Aircraft tractor control system

Abstract

The invention discloses an aircraft tractor control system which comprises a vehicle-mounted AI unit, the vehicle-mounted AI unit comprises a positioning module, a sensing module, a planning module and a control module, the vehicle-mounted AI unit plans a tractor through the planning module according to information provided by the positioning module and the sensing module, and finally the control module sends an instruction to a whole vehicle control system. The problems that the airport guarantee workload is large, manpower waste is much, and the informatization and intelligence level of traction equipment is low can be solved, rapid maneuvering transition can be conducted in emergency, the traction guarantee time is shortened, and the battlefield adaptability is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft traction, and in particular relates to an aircraft tractor control system. Background Art

[0002] When an airplane is parked at a jet bridge or parking space, it cannot move to the designated area without traction equipment. The movement of the airplane on the ground relies on the reaction force of the jet engine or propeller on the air. When the airplane leaves the jet bridge or parking space, there must be a process of retreat. Generally, airplanes do not have this function of retreat. Even if some airplanes have this function, the huge fuel consumption and noise brought about by using this method are unacceptable to airports and airlines.

[0003] Therefore, at present, tractors are used for the ground movement of wind turbines. Most of the existing tractors are manually operated, and there are many operating levers in the cab. Drivers need training and long-term use to become proficient in their use. The moving range of aircraft is the apron, take-off line, runway, hangar, test field, aircraft shelter, assembly and maintenance workshop, and the positions are fixed and determined. The tractor operation can be completely realized by remote control or unmanned control. Summary of the invention

[0004] The purpose of the present invention is to design an aircraft tractor, which has the functions of remote control and automatic control of aircraft tractor operation, adopts electric power to provide power, and can greatly improve the intelligence level of the tractor.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows: Aircraft tractor control system, the tractor includes a tractor platform, the tractor platform includes an overall mechanical structure and a vehicle control system, The vehicle control system includes an on-board AI unit, which includes a positioning module, a perception module, a planning module and a control module. The on-board AI unit plans the tractor through the planning module based on the information provided by the positioning module and the perception module, and finally the control module sends instructions to the vehicle control system. The positioning module is deployed in the on-board AI unit, and obtains global and local position information and heading information with the help of GNSS satellite signals, IMU, wheel speed meter and laser radar data; the perception module is deployed in the on-board AI unit, responsible for sensing the surrounding environment information, and by receiving and fusing the information of sensors such as laser radar, it processes and extracts the acquired data based on multiple algorithms, and finally outputs obstacles, markers and other information to the planning module; the planning module is deployed in the on-board AI unit, and generates global and local paths based on the target information issued by the task system, the real-time positioning information output by the positioning module and the real-time environment information obtained by the perception module according to the task logic specified in the task state machine. The control module is deployed in the on-board AI unit, and is used to send real-time speed, steering angle, etc. to the underlying controller of the vehicle to realize trajectory following, obstacle parking, and autonomous parking near the target point.

[0006] Preferably, the vehicle-mounted AI unit specifically collects and preprocesses the data acquired by the perception sensor, receives the task system instructions and the data processed by the information perception computer, and performs modular calculations on them. The specific structure is to use a set of combined navigation equipment in the tractor for tractor positioning and navigation, install two laser radars for information perception; install a driving camera to assist in information perception around the vehicle or record driving video; install a millimeter wave radar for measuring the distance and speed of obstacles in front of the unmanned vehicle.

[0007] Preferably, by comprehensively analyzing the results of routing, the information provided by the environmental perception system, and the prediction results of the moving object's behavior trajectory, the current vehicle behavior is planned and corresponding decisions are made, that is, the on-board AI unit decision is used to instruct the operation of each system or module in the vehicle control system, and then the vehicle control system specifically controls the mechanical structure of the vehicle to achieve automatic driving. The above technical solution can achieve the following beneficial effects: The present invention carries out modular subassembly, is conducive to repair and maintenance, has high equipment integration, high informationization and intelligence levels, and has great advancement in intelligent traction guarantee for unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a control relationship diagram; Figure 2 It is a diagram of the control and decision-making system of the vehicle-mounted AI unit. DETAILED DESCRIPTION

[0009] The present invention will be further described below in conjunction with the accompanying drawings: like Figure 1 and Figure 2 As shown in the figure, the vehicle control system is installed inside the vehicle body to realize power supply management, vehicle body electrical control and driving motion control, and monitor the status of each device in real time. It is responsible for the forward, backward and acceleration and deceleration movement of the vehicle. The specific functions of the vehicle control system are as follows: Control function: According to the vehicle control requirements, receive the signal output by the vehicle controller and control the operating state of the drive motor. The control mode is torque or speed control. The specific control mode is switched according to the operating status of the vehicle. Feedback braking function: It has the ability to manage feedback braking. According to the feedback braking request issued by the vehicle, it controls the motor to perform braking operations and recover the energy fed back by the motor to the power battery pack. Protection function: The motor control system has short circuit, overcurrent, overvoltage, undervoltage, overheating and other protection functions. At the same time, the motor controller monitors the working state of the motor by collecting the motor speed, bus voltage, temperature and output current to protect the normal operation of the motor. When the motor fails and the high voltage is powered off, the motor controller should be able to take corresponding measures to control the back electromotive force generated by the motor to protect the safety of the motor controller and the power battery pack. Forward and reverse function: The motor controller has forward and reverse function, forward and reverse safety conversion control function, and reverse speed limit function. Fault self-diagnosis: When the motor controller and motor fail, the fault level should be diagnosed, and different treatment methods should be adopted according to the fault level to prevent the fault from expanding.

