Aircraft safety cone barrel laying method, robot, medium and program product

Abstract

The invention provides an aircraft safety cone barrel arrangement method, a robot, a medium and a program product, and the arrangement method comprises the steps that a safety cone barrel robot identifies a mark on an aircraft, and determines an airline company to which the aircraft belongs; the safety cone barrel robot obtains a preset safety cone barrel layout template corresponding to the airline company; and the safety cone barrel robot carries out safety cone barrel laying according to the safety cone barrel laying template. By means of the technical scheme, automatic laying of the safety cone barrels around the aircraft is achieved through the safety cone barrel robot, laying efficiency and safety of the safety cone barrels are improved, and special laying requirements of different airlines can be flexibly met.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft ground safety assurance, and in particular to a method for deploying aircraft safety cones, a robot, a medium and a program product. Background Art

[0002] In order to ensure the safety of aircraft in airports and other places, it is usually necessary to set up safety cones around aircraft to warn pedestrians and other vehicles to keep a safe distance. At present, the deployment of safety cones around aircraft is mostly done manually, which is not only inefficient but also poses certain safety hazards. Summary of the invention

[0003] The embodiments of the present invention provide a method, a robot, a medium and a program product for deploying aircraft safety cones, so as to realize automatic deployment of safety cones around an aircraft, thereby improving the deployment efficiency and safety of safety cones.

[0004] In order to achieve the above-mentioned object, on the one hand, a method for deploying an aircraft safety cone is provided, comprising:

[0005] The safety cone robot recognizes the logo on the aircraft and determines the airline to which the aircraft belongs;

[0006] The safety cone robot obtains a preset safety cone deployment template corresponding to the airline, wherein the safety cone deployment template includes: the number of safety cones deployed, the deployment position of each safety cone, the safety distance between the safety cone and a predetermined aircraft part, and the path planning parameters for the safety cone deployment, wherein the path planning parameters include: the initial deployment position and the dynamic obstacle avoidance parameters;

[0007] The safety cone robot arranges the safety cones according to the safety cone arrangement template.

[0008] Preferably, in the deployment method, the dynamic obstacle avoidance parameters include: a real-time obstacle avoidance distance threshold; the path planning parameters also include: temporary adjustment rules for the detour path; the safety cone deployment template also includes: the deployment priority of the safety cone, the recovery and emergency parameters of the safety cone and / or predetermined compliance parameters; the recovery and emergency parameters of the safety cone include: recovery path planning parameters and / or exception handling rules; the recovery path planning parameters include the safety cone recovery order and recovery path; the exception handling rules include: automatic correction strategy when the safety cone is abnormal and / or execution strategy when communication is interrupted.

[0009] Preferably, in the deployment method, the safety cone deployment template corresponding to the airline is: a safety cone deployment template corresponding to the airline and the corresponding aircraft model.

[0010] Preferably, in the deployment method, the safety cone robot deploys the safety cones according to the safety cone deployment template, including:

[0011] The safety cone bucket robot generates a corresponding layout task according to the safety cone bucket layout template;

[0012] The safety cone bucket robot obtains the path for this deployment according to the path planning parameters and a predetermined path planning algorithm;

[0013] The safety cone robot starts from the initial placement position and places the safety cones along the obtained path. If the template contains placement priorities, the placement is performed according to the priorities;

[0014] Preferably, the deployment method further comprises:

[0015] After all safety cones are deployed, the safety cone robot will circle the aircraft at least once outside the electronic fence of the aircraft's scheduled parking position in a predetermined movement mode, and collect environmental images around the aircraft during the circle;

[0016] The safety cone robot generates a panoramic image based on the collected environmental image, wherein the panoramic image shows the layout positions of the safety cones;

[0017] The safety cone robot returns the panoramic image to the control center.

[0018] Preferably, the deployment method further comprises a step in which the safety cone robot recycles the deployed safety cones.

[0019] Preferably, in the deployment method, the safety cone robot comprises:

[0020] A self-propelled ground chassis, used to realize the autonomous movement of the safety cone bucket robot on the ground;

[0021] The grabbing and transporting member of the safety cone barrel is connected to the self-propelled ground chassis, and is used to grab the safety cone barrel from the designated area and transport and place the grabbed safety cone barrel at the designated location;

[0022] At least one navigation sensor connected to the ground-based walking chassis for real-time perception of a predetermined surrounding environment;

[0023] A communication component, used for wireless communication with a control center;

[0024] A controller is used to control the various components or members of the safety cone bucket robot.

