Air traffic control vehicle control device and method applied to airport

Abstract

The invention provides an air traffic control vehicle control device applied to an airport, which is characterized in that an air traffic control vehicle comprises a four-wheel chassis used for controlling the air traffic control vehicle to advance, retreat and steer; the pipe reeling device is used for recycling / spreading the air pipeline; the vehicle control unit is used for calculating the rotating speed of a left rear wheel servo motor and the rotating speed of a right rear wheel servo motor through the following functional expressions: R1 = (90-a) / 90 * R and R2 = (90 + a) / 90 * R, and sending the calculated rotating speeds of the servo motors to the four-wheel chassis and the pipe rolling device so as to realize the following function of the empty pipe vehicle; the remote controller receiver is used for sensing a connecting line included angle and a vertical distance between the remote controller and the air traffic control vehicle and sending a sensing result to the whole vehicle controller; and the remote controller is used for communicating with the sensing remote controller so as to sense data. According to the technical scheme, the technical problems of manually pushing, pulling and moving an air pipe trolley and manually rotating a pipe winding device in the prior art are solved.

Description

Technical Field

[0001] The present application relates to the technical field of air traffic control vehicle control, and in particular to an air traffic control vehicle control device and method used in airports. Background Art

[0002] At the airport, when the plane is parked at the jet bridge and people are entering and exiting the plane, a special air duct is needed to deliver air to the inside of the plane. This air duct needs to be rolled up, retracted and rolled out by the maintenance personnel at the airport. When the maintenance personnel are working, an air traffic control vehicle is used. This air traffic control vehicle consists of a chassis and a set of pipe reel devices. The chassis can be pushed and pulled by manpower, and the pipe reel device can also be rotated by manpower. This manual air traffic control vehicle has increased the workload of maintenance personnel to a certain extent. Summary of the invention

[0003] In view of this, the present invention provides an air traffic control vehicle control device and method for airports to solve the problems of manually pushing and pulling the air traffic control vehicle and manually rotating the pipe reel device in the prior art. The air traffic control vehicle comprises: a four-wheel chassis, including two front wheels and two rear wheels, each rear wheel is provided with a servo motor and a motor controller, for controlling the air traffic control vehicle to move forward, backward and turn; the pipe reel device comprises a motor controller and a servo motor, for recovering / unrolling the air duct; a whole vehicle controller, respectively connected to the servo motor and motor controller of the four-wheel chassis, and the servo motor and motor controller of the pipe reel device, for obtaining the angle a and the vertical distance y between the remote control and the air traffic control vehicle according to the remote control receiver, and calculating the rotation speed of the left rear wheel servo motor and the right rear wheel servo motor by the following function formula: R1 = (90 - a) / 90 * R, R2 = (90 + a) / 90* R, where R1 is the speed of the right rear wheel servo motor, R2 is the speed of the left rear wheel servo motor, and R is the maximum servo motor speed. The calculated servo motor speed is sent to the four-wheel chassis and the hose reel to realize the following function of the ATC vehicle. The remote control receiver is arranged at the front of the ATC vehicle to sense the angle and vertical distance between the remote control and the ATC vehicle, and send the sensed result to the vehicle controller. The remote control is connected to the remote control receiver through a network and is used to communicate with the sensing remote control so that it can sense data.

[0004] Furthermore, the two front wheels are universal wheels.

[0005] Furthermore, the remote control receiver is also used to receive a remote control signal sent by the remote control and send the remote control signal to the vehicle controller.

[0006] Furthermore, the vehicle controller controls the movement of the air traffic control vehicle according to the remote control signal to realize the remote control function of the air traffic control vehicle.

[0007] Furthermore, the remote control includes a joystick, which is used to control the air traffic control vehicle to move forward and the pipe reel device to recycle the air duct when the joystick is pushed forward; to control the air traffic control vehicle to move backward and the pipe reel device to spread out the air duct when the joystick is pushed backward; to control the air traffic control vehicle to turn left when the joystick is pushed to the left; and to control the air traffic control vehicle to turn right when the joystick is pushed to the right.

