Automatic airport apron charging equipment and charging control method thereof

Abstract

The invention discloses an automatic airport apron charging device and a charging control method thereof, the automatic airport apron charging device is used for being arranged in an airport apron and obtaining a task instruction according to wireless transmission to reach the side of a corresponding aircraft for automatic charging, the automatic airport apron charging device comprises a trolley, a lifting mechanism and a mechanical arm which are controlled by a control module, and a storage battery is arranged in the trolley; a visual obstacle avoidance module is arranged outside the trolley, the control module receives a task instruction to plan the advancing route of the trolley on the airport apron, and the control module controls the trolley to move to charge the aircraft according to the advancing route and feedback information of the visual obstacle avoidance module.

Description

Technical Field

[0001] The present invention belongs to the field of aviation technology, and in particular relates to an automated apron charging equipment and a charging control method thereof. Background Art

[0002] Aircraft ground power is an indispensable part of the aviation field. It plays a key role in providing stable and reliable power for aircraft. Ground power plays a vital role in various aspects of aircraft maintenance, testing, airport support and military applications. During aircraft maintenance, ground power can provide stable power for various avionics equipment to ensure the smooth progress of maintenance work. These electronic equipment include navigation systems, communication systems, flight control systems, etc. Their normal operation is essential to the safety and performance of the aircraft. The ground power can provide stable and continuous power output, allowing maintenance personnel to accurately detect and repair these equipment, thereby ensuring that the overall performance of the aircraft is restored and improved. During flight testing, the ground power can provide reliable power support for various sensors and test equipment on the aircraft. These sensors and test equipment are responsible for collecting and analyzing various data of the aircraft during flight, providing real-time flight information to pilots, and also providing important basis for aircraft performance evaluation and improvement. The stable power supply of the ground power ensures that these devices can work properly, thereby ensuring the accuracy and reliability of flight testing.

[0003] The ground power supply is a power supply device that supplies power to the aircraft when it is on the ground. It is referred to as ground power supply or external power supply. There are usually two types: ground power supply vehicles and fixed power supplies. Power is required most of the time when the aircraft is working on the ground. The ground power supply can be generated by a motor-generator set, in which the prime mover motor drives a dedicated generator to provide electrical power to the aircraft power socket. The common standard for ground power supply is three-phase 400Hz115VAC, which is the same as the power provided by the aircraft generator. In some cases, mostly in the main airport, the electrical conversion device near the aircraft entrance provides three-phase 115V AC power converted and obtained from the national power grid.

[0004] There are two existing ways to charge aircraft using ground power devices. One is a manual operation method that relies on mechanical equipment, and the other is a purely automated mechanical operation method. However, both methods require the charging equipment to be moved to the parking position for operation, and the second type of automated charging equipment also requires manual assistance, so it is not a completely automated operation. There will be different aircraft that need to be charged at any time on the apron of an airport. In existing airports, a certain number of operators and mechanical equipment must be guaranteed to meet the charging needs of all aircraft. This kind of operation that relies on people has strict operating specifications. Therefore, in order to overcome the impact of human factors on safe operations, the cost is high and the efficiency is low. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides an automated apron charging equipment and a charging control method thereof, aiming to realize the overall aircraft automated charging planning of a single apron through a fully automated charging cart system, thereby reducing costs, improving safety factors, and increasing charging efficiency.

[0006] The technical solution adopted by the present invention is:

[0007] In the first aspect, the present invention provides an automated apron charging equipment, which is used to be set in the apron and automatically charge the corresponding aircraft side according to the mission instructions obtained by wireless transmission. The equipment includes a trolley controlled by a control module, a lifting mechanism and a mechanical arm. The trolley has a built-in battery, and a visual obstacle avoidance module is provided on the outside of the trolley. The control module receives the mission instructions to plan the trolley's route on the apron, and the control module controls the movement of the trolley to charge the aircraft according to the route and the feedback information from the visual obstacle avoidance module.

