Aircraft ground active anti-collision method and aircraft ground active anti-collision system

Abstract

The invention relates to an airplane ground active anti-collision method and an airplane ground active anti-collision system. In a first example of the aircraft ground active anti-collision method, the aircraft ground active anti-collision method comprises the steps that a collision prediction module calculates the collision time of collision between an aircraft and an external object based on the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and the external object and the relative speed of the aircraft and the external object, the collision time is sent out; and the collision warning module judges whether the collision time is smaller than or equal to a first threshold value or not, if the collision time is smaller than or equal to the first threshold value, collision warning is triggered, and if the collision time is larger than the first threshold value, the aircraft ground active collision avoidance method is restarted to be implemented after preset interval time. And the collision time of the aircraft and the external object is calculated through the collision prediction module. And triggering an alarm according to the collision time to prompt a pilot to take measures.

Description

Technical Field

[0001] The present invention relates to an active ground collision avoidance method for an aircraft and an active ground collision avoidance system for an aircraft. The present invention belongs to the field of avionics system design and is mainly used for active ground collision avoidance monitoring and early warning of an aircraft. Background Art

[0002] Nowadays, most aircraft are equipped with air collision avoidance systems, but the system is only for aircraft collision avoidance in the air, and there is still a lack of design for aircraft collision avoidance on the ground. Although aircraft collisions on the ground rarely cause serious casualties, the economic losses caused by the repair costs caused by the damage to the aircraft and the grounding of the aircraft are huge.

[0003] Preventing runway incursions and aircraft scratches has always been a key risk in safety management. As the number of airports with multiple runways increases, the risk of aircraft ground operations will increase.

[0004] Therefore, there is an urgent need to propose a system for improving the safety of aircraft taxiing on the ground. Summary of the invention

[0005] In view of the above problems in the prior art, the inventor provides an active ground collision avoidance method for aircraft, which has the characteristics of real-time monitoring and alarm.

[0006] In the first example of the aircraft ground active collision avoidance method, the aircraft ground active collision avoidance method includes: a collision prediction module calculates the collision time between the aircraft and the external object based on the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and the external object, and the relative speed between the aircraft and the external object, and sends the collision time; a collision warning module determines whether the collision time is less than or equal to a first threshold, if the collision time is less than or equal to the first threshold, a collision warning is triggered, if the collision time is greater than the first threshold, then after a predetermined interval time, the aircraft ground active collision avoidance method is restarted.

[0007] According to the above-mentioned structure, the collision time is calculated, and the collision alarm is triggered or not triggered based on the collision time, so that the collision situation can be monitored in real time and an alarm can be issued.

[0008] In the second example of the aircraft ground active collision avoidance method, the first example is optionally included, and the aircraft ground active collision avoidance method also includes: when the collision warning module determines whether the collision time is less than or equal to a first threshold, if the collision time is greater than the first threshold, then continue to determine whether the collision time is less than or equal to a second threshold, wherein the second threshold is greater than the first threshold, if the collision time is less than or equal to the second threshold, then trigger a collision pre-warning, if the collision time is greater than the second threshold, then after a predetermined interval time, restart the implementation of the aircraft ground active collision avoidance method.

[0009] According to the above structure, based on the collision time from short to long, a collision warning, a collision pre-warning or no collision warning will be triggered, wherein the collision warning is more urgent than the collision pre-warning. It can help pilots identify collision risks as early as possible according to different urgency levels.

[0010] In the third example of the aircraft ground active collision avoidance method, one or more of the first example and the second example are optionally included, and the aircraft ground active collision avoidance method further includes: when the collision warning is triggered, instructing the aircraft's brake assembly to brake to slow down the aircraft.

[0011] According to the above-mentioned structure, it is possible to activate the automatic braking system to avoid collision in an emergency.