[0008] The present application also provides an air traffic control vehicle control method for an airport, the method comprising: step 1, a remote control receiver senses the angle a and vertical distance between the remote control and the air traffic control vehicle, and sends them to a vehicle controller; step 2, the vehicle controller obtains the angle a and vertical distance y between the remote control and the air traffic control vehicle according to the remote control receiver, and calculates the left rear wheel servo motor speed and the right rear wheel servo motor speed by the following function: R1 = (90 - a) / 90 * R, R2 = (90 + a) / 90 * R, wherein R1 is the right rear wheel servo motor speed, R2 is the left rear wheel servo motor speed, and R is the maximum servo motor speed, and the calculated servo motor speed is sent to a four-wheel chassis and a pipe reel device; step 3, the two rear wheels of the four-wheel chassis control the forward, backward and steering of the air traffic control vehicle according to the left rear wheel servo motor speed and the right rear wheel servo motor speed, respectively, to realize the following function of the air traffic control vehicle; step 4, the pipe reel device recycles / unrolls the air duct according to the speeds of the two servo motors.

[0009] Furthermore, the method also includes: step 5, when the remote control joystick is pushed forward / backward, the remote control sends a forward / backward remote control signal to the remote control receiver, the remote control receiver sends it to the vehicle controller, and the vehicle controller sends it to the four-wheel chassis and the pipe winding device to control the air traffic control vehicle to move forward / backward, and the pipe winding device retracts / unrolls the air duct; step 6, when the remote control joystick is pushed left / right, the remote control sends a left / right remote control signal to the remote control receiver, the remote control receiver sends it to the vehicle controller, and the vehicle controller sends it to the four-wheel chassis to control the air traffic control vehicle to turn left / right.

[0010] Further, step 2 further includes: step 21, taking the remote control receiver as the origin, taking the center line of the vehicle head and tail as the Y-axis, and taking the line perpendicular to the Y-axis and parallel to the ground as the X-axis to establish a rectangular coordinate system; step 22, when the included angle between the remote control and the ATC vehicle received by the vehicle controller is determined, it is judged whether the absolute value of the included angle is zero. If it is zero, the rotational speed of the right rear wheel servo motor is equal to that of the left rear wheel servo motor, and step 24 is executed. If the absolute value of the included angle is not zero, it is judged whether the remote control is located in the first quadrant or the second quadrant of the rectangular coordinate system, and step 23 is executed; step 23, when the remote control is located in the first quadrant, the rotational speed of the left rear wheel servo motor is greater than that of the right rear wheel servo motor. When the remote control is located in the second quadrant, the rotational speed of the left rear wheel servo motor is less than that of the right rear wheel servo motor, and then step 24 is executed; step 24, respectively send the rotational speeds of the left rear wheel servo motor and the right rear wheel servo motor to the four-wheel chassis.

[0011] Further, step 3 further includes: step 31, when the rotational speed of the left rear wheel servo motor is greater than that of the right rear wheel servo motor, the ATC vehicle turns right; step 32, when the rotational speed of the left rear wheel servo motor is less than that of the right rear wheel servo motor, the ATC vehicle turns left; step 33, when the rotational speed of the left rear wheel servo motor is equal to that of the right rear wheel servo motor, if the rotational speed direction is positive, the ATC vehicle moves forward. If the rotational speed direction is negative, the ATC vehicle moves backward.

[0012] Further, step 2 further includes: step 25, the vehicle controller judges the size of the vertical distance y between the remote control and the ATC vehicle received. If y > L, the ATC vehicle moves. If y < L, the ATC vehicle stops.