[0025] On the other hand, a safety cone robot is provided, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement any of the above-described methods for deploying aircraft safety cones.

[0026] Furthermore, the safety cone bucket robot further comprises:

[0027] A self-propelled ground chassis, used to realize the autonomous movement of the safety cone bucket robot on the ground;

[0028] The grabbing and transporting member of the safety cone barrel is connected to the self-propelled ground chassis, and is used to grab the safety cone barrel from the designated area and transport and place the grabbed safety cone barrel at the designated location;

[0029] At least one navigation sensor connected to the ground-based walking chassis for real-time perception of a predetermined surrounding environment;

[0030] A communication component, used for wireless communication with a control center;

[0031] A controller is used to control the components or members of the safety cone bucket robot.

[0032] On the other hand, a computer-readable storage medium is provided for use in a safety cone robot, wherein the storage medium stores at least one program, and the at least one program is executed by a processor to implement the steps of the method for deploying an aircraft safety cone as described in any of the above.

[0033] On the other hand, a computer program product is provided for application to a safety cone robot, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method for deploying an aircraft safety cone as described in any one of the above are implemented.

[0034] The above technical solution has the following technical effects:

[0035] The technical solution of the embodiment of the present invention realizes the deployment of safety cones by having the safety cone robot recognize the airline logo, determine the airline to which the aircraft belongs, and obtain the safety cone deployment template corresponding to the airline. This can realize the intelligent deployment of safety cones, improve the deployment efficiency and safety of safety cones, and can flexibly respond to the special deployment requirements of different airlines.

[0036] In a further embodiment, subsequent verification can be achieved by obtaining environmental images and generating a panoramic image after deployment is completed to ensure the accuracy and completeness of the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1A schematic diagram of a process for deploying an aircraft safety cone according to an embodiment of the present invention;

[0038] Figure 2-Figure 4 The present invention is a schematic diagram of standard positions for safety cone deployment in a safety cone deployment template of an airline company in a method for deploying aircraft safety cones according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0040] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0041] Embodiment 1:

[0042] Figure 1 FIG. 1 is a flow chart of a method for deploying an aircraft safety cone according to an embodiment of the present invention. Figure 1 The method for deploying an aircraft safety cone of this embodiment includes the following steps:

[0043] S1, the safety cone robot recognizes the logo on the aircraft and determines the airline to which the aircraft belongs;

[0044] In a specific implementation, the airline to which the aircraft belongs is determined by scanning a sign on the aircraft for identifying the airline to which the aircraft belongs and identifying the sign on the aircraft through a visual recognition algorithm set on the safety cone robot; the visual recognition algorithm used is a pre-selected existing visual recognition algorithm; after identifying the sign on the aircraft, the airline to which the aircraft belongs is determined based on a pre-set correspondence between the sign and the airline to which the aircraft belongs; S2, the safety cone robot obtains a preset safety cone layout template corresponding to the airline;

[0045] In a specific implementation, the airline identifier is a unique airline identifier such as an IATA code that is bound to the corresponding safety cone deployment template to ensure the correspondence between the template and the airline; the safety cone deployment template corresponding to each airline is pre-set according to the safety cone placement standard of each airline; wherein the safety cone deployment template is pre-set according to the safety cone deployment standard or requirement of each airline;

[0046] In a specific implementation, the safety cone deployment template corresponding to the airline is: the safety cone deployment template corresponding to the airline and the corresponding aircraft model; different aircraft models such as Boeing 747 and Airbus A380 may correspond to different deployment standards;

[0047] In a specific implementation, a template version and update time are also set for each template: the template version number, effective date and revision record to ensure dynamic update and compliance of the template;

[0048] In a specific implementation, the safety cone deployment template includes corresponding cone deployment parameters, including: the number of safety cones deployed, the deployment position of each safety cone, the safety distance between the safety cone and the predetermined aircraft part, and the path planning parameters for the safety cone deployment, the path planning parameters include: the initial deployment position and the dynamic obstacle avoidance parameters; the dynamic obstacle avoidance parameters include: the real-time obstacle avoidance distance threshold, which is preset; the path planning parameters also include: temporary adjustment rules for the detour path; the safety distance between the safety cone and the predetermined aircraft part, for example, the safety distance between each safety cone and the predetermined key part of the aircraft, such as the wing end and / or the engine air intake; specifically, the deployment number is based on the size of the aircraft and airline safety regulations; exemplarily, the deployment position is a relative coordinate or absolute geographic coordinate based on the aircraft reference point, for example, the deployment position can be: a safe distance point in front of and behind the engine air intake; a position point in the safety zone outside the wing tip; a position point in the warning zone around the landing gear; exemplarily, the above-mentioned safety distance is, for example, 3 meters at the wing end and 5 feet at the engine air intake; further, the cone barrel deployment parameters also include the deployment priority of the safety cone barrel, for example, first deploying around the engine and then deploying on both sides of the fuselage; the above-mentioned initial deployment position is the starting point coordinate of the robot to perform the deployment task, for example, a predetermined point on a designated area of ​​the apron or the end point of the last deployment task.

