Multi-mode touch control bracelet control system of aircraft maintenance intelligent vehicle

Abstract

The invention discloses a multi-mode touch control bracelet control system for an intelligent aircraft maintenance vehicle. The multi-mode touch control bracelet control system comprises an intelligent bracelet control terminal and the intelligent aircraft maintenance vehicle, the intelligent bracelet control terminal comprises a touch display screen and a wireless communication module; a user inputs a control instruction through the touch display screen, and the wireless communication module sends the control instruction to the aircraft maintenance intelligent vehicle; the intelligent maintenance vehicle comprises a receiving module, a control module and an execution mechanism. And after the receiving module receives the control instruction, the control module analyzes the control instruction and generates a corresponding control signal, and the execution mechanism executes a corresponding action according to the control signal. In a complex airport environment, maintenance personnel are allowed to control the intelligent vehicle outside a safe distance, and the intelligent vehicle is prevented from being directly exposed in potential danger. As a control terminal, the touch bracelet has the advantages of being light, easy to carry and easy to operate, and the operation experience of maintenance personnel can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the cross-technical field of smart wearables and automated control, and specifically to a multi-mode touch-control bracelet control system for an aircraft maintenance smart car. Background Art

[0002] In the operation of modern airports, the efficiency and safety of cargo transportation are crucial to maintaining the smooth operation of the entire airport. Traditional cargo transportation methods often rely on manually driven forklifts, trailers and other equipment. These methods are not only inefficient when facing large-scale and high-intensity cargo transportation needs, but are also prone to safety accidents due to human factors. The airport ground environment is complex and changeable, including runways, aprons, cargo warehouses and other areas, which puts higher requirements on the intelligence and flexibility of cargo transportation equipment.

[0003] In order to meet these challenges, aircraft maintenance smart vehicles (especially maintenance smart vehicles for cargo transportation) have emerged. These smart vehicles combine advanced navigation technology, perception technology and autonomous driving capabilities to autonomously plan routes, avoid obstacles, and accurately deliver cargo to designated locations. Especially in situations where precise control or emergency intervention is required, relying solely on the autonomous capabilities of smart vehicles is not enough to meet the needs of all scenarios. Summary of the invention

[0004] In order to solve the technical problems in the above background, the present invention provides a multi-mode touch bracelet control system for an aircraft maintenance smart car, comprising: a smart bracelet control terminal and an aircraft maintenance smart car;

[0005] The smart bracelet control terminal includes a touch screen and a wireless communication module; the user inputs a control instruction through the touch screen, and the wireless communication module sends the control instruction to the aircraft maintenance smart car;

[0006] The intelligent maintenance vehicle comprises: a receiving module, a control module and an execution mechanism; after the receiving module receives the control instruction, the control module parses the control instruction and generates a corresponding control signal, and the execution mechanism performs a corresponding action according to the control signal.

[0007] Preferably, the smart bracelet control terminal also includes touch interaction logic, which is integrated into the smart bracelet control terminal, so that the user can make the aircraft maintenance smart car follow the smart bracelet control terminal to perform actions according to different maintenance task requirements.

[0008] Preferably, the aircraft maintenance smart car is equipped with a DW3220 chip for communicating with the DWM1000 chip installed on the smart bracelet control terminal to send and receive positioning information in real time; the aircraft maintenance smart car follows the maintenance personnel wearing the bracelet according to the positioning information sent by the smart bracelet control terminal.

[0009] Preferably, the main control chip model of the smart bracelet control terminal is STM32F411CEU6; the operating system adopts FreeRTOS, which provides multi-tasking capabilities so that different tasks can be executed in parallel; the power supply core of the smart bracelet control terminal adopts the high-efficiency single-inductor buck / boost converter TPS63021DSJR with a 4A switch, which is used to provide a stable 3.3V power supply for the system; the charging chip of the smart bracelet control terminal adopts TP4056M, which provides constant current and constant voltage charging modes, ensuring the safety and efficiency of the battery charging process and extending the battery life.