[0008] In combination with the first aspect, the present invention provides a first implementation manner of the first aspect, wherein the control module is a server arranged at the back end, and the server links a plurality of vehicles via wireless transmission and controls the charging operation.

[0009] In combination with the first aspect, the present invention provides a second implementation of the first aspect, wherein the control module includes a main control module arranged on a back-end server, and a sub-control module arranged in each vehicle, wherein the main control module is used to accept task instructions to plan a route for the corresponding vehicle, and the sub-control module is used to accept route information and feedback information from a visual obstacle avoidance module to control the movement of the vehicle.

[0010] In combination with the first aspect, the present invention provides a third implementation of the first aspect, wherein the trolley includes a trolley body, the trolley body moves to a parking position corresponding to the aircraft and operates a fixed ground power supply device arranged at the parking position to charge the aircraft.

[0011] In combination with the first aspect, the present invention provides a fourth embodiment of the first aspect, wherein the trolley includes a trolley body, a ground power supply device with a battery is arranged in the trolley body, the ground power supply device has a cable reel that is released / recovered by a motor control, and a cable head is provided at the opening of the cable reel for convenient grasping by a robotic arm.

[0012] In combination with the fourth embodiment of the first aspect, the present invention provides a fifth embodiment of the first aspect, wherein the trolley body has a mounting plane, a hinge seat is provided on the mounting plane, and is rotatably connected to the tail end of a rod-shaped lifting mechanism through the hinge seat, and a reduction motor is provided at the hinge seat to control the lifting mechanism to rotate 0-90 degrees relative to the mounting plane.

[0013] In combination with the fifth embodiment of the first aspect, the present invention provides a sixth embodiment of the first aspect, wherein the lifting mechanism is a rod-type telescopic mechanism driven by a hydraulic rod, and a lifting platform slidably connected to the lifting mechanism is provided outside the lifting mechanism, and the bottom of the robotic arm is fixed on the lifting platform.

[0014] In combination with the fifth implementation of the first aspect, the present invention provides a seventh implementation of the first aspect, wherein the movable end of the robotic arm is provided with a camera for detecting the charging port.

[0015] In a second aspect, the present invention provides a charging control method, which relies on any one of the above-mentioned automated apron charging equipment to perform charging operations, specifically as follows:

[0016] Step 100. First, set up charging parking spaces for cars in the apron and dedicated lanes connecting the charging parking spaces with the apron lanes, and the apron lanes with the parking positions, debug the control module and the car, and train the visual model in the control module to perform object recognition for refueling and traveling;

[0017] Step 200. Then, the debugged control module and the car are used to perform automatic refueling operations. The apron control facility issues a task instruction. The control module receives the task instruction to determine the corresponding car of the aircraft and performs path planning. The car enters the apron lane from the dedicated lane according to the path planning information and reaches the parking position. During the driving process, the visual obstacle avoidance module of the car feeds back information to the control module in real time to perform obstacle avoidance operations.

[0018] Step 300. After the car enters the parking position, the control module determines the position of the charging port of the aircraft according to the model of the corresponding aircraft, and then determines the actual position of the aircraft by shooting the picture through the car's visual obstacle avoidance module, and then guides the car to stop at the charging position within the parking position;

[0019] Step 400. Start charging operation, the movable end of the manipulator arm is connected to the end of the charging cable of the ground power supply device on the ground, the trolley brings the manipulator arm to the maximum operating distance set from the charging port through the lifting mechanism, and then moves the manipulator arm to insert the end of the charging cable into the corresponding aircraft charging port for charging. After charging is completed, the manipulator arm removes the end of the charging cable and brings it back to the ground by the lifting mechanism and then disconnects the end of the charging cable;

[0020] Step 500. After the corresponding charged aircraft confirms the charging operation, the car returns to the charging parking space from the parking position through the dedicated lane and the apron lane, or the control module receives a new task instruction and searches for a car near the parking position of the corresponding aircraft for path planning. The car at the parking position that receives the path planning information moves to the parking position of the next aircraft to continue the charging operation.