[0012] In a fourth example of the aircraft ground active collision avoidance method, one or more of the first to third examples are optionally included, and the aircraft ground active collision avoidance method also includes: before calculating the collision time of the aircraft colliding with the external object, the startup judgment module determines whether to start the aircraft ground active collision avoidance system based on the aircraft wheel load signal, the throttle lever angle signal and the anti-collision light on signal, wherein the aircraft ground active collision avoidance system includes a collision prediction module, a collision warning module and a startup judgment module, if the aircraft wheel load signal indicates that the aircraft is on the ground, the throttle lever angle signal indicates that the throttle lever angle is less than the minimum take-off thrust angle, and the anti-collision light on signal indicates that the aircraft anti-collision light is on, the aircraft ground active collision avoidance system is started, and the collision prediction module and the collision warning module are allowed to send signals, otherwise the collision prediction module and the collision warning module are prohibited from sending signals.

[0013] According to the above-mentioned structure, the aircraft ground active collision avoidance system may not be turned on all the time, but may be turned on after the preset conditions are met, thereby avoiding false alarms.

[0014] The present application also provides an aircraft ground active collision avoidance system, which has the characteristics of real-time monitoring and alarm.

[0015] In the first example of the aircraft ground active collision avoidance system, the aircraft ground active collision avoidance system includes: a sensor module, the sensor module includes sensors for detecting the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and the external object, and the relative speed between the aircraft and the external object; a collision prediction module, the collision prediction module is connected to the sensor module and calculates the collision time when the aircraft collides with the external object; and a collision warning module, the collision warning module is connected to the collision prediction module, receives the collision time, and selectively issues a collision warning.

[0016] In the second example of the aircraft ground active collision avoidance system, the first example is optionally included, and the sensor module includes a first group of sensors for detecting the relative distance between the aircraft and external objects, and the relative speed between the aircraft and external objects, and each of the first group of sensors is optionally installed at one or more positions of the aircraft's nose, the wingtip of the left wing, the wingtip of the right wing, the left and right sides of the tail, the height of the vertical tail, and the belly.

[0017] In the third example of the aircraft ground active collision avoidance system, one or more of the first example and the second example are optionally included, and the aircraft ground active collision avoidance system also includes: a collision warning module, the collision warning module receives the collision time and selectively issues a collision warning or a collision pre-warning.

[0018] In a fourth example of the aircraft ground active collision avoidance system, optionally including one or more of the first to third examples, the collision prediction module is also connected to a brake assembly of the aircraft, and selectively instructs the brake assembly to brake.

[0019] In the fifth example of the aircraft ground active collision avoidance system, one or more of the first to fourth examples are optionally included, the sensor module also includes a second group of sensors for detecting the wheel load of the aircraft, the throttle lever angle of the aircraft, and the anti-collision lights of the aircraft, and the aircraft ground active collision avoidance system also includes a start judgment module, which is connected to the sensor module, the collision prediction module and the collision warning module, and is used to selectively turn on and off the aircraft ground active collision avoidance system, and correspondingly allow and prohibit the collision prediction module and the collision warning module from sending signals.

[0020] The aircraft ground active collision avoidance system of the present invention can accurately calculate the relative distance between the aircraft and external people, vehicles and other aircraft (hereinafter collectively referred to as "external objects") through the collision prediction module, obtain the speed and acceleration of the aircraft through the aircraft's speed sensor and acceleration sensor, and detect the relative distance and relative speed between the aircraft and the external object through a group of sensors, so as to calculate the collision time between the aircraft and the external object through the collision prediction module. Different levels of alarms are triggered according to different collision times, prompting the pilot to take measures.

[0021] The aircraft ground active collision avoidance system of the present invention can optionally accurately determine whether to turn on the system to avoid erroneous triggering of collision alarms at inappropriate times; it can optionally have two or more alarm levels to set collision alarms and different collision pre-alarms for different collision risk levels according to calculation results, which can help pilots identify collision risks as early as possible according to different degrees of urgency; and it can optionally activate the automatic braking system in an emergency to avoid collision.