[0049] In a specific implementation, the safety cone deployment template also includes: recovery and emergency parameters of the safety cone and / or predetermined compliance parameters; the recovery and emergency parameters of the safety cone include: recovery path planning parameters and / or exception handling rules; the recovery path planning parameters include the recovery order and recovery path of the safety cone; the recovery path is, for example: a recovery path that is opposite to the deployment path or is planned separately and is different from the deployment path; the exception handling rules include: an automatic correction strategy for safety cone anomalies and / or an execution strategy for communication interruption; safety cone anomalies include: the safety cone tipping over or moving; the execution strategy for communication interruption is, for example, to use a locally cached execution plan to execute the deployment task;

[0050] The predefined compliance parameters include: 1. References to industry standards to be met, such as compliance with the International Civil Aviation Organization (ICAO) or local civil aviation authority safety cone deployment specifications (such as FAA AC 150 / 5210-5); 2. Airline customized rules; such as airline-specific additional requirements, such as the direction of night reflective signs, special color signs, etc.;

[0051] In a specific implementation, the safety cone deployment template can be implemented as an interface for background settings and maintenance; further, the safety cone deployment template includes: a deployment sample diagram corresponding to the deployment standards or requirements of the airline; in a specific implementation, the corresponding deployment sample diagram can be obtained by dragging on the interface; in a specific implementation, the safety cone deployment template can be pre-stored locally on the safety cone robot or in a remote control center; when the safety cone deployment template is stored in a remote control center, after the safety cone robot uploads the airline information and sends a deployment template acquisition request, the control center queries the pre-stored deployment template and sends the matching deployment template to the safety cone robot;

[0052] For example, for a Boeing 747 aircraft, the standard position of the safety cone layout template is: Figures 2 to 4 As shown, to ensure that each safety cone is located at least 5 feet away from the engine air intake; wherein, Figure 2 This is a perspective view of the cone barrel position; Figure 3 It is a perspective view of the side view cone barrel position; Figure 4 This is a perspective view looking down at the location of the cone barrels; the five-pointed star represents the location of the safety cone barrels.

[0053] In a further embodiment, the safety cone deployment template corresponding to the airline is a template library, and the template library contains various safety cone deployment templates matching different types of aircraft of the airline; when the safety cone robot recognizes the aircraft logo, it also recognizes the aircraft model; and then determines the safety cone deployment template corresponding to the aircraft model;

[0054] S3, the safety cone robot deploys the safety cones according to the safety cone deployment template.

[0055] In a specific implementation, the safety cone robot deploys the safety cone according to the safety cone deployment template, including:

[0056] The safety cone robot generates a corresponding deployment task according to the safety cone deployment template. The deployment task includes multiple parameters in the safety cone deployment template, such as the deployment position of the safety cone, the number of safety cones to be deployed, and the initial deployment position. In other implementations, the control center may formulate a corresponding deployment task according to the deployment template obtained by query, and transmit the obtained deployment task to the safety cone robot. In one implementation, the safety cone robot records the initial deployment position when it starts to execute the deployment task, and uses the initial deployment position as a reference point for subsequent return.

[0057] The safety cone robot obtains the path for this deployment based on path planning parameters such as the initial deployment position and a predetermined path planning algorithm; the safety cone robot plans the best path from the current position or the initial position to all deployment positions based on relevant data such as path-related data collected by one or more navigation sensors such as autonomous navigation sensors, using a predetermined path planning algorithm; specifically, including the best path from the current position to the first target point, the best path from the first target point to the second target point, and so on, until the best path to the last target point; the above-mentioned navigation sensors include, for example, laser radar (LIDAR), cameras and other sensors, which can perceive the surrounding environment in real time and provide data support for realizing the autonomous navigation of the safety cone robot; the path planning algorithm used can be a path planning algorithm in the prior art, which plans the required optimal path by analyzing the data collected by the navigation sensor to ensure that the safety cone robot can complete the task efficiently and accurately;

[0058] The safety cone robot starts from the initial deployment position and deploys the safety cones at the deployment positions in sequence along the obtained path.