[0021] In combination with the second aspect, the present invention provides a first implementation manner of the second aspect, wherein a lane change sign is provided at the entry and exit positions of the dedicated lane.

[0022] The beneficial effects of the present invention are:

[0023] (1) The present invention uses automated equipment and control methods to form an automated charging response mechanism in the apron. The airport determines whether charging operations need to be performed at the corresponding time stage based on the order and needs of aircraft entering, and then plans the corresponding trolleys to enter the parking positions in advance, thereby improving efficiency;

[0024] (2) The present invention uses a visual obstacle avoidance module provided on the vehicle to assist in automatic obstacle avoidance, thereby realizing autonomous route planning and obstacle avoidance of the vehicle in an apron with complex road conditions. After the tower or other airport dispatch control center issues corresponding instructions, several vehicles will determine the travel time and sequence according to the specific conditions of the apron, utilize the existing apron lanes on the apron, and in the case of information exchange with other vehicles, can further improve the arrival efficiency;

[0025] (3) The present invention is equipped with a lifting mechanism and a mechanical arm structure, in conjunction with a fixed or mobile ground power supply device, so that the charging port position of different models of aircraft can be confirmed, and the charging cable end can be adapted and moved according to the charging ports in different positions, thereby further improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a plan view of a charging device in a storage state according to an embodiment of the present invention;

[0027] Figure 2 is an axonometric diagram of a charging device in a storage state in an embodiment of the present invention;

[0028] Figure 3 is a plan view of the unfolded state of the charging device in an embodiment of the present invention;

[0029] Figure 4 is an axonometric diagram of a charging device in an unfolded state according to an embodiment of the present invention;

[0030] Figure 5 It is a flow chart of the method steps in an embodiment of the present invention.

[0031] In the figure: 1-trolley body, 2-lifting mechanism, 3-mechanical arm, 4-articulated seat, 5-lifting platform, 6-visual obstacle avoidance module. DETAILED DESCRIPTION

[0032] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of this application, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0037] In addition, if the terms "horizontal" or "vertical" appear in the description of this application, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] Embodiment 1:

[0040] This embodiment discloses an automated apron charging device, which is used to realize autonomously planned automatic charging of a number of aircraft in any apron area.

[0041] It should be noted that the so-called apron refers to an area inside the airport specifically for parking aircraft and corresponding aviation equipment. The transfer of personnel and materials on the ground is basically achieved by vehicles. There are special apron lanes in the apron, that is, roads marked on the ground with clear lines and other markings. They are generally used as identification signs to guide vehicles and aircraft to move and stop. The mobile platform in the automated apron charging equipment in this embodiment can identify existing apron lanes through visual model training, thereby saving layout costs, and also avoiding the re-planning of roads affecting the normal operation of the apron.

[0042] At the same time, existing aircraft all have a battery part, and a gas turbine is generally installed inside the aircraft to generate electricity, but it is only an auxiliary equipment for special times, and is generally charged through a ground power supply device in the apron. The charging port is set in different locations for different aircraft models, but it is generally set at the lower position of the nose. The end of the charging cable needs to be raised to a certain height by a lifting device, and then a person stands on the lift to perform the connection operation. The ground power supply device is generally an independent connection device for a fixed line set in the apron. This fixed line is provided with a ground well at the corresponding position of the apron, and an openable ground well door is provided at the opening of the ground well. An operable control panel is provided on the inside of the ground well door, and then the cable is dragged out from the ground well for charging. It can also be a mobile power generation system. Both types of fixed power generation devices have retractable cables that can be connected and charged for aircraft charging ports in different locations.

[0043] Specifically, the automated apron charging equipment of this embodiment includes a trolley and a control module, wherein the control module includes a back-end server arranged in a control center, i.e., a main control module, and also includes a sub-control module arranged in the trolley. The trolley is a movable unmanned platform, generally a flatbed type, with batteries and other electronic control components arranged in its shell, and four wheels that can be steered separately at its four corners. The entire trolley is a new energy electric vehicle, which can be equipped with motors at the front and rear for two-axle drive, or each wheel can be equipped with a motor for drive, so as to achieve more stable travel control.