[0022] The invention has the characteristics of high detection accuracy and timely alarm, and is suitable for active ground collision avoidance of aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to describe the implementation of the above and other features of the present invention, a more particular description of the invention briefly described above will be presented with reference to the exemplary embodiments of the invention shown in the accompanying drawings. It will be understood that these drawings only depict exemplary embodiments of the invention and should not be considered as limiting the scope thereof. The invention will be described and explained through the use of the accompanying drawings and with additional features and details. In the drawings:

[0024] Figure 1 is a schematic diagram of an aircraft ground active collision avoidance system according to an embodiment of the present invention; and

[0025] Figure 2 4 is a flow chart of a method for active aircraft ground collision avoidance according to an embodiment of the present invention.

[0026] List of reference numerals:

[0027] 1 Aircraft Ground Active Collision Avoidance System

[0028] 10 Sensor Module

[0029] 20 Collision Prediction Module

[0030] 30 Collision warning module

[0031] 40 Start judgment module DETAILED DESCRIPTION

[0032] As used herein, the terms "comprising," "having," "including," and variations thereof are intended to serve as open-ended transitional phrases, terms or words requiring the presence of specified elements / steps and also allowing for the presence of other elements / steps.

[0033] In the present invention, unless explicitly stated to the contrary, the terms "first", "second", etc. are not intended to indicate any difference in order, position, quantity or importance, but are merely used as labels to distinguish different positions and components, to distinguish one element, component, region and / or position from another element, component, region and / or position.

[0034] First, refer to Figure 1 , Figure 2 A schematic description is given. Figure 1 is a schematic diagram of an aircraft ground active collision avoidance system according to an embodiment of the present invention, Figure 2 4 is a flow chart of a method for active aircraft ground collision avoidance according to an embodiment of the present invention.

[0035] The aircraft ground active collision avoidance system 1 of the present invention generally comprises a sensor module 10, a collision prediction module 20, and a collision warning module 30. In the present invention, a plurality of different embodiments are provided for the aircraft cargo compartment fire detection system 1 having the above structure.

[0036] Example 1

[0037] In one embodiment of the present invention, the aircraft ground active collision avoidance system 1 generally includes a sensor module 10 , a collision prediction module 20 , and a collision warning module 30 .

[0038] The smoke detection module 10 includes sensors for detecting the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and external objects, and the relative speed between the aircraft and external objects. These sensors may be onboard or remotely connected to the aircraft.

[0039] Preferably, the sensor module 10 includes a first group of sensors for detecting the relative distance between the aircraft and external objects, and the relative speed between the aircraft and external objects, including sensors for detecting the position, speed and motion trajectory of external objects, such as but not limited to high-precision cameras, lidars, microwave radars, millimeter-wave radars and other sensors with similar functions, which are used to obtain the relative distance and relative speed between the aircraft and external objects, and support the calculation of the time when the aircraft collides with the external object.

[0040] Each of the first group of sensors is installed at a position where collision avoidance detection is required, for example, optionally installed at one or more positions of the aircraft's nose, the wingtip of the left wing, the wingtip of the right wing, the left and right sides of the tail, the height of the vertical tail, and the belly.

[0041] The collision prediction module 20 is connected to the sensor module 10, and calculates the collision time t of the aircraft and the external object based on the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and the external object, and the relative speed between the aircraft and the external object. By calculating the speed and acceleration of the aircraft and the relative distance and relative speed of the aircraft and the external object, the collision risk between the aircraft and the external object is predicted.

[0042] The collision warning module 30 is connected to the collision prediction module 20, receives the collision time t, and selectively issues a collision warning a1 based on the collision time t, turning on the warning device of the aircraft, such as but not limited to the warning light on the control panel of the aircraft crew, the warning light and alarm sound inside the aircraft, etc., for warning the people on board.

[0043] The present invention also relates to an aircraft ground active collision avoidance method 100 based on the above-mentioned aircraft ground active collision avoidance system 1 .

[0044] After the aircraft ground active collision avoidance method 100 starts, in step 101, the collision prediction module 20 calculates the collision time t of the aircraft colliding with the external object based on the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and the external object, and the relative speed between the aircraft and the external object, and sends the collision time t to the collision warning module 30.