[0010] Preferably, the TPS63021DSJR uses input and output voltage feed-forward to monitor changes in input and output voltages and can immediately change the duty cycle in the modulator to achieve a fast response to these errors.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] In a complex airport environment, the present invention allows maintenance personnel to control smart cars from a safe distance, avoiding direct exposure to potential dangers. As a control terminal, the touch bracelet is light, easy to carry, and easy to operate, which can significantly improve the operating experience of maintenance personnel. With the continuous development of intelligent technology, the construction of intelligent airports has become an industry trend. The application of the present invention will help promote the intelligent process of aircraft maintenance, improve the operating efficiency and management level of the entire airport, and provide passengers with a more convenient and safe travel experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0014] Figure 1 A schematic diagram of the system structure of an embodiment of the present invention;

[0015] Figure 2 FIG. 1 is a schematic diagram of a touch display screen according to an embodiment of the present invention. DETAILED DESCRIPTION

[0016] 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.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1 The figure shows the schematic diagram of the system structure of this embodiment. It mainly includes: a smart bracelet control terminal and an aircraft maintenance smart car. Among them, the smart bracelet control terminal includes a touch screen and a wireless communication module; the user inputs the control command through the touch screen, and the wireless communication module sends the control command to the aircraft maintenance smart car; the smart maintenance car includes: a receiving module, a control module and an actuator; after the receiving module receives the control command, the control module parses the control command and generates a corresponding control signal, and the actuator performs the corresponding action according to the control signal.

[0019] The system uses the DWM1000 high-precision ultra-wideband (UWB) wireless communication chip to realize the positioning and following function. The aircraft maintenance smart car (smart car) can accurately follow the maintenance personnel wearing the smart bracelet control terminal (bracelet) according to the positioning information sent by the bracelet, thereby improving work efficiency.

[0020] DWM1000 integrates antenna, all RF circuits, power management and clock circuits into one module. It is used for two-way ranging and TDOA positioning systems, with a positioning accuracy of 10 cm and a maximum data transmission rate of 6.8 Mbps. Among them, the positioning accuracy P is:

[0021]

[0022] Where c is the speed of light; Δt error Indicates the time measurement error.

[0023] Bluetooth connection distance d:

[0024]

[0025] Among them: tx Indicates the transmission power; G tx Represents the transmitting antenna gain; G rx Represents the receiving antenna gain; L fs Represents free space loss.

[0026] Free space loss:

[0027] L fs =20log 10 (d)+20log 10 (f)+32.45

[0028] Here, f represents frequency.

[0029] BLE (Bluetooth Low Energy) energy loss:

[0030] P avg =P tx ·T tx +P rx ·T rx +P idle ·T idle

[0031] Among them, P avg represents the average power consumption; represents the receiving time; T rx Indicates standby power consumption; T idle Indicates the standby time.

[0032] The main control chip model on the bracelet circuit is STM32F411CEU6, which processes the instructions from the touch bracelet, controls the movement of the smart car, and manages the data transmission between various modules.

[0033] The bracelet's operating system uses FreeRTOS, which provides multi-tasking capabilities, allowing different tasks (such as receiving Bluetooth data, controlling LCD display, processing sensor input, etc.) to be executed in parallel.

[0034] The power supply chip of the bracelet uses a high-efficiency single-inductor buck / boost converter TPS63021DSJR with a 4A switch, which is responsible for providing a stable 3.3V power supply to the system. Since the system may face input voltage fluctuations, the use of TPS63021 can ensure that the output voltage is stable even when the input voltage changes, thereby ensuring the normal operation of the system. The TPS63021DSJR uses input and output voltage feedforward to monitor changes in input and output voltages and can immediately change the duty cycle in the modulator to achieve a fast response to these errors. The voltage error amplifier obtains its feedback input from the FB pin. At the adjustable output voltage, a resistive voltage divider is connected to this pin. At a fixed output voltage, FB is connected to the output voltage to directly sense the voltage. The fixed output voltage version uses a trimmed internal resistor divider. The feedback voltage is compared with the internal reference voltage to produce a stable and accurate output voltage.

[0035] The wristband's charging chip uses TP4056M, which provides constant current and constant voltage charging modes to ensure the safety and efficiency of the battery charging process and extend the battery life. The wristband's Bluetooth chip uses KT6368A, which allows wireless data transmission between the wristband and the aircraft maintenance smart car, ensuring real-time reception and sending of control commands. The LCD display uses P169H002-CTP, which is used to provide visual feedback and interactive interface to users, displaying system status, control options and other information.