[0044] The trolley is also provided with a lifting mechanism 2 and a robotic arm 3, wherein the robotic arm 3 is fixed at the movable end of the lifting mechanism 2. After the robotic arm 3 is raised to a certain height by the lifting mechanism 2, the multi-axis movable robotic arm 3 realizes the docking operation of the charging port of the aircraft.

[0045] Among them, the control facilities of the entire apron allocate task information of charging operations according to the real-time aircraft position and charging needs. The task information includes the model of the corresponding aircraft, the parking location, the charging parameters, etc. The apron control facilities will form the task information into task instructions and send them to the corresponding control module. The control module will schedule and determine the corresponding car model according to the above information, and then perform path planning and send it to the car to realize autonomous movement and charging operations.

[0046] This embodiment also provides a charging control method for the system, referring to Figure 5 , as follows:

[0047] First, set up charging parking spaces for cars on the apron, as well as dedicated lanes connecting the charging parking spaces with the apron lanes, and the apron lanes with the parking positions. Debug the control module and the car, and train the visual model in the control module to perform object recognition for refueling and movement.

[0048] Then, the debugged control module and the car are used to perform automatic refueling operations. The apron control facility issues a task instruction. The control module receives the task instruction to determine the corresponding car of the aircraft and performs path planning. The car enters the apron lane from the dedicated lane according to the path planning information and reaches the parking position. During the driving process, the visual obstacle avoidance module 6 of the car feeds back information to the control module in real time to perform obstacle avoidance operations.

[0049] After the car enters the parking position, the control module determines the location of the charging port of the aircraft according to the model of the corresponding aircraft, and then determines the actual position of the aircraft through the image captured by the car's visual obstacle avoidance module 6, and then guides the car to stop at the charging position within the parking position;

[0050] Step 400. Start charging operation, the movable end of the manipulator 3 is connected to the end of the charging cable of the ground power supply device on the ground, the trolley brings the manipulator 3 to the maximum operating distance set from the charging port through the lifting mechanism 2, and then moves the manipulator 3 to insert the end of the charging cable into the corresponding aircraft charging port for charging. After charging is completed, the manipulator 3 removes the end of the charging cable and is brought back to the ground by the lifting mechanism 2 and then disconnected from the end of the charging cable;

[0051] After the corresponding charged aircraft confirms the charging operation, the car returns to the charging parking space from the parking position through the dedicated lane and apron lane, or the control module receives a new task instruction and searches for the car near the parking position of the corresponding aircraft for path planning. The car at the parking position that receives the path planning information moves to the parking position of the next aircraft to continue the charging operation.

[0052] Further, see Figure 1-Figure 4 As shown, the car includes a car body 1, and the car body 1 has a certain space inside for arranging batteries and an electronic control system including a sub-control module. The electronic control system also includes a communication module, a positioning module and a storage module. The communication module realizes the communication interaction with the main control module by connecting to the local area network in the apron. The storage module can be equipped with a local visual AI detection model to realize the recognition and positioning of the path, aircraft position and charging port position through training. The main control module can also be equipped with a visual AI detection model with larger scale and computing power, and can process real-time image data sent by multiple cars at the same time through stronger computing performance.

[0053] It should be noted that the positioning module generally uses GPS and Beidou dual-mode multi-frequency positioning chips, but the satellite-based positioning error is about 1m. In order to improve its positioning accuracy, several fixed base stations for positioning will be set up in the apron. The fixed base station also realizes the network signal coverage of the apron local area network. At the same time, the three-point positioning method is used to transmit data with several base stations simultaneously, and the time difference calculation model is used to improve the positioning accuracy.

[0054] Furthermore, the top of the trolley body 1 has a flat surface for setting a lifting mechanism 2. The lifting mechanism 2 has multiple implementations, including a scissor lift 5, a hydraulic lift rod, a screw lifter, and a mast-type towing lifter. Since the height range of the aircraft is controllable and the gravity borne by the entire lifting device is small, it is preferred to use a hydraulic lift rod structure, which has high stability and small size.