[0010] The tractor platform also adds an on-board AI unit, which includes a positioning module, a perception module, a planning module and a control module. The on-board AI unit plans the tractor through the planning module based on the information provided by the positioning module and the perception module, and finally the control module sends instructions to the vehicle control system. The positioning module is deployed in the on-board AI unit, and obtains global and local position information and heading information with the help of GNSS satellite signals, IMU, wheel speed meter and laser radar data; the perception module is deployed in the on-board AI unit, responsible for sensing the surrounding environment information, and by receiving and fusing the information of sensors such as laser radar, it processes and extracts the acquired data based on multiple algorithms, and finally outputs information such as obstacles and markers to the planning module; the planning module is deployed in the on-board AI unit, which is the "brain" of the autonomous system. Based on the target information issued by the task system, the real-time positioning information output by the positioning module, and the real-time environmental information obtained by the perception module, it generates global paths and local paths according to the task logic specified in the task state machine. The control module is deployed in the on-board AI unit and is used to send real-time speed, steering angle, etc. to the vehicle's underlying controller to achieve functions such as trajectory following, stopping near obstacles, and autonomous parking near the target point.

[0011] The above-mentioned on-board AI unit specifically collects and preprocesses the data obtained by the perception sensor, receives the task system instructions and the data processed by the information perception computer, and performs modular calculations on it. The specific structure is to use a set of combined navigation equipment in the tractor for tractor positioning and navigation, install two laser radars for information perception; install a driving camera to assist in information perception around the vehicle or record driving video; install a millimeter wave radar for measuring the distance and speed of obstacles in front of the unmanned vehicle.

[0012] In summary, the on-board AI unit is equivalent to the brain of an intelligent vehicle. It plans the current vehicle behavior (speed planning, obstacle avoidance local path planning, etc.) and makes corresponding decisions (following the vehicle, changing lanes, parking, etc.) by comprehensively analyzing the results of routing, the information provided by the environmental perception system, and the predicted results of the moving object's behavior trajectory. Specifically, the decisions of the on-board AI unit are used to instruct the operation of each system or module in the vehicle control system, and then the vehicle control system specifically controls the mechanical structure of the vehicle, so that autonomous driving can be achieved.

[0013] Based on the above embodiment, the present invention can also use a remote control terminal to control the tractor. The above are all preferred embodiments of the present invention. For ordinary technicians in this technical field, without departing from the principle of the present invention, various equivalent modifications to the present invention belong to the protection scope of the claims attached to this application.

Claims

1. Aircraft tractor control system, the tractor includes a tractor platform, the tractor platform includes an overall mechanical structure and a vehicle control system, characterized in that: The vehicle control system includes an on-board AI unit, which includes a positioning module, a perception module, a planning module and a control module. The on-board AI unit plans the tractor through the planning module based on the information provided by the positioning module and the perception module, and finally the control module sends instructions to the vehicle control system; the positioning module is deployed in the on-board AI unit, and obtains global and local position information and heading information with the help of GNSS satellite signals, IMU, wheel speed meter and lidar data; the perception module is deployed in the on-board AI unit, responsible for sensing the surrounding environment information, and by receiving and fusing the information of sensors such as lidar, the acquired data is processed and extracted based on a variety of algorithms, and finally the information such as obstacles and markers is output to the planning module; the planning module is deployed in the on-board AI unit, and based on the target information issued by the task system, the real-time positioning information output by the positioning module and the real-time environment information obtained by the perception module, the global path and the local path are generated according to the task logic specified in the task state machine; the control module is deployed in the on-board AI unit, and is used to send real-time speed and steering angle to the vehicle's underlying controller to realize trajectory following, obstacle stopping and autonomous parking near the target point.

2. The aircraft tractor control system according to claim 1, characterized in that: The above-mentioned on-board AI unit specifically collects and preprocesses the data obtained by the perception sensors, receives the instructions of the task system and the data processed by the information perception computer, and performs modular calculations on it; the specific structure is to use a set of combined navigation equipment in the tractor for tractor positioning and navigation, install two laser radars for information perception; install a driving camera to assist in information perception around the vehicle or record driving videos; install a millimeter-wave radar for measuring the distance and speed of obstacles in front of the unmanned vehicle.

3. The aircraft tractor control system according to claim 1, characterized in that: By comprehensively analyzing the results of routing, the information provided by the environmental perception system, and the predicted results of the moving object's behavior trajectory, the current vehicle behavior is planned and corresponding decisions are made. That is, the on-board AI unit makes decisions to instruct the operation of each system or module in the vehicle control system, and then the vehicle control system specifically controls the mechanical structure of the vehicle to achieve autonomous driving.

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