[0036] The bracelet is based on the main control chip, combined with FreeRTOS and LVGL to improve processing efficiency and display quality, ensure power stability through power supply chip and charging chip, realize data interaction through Bluetooth and LCD screen, and realize smart car positioning and following with the help of UWB. When the UWB chip detects the tag position, the tag coordinates are transmitted to the ROS system on the industrial computer through UART serial communication. When the tag is 180° in front of the vehicle, the industrial computer uses the local path planning algorithm to follow and avoid obstacles; the local path planning algorithm is as follows:

[0037] Specify the robot's selectable linear speed range in advance:

[0038] v min =v current -a max Δt

[0039] v max =v current +a max △t

[0040] The robot's optional angular velocity range:

[0041] w mim =w current -a max Δt

[0042] w max =w curremt +a max △t

[0043] The cost function of a local path planning algorithm usually consists of three parts: distance to the target, obstacle avoidance performance, and trajectory smoothness.

[0044] Distance to target: Calculate the distance between the robot and the target and use it as the target cost:

[0045] J(v,w)=w 1 ·J dist (v,w)+w 2 ·J obs (v,w)+w 3 ·J smooth (v, w)

[0046] Obstacle avoidance cost: If the robot is too close to an obstacle, the cost increases:

[0047]

[0048] Select the speed pair with the minimum cost (v * , w * ), thereby calculating the optimal motion trajectory.

[0049] When the tag is behind the vehicle, first control the robot to rotate 180° on the spot:

[0050] θ final =θ current +w rotate ·Δt

[0051] When θ final -θ current =180°, the robot completes a 180° rotation and then executes the above intelligent following algorithm.

[0052] This embodiment can also switch the aircraft maintenance smart car to power saving mode through the wristband. In power saving mode, the device monitors the output voltage through the threshold comparator. When the device enters the energy saving mode, the inverter stops working, causing the output voltage to drop. The rate of change of the output voltage depends on the load and the value of the output capacitor. When the output voltage is lower than the set compensation low threshold (2.5%), the device starts the operation by adjusting the inductor current to increase the output voltage. This operation may last for one or more pulses. The converter will continue to perform these pulses until the output voltage reaches the set compensation high threshold, which is usually higher than 3.5% of the nominal value, and the average inductor current remains below about 100mA.

[0053] like Figure 2 As shown in the figure, the touch chip quickly scans the touch screen in dynamic mode to detect and report touch operations in time; if there is no touch within 2 seconds, the chip will automatically enter standby mode. In standby mode, the chip scans the touch screen at a lower frequency, wakes up the host and switches back to dynamic mode when a touch is detected. After receiving the sleep command, the chip enters sleep mode to maximize power saving, and can also return to dynamic mode through the reset pin at this time.

[0054] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-mode touch bracelet control system for an aircraft maintenance smart car, characterized in that: include: Smart bracelet control terminal and aircraft maintenance smart car; The smart bracelet control terminal includes a touch display screen and a wireless communication module; The user inputs a control command through the touch display screen, and the wireless communication module sends the control command to the aircraft maintenance smart car; The intelligent maintenance vehicle comprises: a receiving module, a control module and an actuator; After the receiving module receives the control instruction, the control module parses the control instruction and generates a corresponding control signal, and the execution mechanism performs a corresponding action according to the control signal.

2. The aircraft maintenance smart car multi-mode touch bracelet control system according to claim 1 is characterized in that: The smart bracelet control terminal also includes touch interaction logic, which is integrated into the smart bracelet control terminal, so that the user can make the aircraft maintenance smart car follow the smart bracelet control terminal to perform actions according to different maintenance task requirements.

3. The aircraft maintenance smart car multi-mode touch bracelet control system according to claim 2 is characterized in that: The aircraft maintenance smart car is equipped with a DW3220 chip, which is used to communicate with the DWM1000 chip installed on the smart bracelet control terminal to send and receive positioning information in real time; the aircraft maintenance smart car follows the maintenance personnel wearing the bracelet according to the positioning information sent by the smart bracelet control terminal.

4. The aircraft maintenance smart car multi-mode touch bracelet control system according to claim 1, characterized in that: The main control chip model of the smart bracelet control terminal is STM32F411CEU6; the operating system adopts FreeRTOS, which provides multi-tasking capabilities so that different tasks can be executed in parallel; the power supply core of the smart bracelet control terminal adopts the high-efficiency single-inductor buck / boost converter TPS63021DSJR with 4A switch, which is used to provide a stable 3.3V power supply for the system; the charging chip of the smart bracelet control terminal adopts TP4056M, which provides constant current and constant voltage charging modes to ensure the safety and efficiency of the battery charging process and extend the battery life.

5. The aircraft maintenance smart car multi-mode touch bracelet control system according to claim 4 is characterized in that: The TPS63021DSJR uses input and output voltage feed-forward to monitor changes in input and output voltages and can instantly change the duty cycle in the modulator to achieve a fast response to these errors.

Images