[0013] The present invention provides an ATC vehicle control device and method applied to an airport. This technical solution is based on UWB (Ultra Wideband, a carrierless communication technology that uses non-sinusoidal narrow pulses in the nanosecond to microsecond range to transmit data). Through communication transmission between the remote control and the remote control receiver, and then through the calculation and signal transmission of the vehicle controller (VCU), the servo motor is controlled to realize the following of the ATC vehicle and the recycling / spreading of the air pipeline by the pipe coiling device. This technical solution solves the technical problems existing in the prior art of manually pushing and pulling the ATC vehicle and manually rotating the pipe coiling device. Description of the Drawings

[0014] Figure 1 is a schematic diagram of an ATC vehicle control device applied to an airport provided by the present invention; Figure 2 is a schematic flowchart of an ATC vehicle control method applied to an airport provided by the present invention; Figure 3 is a schematic diagram of a physical remote control provided by the present invention; Figure 4It is a schematic diagram of a flow chart of the vehicle controller provided by the present invention sending the servo motor speed according to the connection angle and the vertical distance; Figure 5 It is a schematic diagram of a process of controlling the movement of an air traffic control vehicle according to the rotation speed of a servo motor by a four-wheel chassis provided by the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] Device Item Example: like Figure 1 As shown, the present invention provides an air traffic control vehicle control device for use at an airport, the air traffic control vehicle control device comprising a four-wheel chassis, a pipe winding device, a vehicle controller, a remote control receiver 4 and a remote control 5.

[0017] The four-wheel chassis comprises two front wheels 2 and two rear wheels 3, each rear wheel 3 is provided with a servo motor and a motor controller, and the two front wheels 2 are universal wheels. The four-wheel chassis is used to control the air traffic control vehicle 1 to move forward, backward and turn.

[0018] The tube reel device includes a motor controller and a servo motor, which are used to recycle / unroll the air duct. As mentioned above, the four-wheel chassis is equipped with two servo motors and two corresponding motor controllers, a total of three motor controllers, which will communicate with the vehicle controller mentioned later to obtain the servo motor speed and control the corresponding servo motor. However, the speed of the tube reel device to recycle / unroll the air duct is basically unchanged, and it will only rotate, stop or turn according to the speed of the two servo motors on the four-wheel chassis. The specific process will be described in detail later.

[0019] The vehicle controller is respectively connected to the servo motor and motor controller of the four-wheel chassis, and the servo motor and motor controller of the tube reel, and is used to obtain the angle a and the vertical distance y between the remote control 5 and the air traffic control vehicle 1 according to the remote control receiver 4, and calculate the left rear wheel servo motor speed and the right rear wheel servo motor speed by the following function: R1 = (90 - a) / 90 * R, R2 = (90 + a) / 90 * R, where R1 is the right rear wheel servo motor speed, R2 is the left rear wheel servo motor speed, and R is the maximum servo motor speed. The calculated servo motor speed is sent to the four-wheel chassis and the tube reel to realize the following function of the air traffic control vehicle; the vehicle controller controls the movement of the air traffic control vehicle according to the remote control signal to realize the remote control function of the air traffic control vehicle.

[0020] The remote control receiver 4 is arranged at the front of the air traffic control vehicle 1, and is used to sense the angle a and vertical distance y between the remote control 5 and the air traffic control vehicle 1, and send the sensed result to the vehicle controller; the remote control receiver 4 is also used to receive the remote control signal sent by the remote control 5, and send the remote control signal to the vehicle controller. The angle a and vertical distance y between the remote control 5 and the air traffic control vehicle 1 mentioned here are actually the angle and vertical distance between the remote control receiver 4 and the remote control 5, but because the remote control receiver 4 is arranged on the air traffic control vehicle 1, it can be equivalent to the angle and vertical distance between the remote control 5 and the air traffic control vehicle 1.

[0021] The remote controller 5 communicates with the remote control receiver 4 via the network so that it can sense data. Figure 2 As shown, the remote controller 5 includes a rocker, which is used to control the air traffic control vehicle to move forward and the pipe reel device to recycle the air duct when the rocker is pushed forward; control the air traffic control vehicle to move backward and the pipe reel device to spread the air duct when the rocker is pushed backward; control the air traffic control vehicle to turn left when the rocker is pushed left; and control the air traffic control vehicle to turn right when the rocker is pushed right. The remote controller 5 first sends a signal to the remote controller receiver 4, which is then sent to the vehicle controller by the remote controller receiver 4 set on the air traffic control vehicle 1. Therefore, the remote controller 5 communicates with the vehicle controller through the remote controller receiver 4 set on the air traffic control vehicle 1, so that the vehicle controller can know which buttons are pressed and which rockers are moved by the remote controller 5, and perform corresponding control operations according to the operation of the remote controller 5. Based on the above electrical system, the remote controller 5 can also switch the control mode of the car. The car has two control modes in total, one is the remote control mode and the other is the follow mode. As mentioned above, in the remote control mode, the vehicle controller can control the air traffic control vehicle according to the buttons and rocker operations on the remote controller 5.