[0059] When performing deployment tasks, the safety cone robot moves to each designated deployment position according to a pre-planned path and deploys the safety cones in sequence; when there is a set deployment priority, the safety cones are deployed in sequence according to the path planning and deployment priority.

[0060] In a specific implementation, after all safety cones are deployed, the safety cone robot circles the aircraft at least once outside the electronic fence of the aircraft's predetermined parking position in a predetermined movement mode, and collects environmental images around the aircraft during the circle; in a specific implementation, the environmental images around the aircraft are collected using the onboard camera; wherein, the robot stays within the parking position safety line to avoid interfering with other ongoing operations;

[0061] The safety cone robot generates a panoramic image based on the collected environmental images, wherein the panoramic image shows the deployment locations of the safety cones; in a specific implementation, the panoramic image is saved and used as evidence of the completion of the deployment task, and can be used for subsequent quality inspections and audits;

[0062] The safety cone robot returns the above panoramic view to the control center.

[0063] Furthermore, in a specific implementation, the safety cone bucket robot can identify aircraft, safety distances between aircraft, security facilities and equipment, safety distances between security facilities and equipment, security vehicles and / or activities of related staff to avoid collisions and ensure the safety of itself and other equipment. Among them, security facilities and equipment include: boarding bridges, baggage loading and unloading platforms, refueling equipment, etc.; these facilities usually have fixed locations and working ranges. Security vehicles include shuttle buses, catering trucks, garbage trucks, baggage transportation, clean water trucks, sewage trucks, power trucks, passenger elevators, non-powered vehicles, etc. Relevant staff include: ground staff working on the airport apron, crew members and / or other related personnel whose activities are also within the monitoring scope. In one implementation, the safety cone bucket robot captures images of the above-mentioned related equipment and / or personnel through the onboard camera, and uses a predetermined artificial intelligence algorithm to analyze, such as analyzing the behavior of people in the image, to ensure that there is no threat to the personnel.

[0064] In a further implementation, the deployment method of the present invention also includes a step in which the safety cone robot recycles the deployed safety cones according to the recycling parameters in the template.

[0065] In a specific implementation, the safety cone robot includes:

[0066] A self-propelled ground chassis is used to realize the autonomous movement of the safety cone bucket robot on the ground; in one implementation, the self-propelled ground chassis is a fully automatic self-propelled ground chassis, including a plurality of powered wheels and a support platform, which carries other components of the robot and realizes autonomous movement on the ground;

[0067] The grabbing and transporting components of the safety cone barrel are connected to the self-propelled walking chassis, and are used to grab the safety cone barrel from the designated area and transport and place the grabbed safety cone barrel at the designated location; in an exemplary implementation, the grabbing and transporting components include a retractable conveyor belt and an electric gripper, which are used to take out the safety cone barrel from the preset safety cone barrel storage area and place it at the designated location when placing the safety cone barrel, or to recycle the safety cone barrel from the ground and return it to the above-mentioned safety cone barrel storage area when recycling the safety cone barrel; in a specific application, during deployment, when the robot arrives at the designated location, its electric gripper removes the safety cone barrel from the conveyor belt and places it on the ground; during recycling, when the robot arrives at the recycling point, its electric gripper picks up the safety cone barrel on the ground and returns it to the safety cone barrel storage area via the conveyor belt;

[0068] At least one navigation sensor connected to the ground-based walking chassis for real-time perception of a predetermined surrounding environment;

[0069] The communication component is used for wireless communication with the control center; in a specific implementation, the communication component is also used for wireless communication with other predetermined related devices to facilitate remote monitoring and management;

[0070] The controller is used to control the various components or members of the safety cone bucket robot; in the specific implementation, the controller is used to centrally manage and coordinate the work of each component to ensure the stable operation of the system.

[0071] Embodiment 2:

[0072] The present invention provides a safety cone robot, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the aircraft safety cone deployment method as described above.

[0073] Furthermore, the above safety cone bucket robot further includes:

[0074] Self-propelled ground chassis, used to realize autonomous movement of the safety cone bucket robot on the ground;

[0075] The grabbing and transporting member of the safety cone barrel is connected to the ground-based walking chassis, and is used to grab the safety cone barrel from the designated area and transport and place the grabbed safety cone barrel at the designated location;

[0076] At least one navigation sensor connected to the ground-based walking chassis for real-time perception of a predetermined surrounding environment;

[0077] A communication component, used for wireless communication with a control center;

[0078] The controller is used to control various components or members of the safety cone robot.