[0045] In step 103, the collision warning module 30 determines whether the collision time t is less than or equal to a predetermined first threshold. The design of the first threshold should take into account the urgency of the collision and the high risk level.

[0046] If the result is "yes", the collision time t is less than or equal to the first threshold, then in step 104, the collision warning a1 is triggered. If the result is "no", the collision time t is greater than the first threshold, then in step 107, after a predetermined interval time, the aircraft ground active collision avoidance method 100 is restarted. The predetermined interval time can be, but is not limited to, in the range of 0.01s-0.1s.

[0047] Example 2

[0048] In Example 1, the aircraft ground active collision avoidance system 1 has only one warning level, but the aircraft ground active collision avoidance system of the present invention may also have two or more warning levels, namely, collision warnings and collision pre-warnings of different levels. According to the calculation results, setting collision warnings and different collision pre-warnings for different collision risk levels can help pilots identify collision risks as early as possible according to different urgency levels, take avoidance measures in advance, and minimize the possibility of accidents.

[0049] In this embodiment, the aircraft ground active collision avoidance system 1 has two warning levels. The collision warning module 30 receives the collision time t, but based on the length of the collision time t, it can selectively issue a collision warning a1 or a collision pre-warning a2. The collision pre-warning a2 will turn on a warning device different from the collision warning a1, such as but not limited to the warning light on the control panel of the aircraft crew, the warning light and alarm sound inside the aircraft, etc., to warn the people on board.

[0050] In this embodiment, the aircraft ground active collision avoidance method 100 also includes step 105 between step 103 and step 107. Specifically: in step 103, when the collision warning module 30 determines whether the collision time t is less than or equal to the first threshold, if the result is "no", the collision time t is greater than the first threshold, then in step 105, continue to determine whether the collision time t is less than or equal to a predetermined second threshold, wherein the second threshold is greater than the first threshold, that is, the second threshold is not as urgent as the first threshold, and the danger level of the second threshold is lower than the first threshold.

[0051] If the collision time t is less than or equal to the second threshold, the collision pre-alarm a2 is triggered. If the collision time t is greater than the second threshold, the aircraft ground active collision avoidance method is restarted after a predetermined interval.

[0052] It can be understood that the warning levels are not limited to the two described in Example 2, and there may be more warning levels based on the length of the collision time t.

[0053] Example 3

[0054] In Example 1, the collision warning module 30 of the aircraft ground active collision avoidance system 1 turns on the aircraft's warning device when the collision warning a1 is issued. However, the aircraft ground active collision avoidance system of the present invention can also be connected to the aircraft's brake assembly, and automatically instruct the brake assembly to brake when the collision warning a1 is issued to decelerate the aircraft. The collision warning is combined with automatic braking to avoid human errors and further provide safety protection for the aircraft.

[0055] In this embodiment, the aircraft ground active collision avoidance method 100 also includes step 108 of instructing the brake assembly to brake while triggering the collision warning a1 in step 104 .

[0056] Example 4

[0057] In Embodiment 1, the aircraft ground active collision avoidance system 1 is always turned on, so the collision prediction module 20 continuously calculates and the collision warning module 30 triggers an alarm in any case where the collision time t is satisfied, which wastes resources and easily triggers false alarms, and easily causes unnecessary interference to the pilot.

[0058] In this embodiment, the aircraft ground active collision avoidance system 1 further includes a start-up judgment module 40. The start-up judgment module 40 is connected to the sensor module 10, the collision prediction module 20 and the collision warning module 30, and is used to selectively start and stop the aircraft ground active collision avoidance system 1, and correspondingly allow and prohibit the collision prediction module 20 and the collision warning module 30 from sending any signal.

[0059] In addition, the sensor module 10 also includes a second group of sensors for detecting the wheel load of the aircraft, the throttle lever angle of the aircraft, and the anti-collision light of the aircraft. By receiving the wheel load signal of the aircraft, the throttle lever angle signal and the anti-collision light on signal, it is determined whether to turn on the anti-collision system. When the aircraft is on the ground, the throttle lever angle is less than the throttle lever angle corresponding to the minimum takeoff thrust, and the aircraft anti-collision light is turned on, the anti-collision system is turned on. If any of the above three conditions is not met, the anti-collision system is turned off.