[0022] The present invention provides an air traffic control vehicle control device for airports. The technical solution is based on UWB technology. Communication transmission is performed through a remote controller and a remote controller receiver. The servo motor is controlled through calculation and signal transmission of the vehicle controller to achieve the following of the air traffic control vehicle and the recovery / unrolling of the air duct by the pipe reel device. Compared with the existing human-powered air traffic control vehicle, the air traffic control vehicle control device provided by the present invention is changed from human-powered to electric remote control driven and automatic following driven, which greatly reduces the work intensity of the maintenance personnel.

[0023] Method Item Example: The present invention provides an air traffic control vehicle control method for an airport, such as Figure 1 As shown, the method includes the following steps.

[0024] Step 1: The remote control receiver senses the angle and vertical distance between the remote control and the air traffic control vehicle, and sends it to the vehicle controller; Step 2: The vehicle controller obtains the connection angle α and the vertical distance y between the remote controller and the empty pipe vehicle from the remote controller receiver, and calculates the rotational speeds of the left rear wheel servo motor and the right rear wheel servo motor through the following functional formula: R1 = (90 - α) / 90 * R, R2 = (90 + α) / 90 * R, where R1 is the rotational speed of the right rear wheel servo motor, R2 is the rotational speed of the left rear wheel servo motor, and R is the maximum servo motor rotational speed. The calculated servo motor rotational speeds are sent to the four-wheel chassis and the pipe coiling device. As Figure 4 shown, the process by which the vehicle controller sends the servo motor rotational speeds to the four-wheel chassis and the pipe coiling device according to the received connection angle α and the vertical distance y between the remote controller and the empty pipe vehicle is as follows.

[0025] Step 21: Taking the remote controller receiver as the origin, the center line of the vehicle head and tail as the Y-axis, and the line perpendicular to the Y-axis and parallel to the ground as the X-axis, a rectangular coordinate system is established. Step 22: When the vehicle controller receives the connection angle between the remote controller and the empty pipe vehicle, it judges whether the absolute value of the angle is zero. If it is zero, the rotational speeds of the right rear wheel servo motor and the left rear wheel servo motor are equal, and it goes to Step 24. If the absolute value of the angle is not zero, it judges whether the remote controller is in the first quadrant or the second quadrant of the rectangular coordinate system, and goes to Step 23. According to the characteristics of UWB technology, when the remote controller 5 and the empty pipe vehicle 1 are not on the same straight line, they can only be in the first quadrant or the second quadrant. Since the rotational speed ranges of the left rear wheel and the right rear wheel, these two driving wheels, are usually -3000~+3000 units rpm, when the remote controller 5 and the empty pipe vehicle 1 are on the same straight line, the rotational speeds of the two rear wheels 4 are generally 3000 rpm, and the empty pipe vehicle 1 moves straight forward at the maximum speed, or the rotational speeds of the two rear wheels 4 are -3000 rpm, and the empty pipe vehicle 1 moves straight backward at the maximum speed.

[0026] Step 23: When the remote controller is in the first quadrant, the rotational speed of the left rear wheel servo motor is greater than that of the right rear wheel servo motor. When the remote controller is in the second quadrant, the rotational speed of the left rear wheel servo motor is less than that of the right rear wheel servo motor, and it goes to Step 24. When the remote controller is in the first quadrant, the angle 0 < α < 90, and the vehicle needs to turn right to adjust for following. At this time, the rotational speed of the left rear wheel is 3000 rpm, and the relationship between the rotational speed R1 of the right rear wheel and the angle α is as follows: R1 = (90 - α) / 90 * 3000. When the remote controller is in the second quadrant, the angle -90 < α < 0, and the vehicle needs to turn left to adjust for following. At this time, the rotational speed of the right rear wheel is 3000 rpm, and the relationship between the rotational speed R2 of the left rear wheel and the angle α is as follows: R2 = (90 + α) / 90 * 3000. The 3000 rpm mentioned here is only a general upper and lower limit of the rotational speed, and in actual applications, it can be adjusted according to actual needs.