[0079] Embodiment three:

[0080] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for deploying the aircraft safety cone described above in the embodiment of the present invention are implemented.

[0081] If the module / unit integrated in the computer unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0082] Embodiment 4:

[0083] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method for deploying an aircraft safety cone as described above are implemented.

[0084] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for deploying aircraft safety cones, characterized in that: include: The safety cone robot recognizes the logo on the aircraft and determines the airline to which the aircraft belongs; The safety cone robot obtains a preset safety cone deployment template corresponding to the airline, wherein the safety cone deployment template includes: the number of safety cones deployed, the deployment position of each safety cone, the safety distance between the safety cone and a predetermined aircraft part, and the path planning parameters for the safety cone deployment, wherein the path planning parameters include: the initial deployment position and the dynamic obstacle avoidance parameters; The safety cone robot arranges the safety cones according to the safety cone arrangement template.

2. The laying method according to claim 1, characterized in that: The dynamic obstacle avoidance parameters include: real-time obstacle avoidance distance threshold; the path planning parameters also include: temporary adjustment rules for detour paths; the safety cone deployment template also includes: deployment priority of safety cones, recovery and emergency parameters of safety cones and / or predetermined compliance parameters; the recovery and emergency parameters of safety cones include: recovery path planning parameters and / or exception handling rules; the recovery path planning parameters include safety cone recovery sequence and recovery path; the exception handling rules include: automatic correction strategy when safety cones are abnormal and / or execution strategy when communication is interrupted.

3. The laying method according to claim 1, characterized in that: The safety cone deployment template corresponding to the airline is: the safety cone deployment template of the corresponding aircraft model corresponding to the airline.

4. The laying method according to claim 1, characterized in that: The safety cone bucket robot arranges the safety cone bucket according to the safety cone bucket arrangement template, including: The safety cone bucket robot generates a corresponding layout task according to the safety cone bucket layout template; The safety cone bucket robot obtains the path for this deployment according to the path planning parameters and a predetermined path planning algorithm; The safety cone robot starts from the initial deployment position and deploys the safety cones along the obtained path.

5. The laying method according to claim 1, characterized in that: Also includes: After all safety cones are deployed, the safety cone robot will circle the aircraft at least once outside the electronic fence of the aircraft's scheduled parking position in a predetermined movement mode, and collect environmental images around the aircraft during the circle; The safety cone robot generates a panoramic image based on the collected environmental image, wherein the panoramic image shows the layout positions of the safety cones; The safety cone robot returns the panoramic image to the control center.

6. The laying method according to claim 1, characterized in that: The safety cone bucket robot comprises: A self-propelled ground chassis, used to realize the autonomous movement of the safety cone bucket robot on the ground; The grabbing and transporting member of the safety cone barrel is connected to the self-propelled ground chassis and is used to grab the safety cone barrel from the designated area and transport and place the grabbed safety cone barrel at the designated location; At least one navigation sensor connected to the ground-based walking chassis for real-time perception of a predetermined surrounding environment; A communication component, used for wireless communication with a control center; A controller is used to control the components or members of the safety cone bucket robot.

7. A safety cone bucket robot, characterized in that: The method comprises a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the method for deploying an aircraft safety cone as claimed in any one of claims 1 to 5.

8. The safety cone bucket robot according to claim 7, characterized in that: Also includes: A self-propelled ground chassis, used to realize the autonomous movement of the safety cone bucket robot on the ground; The grabbing and transporting member of the safety cone barrel is connected to the self-propelled ground chassis and is used to grab the safety cone barrel from the designated area and transport and place the grabbed safety cone barrel at the designated location; At least one navigation sensor connected to the ground-based walking chassis for real-time perception of a predetermined surrounding environment; A communication component, used for wireless communication with a control center; A controller is used to control the components or members of the safety cone bucket robot.

9. A computer-readable storage medium, applied to a safety cone robot, characterized in that: The storage medium stores at least one program, and the at least one program is executed by a processor to implement the steps of the method for deploying an aircraft safety cone as described in any one of claims 1 to 6.

10. A computer program product, applied to a safety cone robot, comprising a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for deploying an aircraft safety cone as described in any one of claims 1 to 6 are implemented.

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