Luggage transfer vehicle anti-collision detection method

Abstract

The invention discloses an anti-collision detection method for a luggage transfer vehicle, and the method comprises the steps: guiding the parking position of the luggage transfer vehicle in real time in a docking stage, avoiding the collision, and completing the docking through one-time lifting. And in the rotation stage, the aircraft picture is displayed in real time, the nearest possible collision point distance is detected, and collision is avoided. The luggage conveying vehicle is provided with a laser radar device and a display screen. The laser radar device is a combination of one or more radars, is fixedly mounted at the top of a cab, and is used for anti-collision detection in a butt joint stage and a rotation stage; the display screen is used for displaying the detection result and can be installed in a cab and other positions which are convenient for workers to observe.

Description

Technical Field

[0001] The invention relates to the field of luggage conveying vehicles, and in particular to an anti-collision detection method for luggage conveying vehicles. Background Art

[0002] The baggage transfer vehicle is a device used to load and unload baggage on an aircraft. The baggage loading and unloading operation is usually divided into the driving phase, docking phase, baggage handling phase, and rotation phase. In the driving phase, the baggage transfer vehicle drives from the waiting position to the vicinity of the aircraft. In the docking phase, the baggage transfer vehicle drives under the aircraft cabin door and lifts the transfer rack to the cabin door. Baggage handling is to transfer the baggage from the aircraft to the baggage transfer vehicle through the conveyor belt. In the rotation phase, the transfer rack is leveled and the vehicle rotation is completed.

[0003] During the docking and rotation phases, the luggage transfer cart is driven and lifted at a close distance from the aircraft, which results in a high risk of collision. In actual operation, in order to avoid collision between the luggage transfer cart and the aircraft, at least two staff members are required to cooperate to complete the luggage loading and unloading operations, hereinafter referred to as operator A and employee B. During the docking phase, operator A first lifts the conveyor frame to the approximate height of the cabin door at a slightly distance, and then drives the luggage transfer cart to dock with the aircraft cabin door under the guidance of employee B, and finally lifts the conveyor belt to the level of the cabin door. During the rotation phase, operator A drives the luggage transfer cart backwards under the guidance of employee B to avoid collision with the side of the aircraft. Due to the lack of tacit cooperation and the lack of operator experience, the parking judgment is inaccurate, which can easily cause the luggage transfer cart to collide with the aircraft, affecting the flight safety of the aircraft. At the same time, the traditional operation method requires at least two people to cooperate and lift twice, and the labor efficiency is low. Summary of the invention

[0004] The present invention provides a baggage transfer vehicle anti-collision detection method. During the docking phase, the parking position of the baggage transfer vehicle is guided in real time to avoid collision, and the docking can be completed with one lift. During the rotation phase, the aircraft image is displayed in real time, and the distance to the nearest possible collision point is detected to avoid collision.

[0005] The present application provides a method for anti-collision detection of a baggage transfer vehicle, the method comprising anti-collision detection in a docking phase and anti-collision detection in a rotation phase, wherein the anti-collision detection in the docking phase comprises the following steps: S2.1: Obtaining a point cloud around the baggage transfer vehicle from the laser radar device; S2.2: Extract the point cloud PCL1 near the aircraft door for visualization; S2.3: Extract the point cloud PCL2 of the lower edge of the aircraft door; S2.4: Generate the scanning surface CS of the front end of the conveyor belt during the lifting process of the baggage conveyor; S2.5: Calculate the shortest distance d0 between PCL2 and CS; S2.6: Calculate the guiding parking position d2 = d0 - d1 during the docking phase, where d1 refers to the expected distance between the front end of the conveyor belt and the hatch after docking is completed; S2.7: Input d2 to a downstream module, wherein the downstream module includes but is not limited to functions such as visualization display and automatic driving.

[0006] As a further technical solution of the present invention, the anti-collision detection in the rotation phase includes the following steps: S3.1: Obtain PCL3 of the point cloud around the baggage transfer vehicle from the laser radar device for visualization; S3.2: From PCL3, select the point P closest to the baggage transfer vehicle body for visualization; S3.3: Calculate the distance d3 between P and the baggage transfer vehicle body; S3.4: Input d3 to a downstream module, wherein the downstream module includes but is not limited to functions such as visualization display and automatic driving.

[0007] As a further technical solution of the present invention, the method is implemented based on a baggage transfer trolley anti-collision detection device, which includes a laser radar device. The baggage transfer trolley is provided with a laser radar device and a display screen. The laser radar device is a combination of one or more radars, which is fixedly installed on the top of the cab and is used for anti-collision detection in the docking stage and the rotation stage; the display screen is used to display the detection results and is installed in a location such as the cab for easy observation by staff.

[0008] Beneficial effects achieved by the present invention: 1. During the traditional loading and unloading process of baggage transfer vehicles, the parking judgment at the docking stage is heavily dependent on the operator's work experience. New employees are prone to collision accidents, which affects the flight safety of the aircraft. The present invention can accurately judge the parking position d2 without manual experience and effectively avoid collisions; 2. During the docking phase, the traditional method requires at least two staff members to cooperate, which has high labor costs. The present invention uses a laser radar device to automatically detect the point cloud of the lower edge of the aircraft cabin door and guide parking, so only one staff member is needed to complete the docking; 3. In the docking stage, the traditional method has two lifting processes, which has low operation efficiency. The present invention can complete the docking with one lift after the baggage transfer vehicle stops by guiding the parking position d2 without the need for lifting in advance; 4. During the rotation phase, the operator's observation of the aircraft's wing is affected by the field of vision, which can easily lead to misjudgment and collision. The present invention uses the vehicle's external point cloud PCL3, the aircraft's closest point P and the distance d3 to allow the operator to observe the relative position of the aircraft and the baggage transfer vehicle without blind spots, thus avoiding collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a reference schematic diagram of the luggage transfer vehicle of the present invention.