[0027] Step 24: Send the rotational speeds of the left rear-wheel servo motor and the right rear-wheel servo motor to the four-wheel chassis respectively. Step 25: The vehicle controller determines the magnitude relationship between the vertical distance y between the remote controller and the empty pipe vehicle received and the preset value L. If y > L, the empty pipe vehicle moves; if y < L, the empty pipe vehicle stops.

[0028] In the following mode, when the included angle is in the range of -3° to 3°, the vehicle travels straight, that is, ±3° is the allowable error. When the vertical distance y is less than the preset value, it means that the distance between the empty pipe vehicle 1 and the following remote controller 5 is too close, and the vehicle stops. When the vertical distance y is greater than the preset value, the empty pipe vehicle will move and follow. However, when the vertical distance y is greater than a certain distance, for example, y is greater than 8 meters, it means that the person is walking too fast with the remote controller 5, and the distance between the empty pipe vehicle and the following remote controller 5 is too far, and the vehicle stops. The preset value mentioned here is generally 1.5 meters, but it can also be adjusted as needed.

[0029] In the following forward mode, according to the judgment of the included angle, when the remote controller is in the first quadrant, the left rear wheel is faster than the right rear wheel, and the vehicle turns right. Moreover, the greater the absolute value of the included angle, the greater the speed difference between the two wheels. When the remote controller is in the second quadrant, the left rear wheel is slower than the right rear wheel, and the vehicle turns left. Also, the greater the absolute value of the included angle, the greater the speed difference between the two wheels. When the included angle is 0, the speeds of the two rear wheels are the same, and the vehicle travels straight. At the same time, the VCU will also judge according to the parameter y. When the distance is greater than a certain value, the vehicle moves forward. When the distance is less than a certain value, it means that the distance between the vehicle and the remote controller is too close, and the vehicle stops. In addition, when the vehicle is in the following forward mode, the coiling device retracts the air pipeline. The same applies to the following reverse mode.

[0030] Step 3: The two rear wheels of the four-wheel chassis control the forward, backward, and turning of the empty pipe vehicle respectively according to the rotational speeds of the left rear-wheel servo motor and the right rear-wheel servo motor, so as to realize the following function of the empty pipe vehicle. As Figure 5 shown, the process of the four-wheel chassis controlling the movement of the empty pipe vehicle 1 according to the rotational speed of the servo motor is as follows.

[0031] Step 31: When the rotational speed of the left rear-wheel servo motor is greater than that of the right rear-wheel servo motor, the empty pipe vehicle turns right. Step 32: When the rotational speed of the left rear-wheel servo motor is less than that of the right rear-wheel servo motor, the empty pipe vehicle turns left. Step 33: When the rotational speed of the left rear-wheel servo motor is equal to that of the right rear-wheel servo motor, if the rotational speed direction is positive, the empty pipe vehicle moves forward; if the rotational speed direction is negative, the empty pipe vehicle moves backward.

[0032] It can be seen that the air traffic control vehicle 1 is implemented based on UWB technology. With the remote control receiver as the coordinate origin, the VCU can sense whether the remote control is located in the first quadrant or the second quadrant, and then sense the angle between the line connecting the remote control and the receiver and the line L connecting the front and rear of the vehicle. It can also sense the vertical distance between the remote control and the line connecting the front and rear of the vehicle. According to the two parameters of this angle and vertical distance, the speed of the left and right motors is adjusted to realize the following function.

[0033] Step 4: The tube reel device recycles / unrolls the air tube according to the rotation speed of the two servo motors.

