message.

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