[0055] Reference Figure 1 and Figure 2, which shows the storage state of the telescopic rod type lifting mechanism 2, that is, it is placed flat on the flat surface on the top of the trolley body 1, and one end is rotatably connected to the trolley body 1 through the provided hinge seat 4. What is not shown in the figure is that a reduction motor for controlling the rotation of the lifting mechanism 2 is provided on the hinge seat 4. The reduction motor is controlled by the auxiliary control module to rotate within a rotation range of 0-90 degrees, but generally has only two fixed states of 0 degrees when placed flat and 90 degrees when raised vertically.

[0056] The entire lifting mechanism 2 includes two lifting rods, one of which is provided with a hydraulic rod. Figure 3 and Figure 4 , you can see the state of the two sections of the lifting mechanism 2 when they are unfolded. At the same time, a controlled sliding lifting platform 5 is also provided at the outer end of the lifting mechanism 2. The lifting platform 5 can also be telescopically controlled by an additionally provided hydraulic rod, or by a screw, belt transmission, etc. Figure 3 and Figure 4 The lifting platform 5 in the middle is also raised to the corresponding position, lifting the entire robot arm 3.

[0057] Figure 1 and Figure 3 It can be seen that the entire mechanical arm 3 is located directly above the vehicle body 1 when it is stored, so that it cooperates with the horizontal lifting mechanism 2 to keep the center of gravity in the middle of the vehicle body 1 and stabilize the movement of the vehicle. When the lifting mechanism 2 is unfolded, it forms a vertical rod with the hinge seat 4 as the fulcrum, and its weight still falls inside the vehicle body 1. Since a battery of a certain capacity is provided inside the vehicle body 1, it has a large mass itself, which can keep the vehicle stable after the lifting mechanism 2 is unfolded. At the same time, in some embodiments, it can also be fixed by setting an additional support mechanism.

[0058] Furthermore, the ground charging device is not shown in the figure. The ground charging device is a prior art, that is, it includes a battery, a generator, a charge and discharge control circuit, and a retractable charging cable. In this embodiment, two implementation methods can be adopted.

[0059] In one embodiment, an existing mobile ground charging device is used, that is, by connecting it to the trolley body 1, and the trolley body 1 is driven to move to the corresponding site by towing to be deployed. The control circuit of the ground charging device is also connected to the auxiliary control module signal of the trolley body 1. When the trolley body 1 moves to the parking position corresponding to the aircraft, the mechanical arm 3 can grab the end of the charging cable on the ground charging device near the mechanical arm 3, and then the lifting mechanism 2 drives the mechanical arm 3 and the end of the charging cable to rise together. The retractable charging cable of the ground charging device is released at the same time in a controlled manner, and the charging cable is dragged upward with the mechanical arm 3 and finally connected to the charging port of the aircraft. Once the charging cable is connected to the charging port, it is authenticated by the interactive mechanism and then the charging operation is performed.

[0060] In one embodiment, the trolley body 1 has a larger volume, and the storage battery inside it can serve as a power source for charging the aircraft. It adopts the 800V battery pack used in existing new energy vehicles and can achieve a 115V power output. A cable reel driven by a drive motor is also provided inside the trolley body 1. The cable reel is in a horizontal position. An opening for pulling out / recovering the charging cable is provided on one side or the top surface of the trolley body 1, and the end of the charging cable is always outside the opening, which is convenient for the clamp at the movable end of the mechanical arm 3 to clamp.

[0061] In this embodiment, the bottom of the trolley body 1 has a group of contacts connected to an external power source. When the trolley returns to the charging position, it can be adapted to the charging seat on the ground to charge the trolley battery.

[0062] Furthermore, a method for charging using the device is further described.