[0034] As can be seen from the foregoing, since the air traffic control vehicle 1 has the following moving modes: forward, backward, left turn, and right turn, the speeds of the servo motors on the two rear wheels 3 of the four-wheel chassis will also be different. When the speeds of the two servo motors are both positive, it means that the air traffic control vehicle is moving forward, and the servo motor on the tube reel device rotates under the control of its motor controller to recycle the air duct; when the speeds of the two servo motors are both negative, it means that the air traffic control vehicle is moving backward, and the servo motor on the tube reel device rotates under the control of its motor controller to spread the air duct; when the speeds of the two servo motors are different, it means that the air traffic control vehicle is turning, and the servo motor on the tube reel device stops rotating.

[0035] Step 5, when the remote control joystick is pushed forward / backward, the remote control sends a forward / backward remote control signal to the remote control receiver, and the remote control receiver sends it to the vehicle controller, and the vehicle controller sends it to the four-wheel chassis and the pipe reel device to control the air pipe vehicle to move forward / backward, and the pipe reel device to retract / unroll the air pipe; Step 6, when the remote control joystick is pushed left / right, the remote control sends a left / right remote control signal to the remote control receiver, the remote control receiver sends it to the vehicle controller, and the vehicle controller sends it to the four-wheel chassis to control the air traffic control vehicle to turn left / right.

[0036] The present invention provides an air traffic control vehicle control method for airports. The technical solution is based on UWB technology, and communication transmission is performed through a remote controller and a remote controller receiver, and then the servo motor is controlled through calculation and signal transmission of the vehicle controller to achieve the following of the air traffic control vehicle and the recovery / unrolling of the air duct by the pipe reel device. Compared with the existing human-powered air traffic control vehicle, the air traffic control vehicle control device provided by the present invention is changed from human-powered to electric remote control drive and automatic follow-up drive, which greatly reduces the work intensity of the maintenance personnel.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An air traffic control vehicle control device used in an airport, characterized in that: The air traffic control vehicle comprises: The four-wheel chassis includes two front wheels and two rear wheels. Each rear wheel is provided with a servo motor and a motor controller for controlling the forward, backward and steering of the air traffic control vehicle. A tube reel device, including a motor controller and a servo motor, for retrieving / unrolling the air tube; The vehicle controller is connected to the servo motor and motor controller of the four-wheel chassis, as well as the servo motor and motor controller of the hose reel, and is used to obtain the angle a and vertical distance y between the remote controller and the air traffic control vehicle according to the remote controller receiver, and calculate the speed of the left rear wheel servo motor and the right rear wheel servo motor through the following function: R1 = (90 - a) / 90 * R, R2 = (90 + a) / 90 * R, Among them, R1 is the speed of the right rear wheel servo motor, R2 is the speed of the left rear wheel servo motor, and R is the maximum servo motor speed. The calculated servo motor speed is sent to the four-wheel chassis and the pipe reel device to realize the following function of the ATC vehicle; The remote control receiver is installed at the front of the air traffic control vehicle to sense the angle and vertical distance between the remote control and the air traffic control vehicle, and send the sensing results to the vehicle controller; The remote controller is connected to the remote control receiver via a network and is used to communicate with the sensing remote controller so as to sense data.

2. According to claim 1, an air traffic control vehicle control device used in an airport is characterized in that: The two front wheels are universal wheels.

3. According to claim 1, an air traffic control vehicle control device used in an airport is characterized in that: The remote control receiver is also used to receive the remote control signal sent by the remote control and send the remote control signal to the vehicle controller.

4. According to claim 3, the air traffic control vehicle control device used in an airport is characterized in that: The vehicle controller controls the movement of the air traffic control vehicle according to the remote control signal to realize the remote control function of the air traffic control vehicle.

5. According to claim 4, an air traffic control vehicle control device used in an airport is characterized in that: The remote controller includes a joystick, which is used to control the air tube vehicle to move forward and the tube reel device to retract the air duct when the joystick is pushed forward; control the air tube vehicle to move backward and the tube reel device to spread the air duct when the joystick is pushed backward; control the air tube vehicle to turn left when the joystick is pushed left; and control the air tube vehicle to turn right when the joystick is pushed right.