[0010] Notes on reference numerals: 1- top of cab, 2- front end of conveyor belt. DETAILED DESCRIPTION

[0011] The technical solution of the present invention is described in detail below in conjunction with the specific drawings. Example 1.

[0012] See also Figure 1 The embodiment of the present invention provides a method for anti-collision detection of a baggage transfer vehicle. The method is implemented based on an anti-collision detection device for a baggage transfer vehicle. The anti-collision detection device for a baggage transfer vehicle includes a laser radar device. The baggage transfer vehicle is provided with a laser radar device and a display screen. The laser radar device is composed of a forward solid-state radar and a side-mounted spherical radar, which are fixedly installed on the top of the cab 1, and the field of view is located in front of and above the vehicle respectively; the display screen is used to display the detection results and is installed on the cab operating console. The method includes anti-collision detection in the docking stage and anti-collision detection in the rotation stage, wherein the anti-collision detection in the docking stage includes the following steps: S2.1: Obtaining a point cloud around the baggage transfer vehicle from the laser radar device; S2.2: Extract the point cloud PCL1 near the aircraft door for visualization; S2.3: Extract the point cloud PCL2 of the lower edge of the aircraft door; S2.4: Generate scanning surface CS of the front end 2 of the conveyor belt during the lifting process of the baggage conveyor; S2.5: Calculate the shortest distance d0 between PCL2 and CS; S2.6: Calculate the guiding parking position d2 = d0 - d1 during the docking phase, where d1 refers to the expected distance between the front end of the conveyor belt and the hatch after docking is completed; S2.7: Input d2 to a downstream module, wherein the downstream module includes but is not limited to functions such as visualization display and automatic driving.

[0013] In this embodiment, the anti-collision detection in the rotation phase includes the following steps: S3.1: Obtain PCL3 of the point cloud around the baggage transfer vehicle from the laser radar device for visualization; S3.2: From PCL3, select the point P closest to the baggage transfer vehicle body for visualization; S3.3: Calculate the distance d3 between P and the baggage transfer vehicle body; S3.4: Input d3 to a downstream module, wherein the downstream module includes but is not limited to functions such as visualization display and automatic driving.

[0014] During the docking phase, the baggage transfer vehicle is guided to park in real time to avoid collisions, and docking can be completed with one lift. During the rotation phase, the aircraft image is displayed in real time, and the distance to the nearest possible collision point is detected to avoid collisions. Example 2.

[0015] The difference between the second embodiment and the first embodiment is that: there is no restriction on the combination mode and installation position of the laser radar, as long as the front and upper viewing angles are met; the anti-collision detection method for the baggage transfer vehicle described in the present embodiment is the same as that in the first embodiment. Example 3.

[0016] The difference between this embodiment 3 and embodiment 1 is that: the function of the downstream module is not limited. In addition to visual display, it can also be any module with d2 or d3 as input, such as automatic driving and sound warning; the baggage transfer vehicle anti-collision detection method described in this embodiment is the same as that in embodiment 1.

[0017] It should be noted that, in this article, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0018] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A baggage transfer vehicle anti-collision detection method, characterized in that: The method includes anti-collision detection in the docking phase and anti-collision detection in the rotation phase, wherein the anti-collision detection in the docking phase includes the following steps: S2.1: Obtaining a point cloud around the baggage transfer vehicle from the laser radar device; S2.2: Extract the point cloud PCL1 near the aircraft door for visualization; S2.3: Extract the point cloud PCL2 of the lower edge of the aircraft door; S2.4: Generate the scanning surface CS of the front end of the conveyor belt during the lifting process of the baggage conveyor; S2.5: Calculate the shortest distance d0 between PCL2 and CS; S2.6: Calculate the guiding parking position d2 = d0 - d1 during the docking phase, where d1 refers to the expected distance between the front end of the conveyor belt and the hatch after docking is completed; S2.7: Input d2 to downstream modules, wherein the downstream modules include but are not limited to visualization display and automatic driving functions.

2. A luggage transfer vehicle anti-collision detection method according to claim 1, characterized in that: The anti-collision detection in the rotation phase comprises the following steps: S3.1: Obtain PCL3 of the point cloud around the baggage transfer vehicle from the laser radar device for visualization; S3.2: From PCL3, select the point P closest to the baggage transfer vehicle body for visualization; S3.3: Calculate the distance d3 between P and the baggage transfer vehicle body; S3.4: Input d3 to downstream modules, wherein the downstream modules include but are not limited to visualization display and automatic driving functions.

3. A baggage transfer vehicle anti-collision detection method according to claim 1, characterized in that: The method is implemented based on a baggage transfer vehicle anti-collision detection device, which includes a laser radar device. The baggage transfer vehicle is provided with a laser radar device and a display screen. The laser radar device is a combination of one or more radars, which is fixedly installed on the top of the cab and is used for anti-collision detection in the docking stage and the rotation stage; the display screen is used to display the detection results and is installed in a position in the cab for easy observation by staff.

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