[0063] The sub-control module in the car uses new technologies such as point cloud segmentation and filtering, point cloud data processing, target detection technology, and artificial intelligence. It has automated and intelligent functions such as complex environment perception, measurement, feature collection, intelligent decision-making, collaborative control, intelligent positioning, and robot collaborative operations. It realizes a method for implementing ground equipment that ensures aircraft safety and intelligent autonomous operation in the airport activity area.

[0064] Specific working principle:

[0065] While the apron flight area has not received flight arrival information, several small cars autonomously park at the charging position in the apron safety boundary area and wait.

[0066] When flight arrival information is obtained, the two visual obstacle avoidance modules 6 at the front of the vehicle and the parking space are turned on about 10 minutes in advance (flexible setting) according to the arrival time, that is, the internal laser radar scanning function and visual recognition function, and the model of the flight and the docking completion instruction have been obtained through the flight information system.

[0067] At this time, the main control module collects the point cloud data of the aircraft outline, and through point cloud segmentation, filtering and other point cloud data processing technologies, accurately calculates the parking distance between the apron-type car and the aircraft model of this flight, and issues a go command. By going to the destination coordinates, the controller plans the route. During the movement, through laser radar scanning and point cloud data processing technology, the route surface is scanned and judged in real time to see if there are obstacles, cliffs or steep slopes, and a combination of pausing, waiting for the obstacles to disappear, or detouring is adopted to move to the vicinity of the aircraft charging port.

[0068] Then, through the visual camera, according to the characteristic structure of the charging port, image recognition technology is adopted, and image neural network and algorithm processing technologies are used to accurately calculate the coordinate deviation of the aircraft charging port. The robot multi-axis arm (carrying the aircraft charging plug) adjusts the posture and motion trajectory through rotation, rising, descending and other actions to ensure that the aircraft plug can be accurately inserted into the charging port. When the aircraft charging plug is inserted into the charging port socket, the charging plug has a built-in insertion micro-motion detection switch. When the plug is inserted into place, the robot arm stops the insertion action. After the power delay start time set by the system interface (about 5 seconds, the setting can be changed), the 115V / 400Hz / 90KVA power system automatically starts to supply power to the aircraft during charging. If the aircraft plug is not received within a certain period of time. The signal is that the aircraft plug is inserted into place, the robot arm exits the insertion action, returns to the safe position, and re-processes the data processing process such as visual feature structure collection for the aircraft charging port, adjusts the posture and motion trajectory according to the new data, and re-inserts; if there are three consecutive unsuccessful insertions, an alarm message is output, and manual intervention is required to check whether there are quality problems with the plug itself.

[0069] When the aircraft power supply is fully charged, the car receives the full power command and automatically cuts off the power supply. After the delay removal time set by the system interface (about 5 seconds, which can be changed), the robot arm 3 removes the aircraft plug from the charging port and returns to the safe position. The car automatically drives back to the fixed position in the apron safety boundary area to wait. During the return process, the laser radar and visual camera are both turned on to scan and judge whether there are obstacles, cliffs or steep slopes on the route in real time. It adopts a combination of pausing and waiting for the obstacles to disappear before moving forward or detouring to return to the fixed parking area at the safety boundary. This time, the robot's autonomous charging cycle ends.

[0070] The present invention is not limited to the above optional implementations, and anyone can derive other various forms of products under the enlightenment of the present invention. The above specific implementations should not be understood as limiting the scope of protection of the present invention. The scope of protection of the present invention should be based on the definition in the claims, and the description can be used to interpret the claims.

Claims

1. An automated apron charging device, which is used to be set in the apron and automatically charge the corresponding aircraft by receiving the task instruction according to the wireless transmission, and is characterized by: The invention comprises a trolley controlled by a control module, a lifting mechanism (2) and a mechanical arm (3); the trolley has a built-in storage battery; a visual obstacle avoidance module (6) is arranged outside the trolley; the control module receives a task instruction to plan a route for the trolley on the apron; and the control module controls the movement of the trolley to charge the aircraft according to the route and feedback information from the visual obstacle avoidance module (6).