6. A method for using the air traffic control vehicle control device for an airport according to claims 1-5, characterized in that: The method comprises: Step 1: The remote control receiver senses the angle and vertical distance between the remote control and the air traffic control vehicle, and sends it to the vehicle controller; Step 2: The vehicle controller obtains the angle a and vertical distance y between the remote controller and the air traffic control vehicle according to the remote controller receiver, and calculates the left rear wheel servo motor speed and the right rear wheel servo motor speed by the following function: R1 = (90 - a) / 90 *R, R2 = (90 + a) / 90 * R, where R1 is the right rear wheel servo motor speed, R2 is the left rear wheel servo motor speed, and R is the maximum servo motor speed. The calculated servo motor speed is sent to the four-wheel chassis and the hose reel; Step 3, the two rear wheels of the four-wheel chassis control the forward, backward and steering of the air traffic control vehicle according to the speed of the left rear wheel servo motor and the speed of the right rear wheel servo motor respectively, so as to realize the following function of the air traffic control vehicle; Step 4: The tube reel device recycles / unrolls the air tube according to the rotation speed of the two servo motors.

7. The method for controlling an air traffic control vehicle at an airport according to claim 6, characterized in that: The method further comprises: Step 5: When the remote control joystick is pushed forward / backward, the remote control sends forward / backward remote control signals to the remote control receiver. The remote control receiver then sends them to the vehicle controller, and the vehicle controller further sends them to the four-wheel chassis and the pipe coiling device to control the empty pipe vehicle to move forward / backward, and the pipe coiling device to retract / spread out the air pipe. Step 6: When the remote control joystick is pushed left / right, the remote control sends left / right remote control signals to the remote control receiver. The remote control receiver then sends them to the vehicle controller, and the vehicle controller further sends them to the four-wheel chassis to control the empty pipe vehicle to turn left / right.

8. The method for controlling an air traffic control vehicle at an airport according to claim 6, characterized in that: Said step 2 further includes: Step 21: Taking the remote control receiver as the origin, the center line of the vehicle head and tail as the Y-axis, and the straight line perpendicular to the Y-axis and parallel to the ground as the X-axis, establish a rectangular coordinate system. Step 22: When the vehicle controller receives the included angle between the remote control and the empty pipe vehicle, determine whether the absolute value of the included angle is zero. If it is zero, the rotational speed of the right rear wheel servo motor is equal to the rotational speed of the left rear wheel servo motor. If the absolute value of the included angle is not zero, then determine whether the remote control is located in the first quadrant or the second quadrant of the rectangular coordinate system, and go to step 24. Step 23: When the remote control is in the first quadrant, the rotational speed of the left rear wheel servo motor is greater than the rotational speed of the right rear wheel servo motor. When the remote control is in the second quadrant, the rotational speed of the left rear wheel servo motor is less than the rotational speed of the right rear wheel servo motor, and then go to step 24. Step 24: Send the rotational speeds of the left rear wheel servo motor and the right rear wheel servo motor to the four-wheel chassis respectively.

9. The method for controlling an air traffic control vehicle at an airport according to claim 8, characterized in that: So, said step 3 further includes: Step 31: When the rotational speed of the left rear wheel servo motor is greater than the rotational speed of the right rear wheel servo motor, the empty pipe vehicle turns right. Step 32: When the rotational speed of the left rear wheel servo motor is less than the rotational speed of the right rear wheel servo motor, the empty pipe vehicle turns left. Step 33: When the rotational speed of the left rear wheel servo motor is equal to the rotational speed of the right rear wheel servo motor, if the rotational speed direction is positive, the empty pipe vehicle moves forward. If the rotational speed direction is negative, the empty pipe vehicle moves backward.

10. The method for controlling an air traffic control vehicle at an airport according to claim 6, characterized in that: Said step 2 further includes: Step 25: The vehicle controller judges the size of y and the preset value L according to the vertical distance y between the remote control and the empty pipe vehicle received. If y > L, the empty pipe vehicle moves. If y < L, the empty pipe vehicle stops.

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