2. The automatic apron charging equipment according to claim 1, characterized in that: The control module is a server arranged at the back end, and the server links several vehicles via wireless transmission and controls the charging operation.

3. The automatic apron charging equipment according to claim 1 is characterized in that: The control module comprises a main control module arranged on a back-end server and a sub-control module arranged in each car, wherein the main control module is used to receive task instructions to plan a travel route of the corresponding car, and the sub-control module is used to receive information on the travel route and feedback information from a visual obstacle avoidance module (6) to control the movement of the car.

4. The automatic apron charging equipment according to claim 1, characterized in that: The trolley comprises a trolley body (1), which moves to a parking position corresponding to the aircraft and operates a fixed ground power supply device arranged at the parking position to charge the aircraft.

5. The automatic apron charging equipment according to claim 1, characterized in that: The trolley comprises a trolley body (1), wherein a ground power supply device with a battery is arranged inside the trolley body (1), wherein the ground power supply device has a cable drum that is released / recovered by a motor control, and a cable head is arranged at the opening of the cable drum for facilitating the mechanical arm (3) to grasp the cable.

6. The automatic apron charging equipment according to claim 5, characterized in that: The trolley body (1) has a mounting plane, on which a hinge seat (4) is provided, which is rotatably connected to the tail of a rod-shaped lifting mechanism (2) via the hinge seat (4), and a reduction motor is provided at the hinge seat (4) for controlling the lifting mechanism (2) to rotate 0-90 degrees relative to the mounting plane.

7. The automatic apron charging equipment according to claim 6, characterized in that: The lifting mechanism (2) is a rod-type telescopic mechanism driven by a hydraulic rod. A lifting platform (5) slidably connected to the lifting mechanism (2) is provided outside the lifting mechanism (2). The bottom of the mechanical arm (3) is fixed on the lifting platform (5).

8. The automatic apron charging equipment according to claim 6, characterized in that: The movable end of the mechanical arm (3) is provided with a camera for detecting the charging port.

9. A charging control method, characterized in that: The charging operation is performed by relying on an automated apron charging equipment as described in any one of claims 1 to 8, specifically as follows: Step 100. First, set up charging parking spaces for cars in the apron and dedicated lanes connecting the charging parking spaces with the apron lanes, and the apron lanes with the parking positions, debug the control module and the car, and train the visual model in the control module to perform object recognition for refueling and traveling; Step 200. Then, the debugged control module and the trolley are used to perform automatic refueling operations. The apron control facility issues a task instruction. The control module receives the task instruction to determine the corresponding trolley of the aircraft and performs path planning. The trolley enters the apron lane from the dedicated lane according to the path planning information and reaches the parking position. During the moving process, the visual obstacle avoidance module (6) of the trolley feeds back information to the control module in real time to perform obstacle avoidance operations. Step 300. After the car enters the parking position, the control module determines the position of the charging port of the aircraft according to the model of the corresponding aircraft, and then determines the actual position of the aircraft by taking pictures through the visual obstacle avoidance module (6) of the car, and then guides the car to the charging position within the parking position and stops; Step 400. The charging operation starts. The movable end of the robot arm (3) is connected to the end of the charging cable of the ground power supply device on the ground. The trolley brings the robot arm (3) to the maximum operating distance set from the charging port through the lifting mechanism (2). Then, the robot arm (3) is moved to insert the end of the charging cable into the corresponding aircraft charging port for charging. After charging is completed, the robot arm (3) removes the end of the charging cable and brings it back to the ground by the lifting mechanism (2) and then disconnects the end of the charging cable. Step 500. After the corresponding charged aircraft confirms the charging operation, the car returns to the charging parking space from the parking position through the dedicated lane and the apron lane, or the control module receives a new task instruction and searches for a car near the parking position of the corresponding aircraft for path planning. The car at the parking position that receives the path planning information moves to the parking position of the next aircraft to continue the charging operation.

10. A charging control method according to claim 9, characterized in that: Lane change signs are provided at the entry and exit positions of the dedicated lane.

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