[0060] In this embodiment, after the aircraft ground active collision avoidance method 100 is started, before the step 101 calculates the collision time t, it further includes steps 111 - 113 .

[0061] In step 111 , the start-up determination module 40 determines whether a condition for starting the aircraft ground active collision avoidance system 1 is met based on the wheel load signal, the throttle lever angle signal and the anti-collision light start-up signal.

[0062] If the result is "yes", that is, if the aircraft wheel load signal indicates that the aircraft is on the ground, the throttle lever angle signal indicates that the throttle lever angle is less than the minimum takeoff thrust angle, and the anti-collision light on signal indicates that the aircraft anti-collision light is on, then in step 113, the aircraft ground active collision avoidance system 1 is turned on, that is, the collision prediction module 20 and the collision warning module 30 are allowed to send signals. If the result is "no", that is, if any of the above three conditions is not met, then in step 112, the aircraft ground active collision avoidance system 1 is turned off, that is, the collision prediction module 20 and the collision warning module 30 are prohibited from sending signals.

[0063] The wheel load signal, throttle lever angle signal and anti-collision light on signal are used to determine whether the anti-collision system is turned on, and to more accurately identify the scenarios where the ground anti-collision system needs to be turned on. When there is no one on the aircraft or the aircraft is in take-off or in the air and there is no need to turn on the collision system, the collision system can be turned off to avoid starting the ground anti-collision system in unnecessary scenarios and triggering false alarms, thereby improving the accuracy and availability of the anti-collision system and avoiding unnecessary interference to the pilot.

[0064] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention is clearly and completely described above in combination with the specific embodiments of the present invention and the accompanying drawings.

[0065] Although various embodiments have been described above, it should be understood that the embodiments described are part of the embodiments of the present invention, rather than all embodiments, and they are presented in an exemplary rather than limiting manner. It is obvious to those skilled in the relevant art that the disclosed subject matter can be implemented in other specific forms without departing from its spirit and essential features.

Claims

1. An active ground collision avoidance method for an aircraft, characterized in that: The aircraft ground active collision avoidance method comprises: The collision prediction module (20) calculates a collision time (t) when the aircraft collides with the external object based on the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and the external object, and the relative speed between the aircraft and the external object, and the collision time (t) is sent out; The collision warning module (30) determines whether the collision time (t) is less than or equal to a first threshold, and triggers a collision warning (a1) if the collision time (t) is less than or equal to the first threshold. If the collision time (t) is greater than the first threshold, the aircraft ground active collision avoidance method is restarted after a predetermined interval.

2. The active aircraft ground collision avoidance method according to claim 1, characterized in that: The aircraft ground active collision avoidance method also includes: When the collision warning module (30) determines whether the collision time (t) is less than or equal to a first threshold, if the collision time (t) is greater than the first threshold, it continues to determine whether the collision time (t) is less than or equal to a second threshold, wherein the second threshold is greater than the first threshold. If the collision time (t) is less than or equal to the second threshold, a collision pre-warning (a2) is triggered. If the collision time (t) is greater than the second threshold, the aircraft ground active collision avoidance method is restarted after the predetermined interval time has passed.

3. The active aircraft ground collision avoidance method according to claim 1, characterized in that: The aircraft ground active collision avoidance method also includes: When the collision warning (a1) is triggered, the brake assembly of the aircraft is instructed to brake to decelerate the aircraft.

4. The active aircraft ground collision avoidance method according to claim 1, characterized in that: The aircraft ground active collision avoidance method also includes: Before calculating the collision time (t) of the collision between the aircraft and the external object, the start judgment module (40) judges whether to start the aircraft ground active collision avoidance system based on the aircraft wheel load signal, the throttle lever angle signal and the anti-collision light on signal, wherein the aircraft ground active collision avoidance system comprises the collision prediction module (20), the collision warning module (30) and the start judgment module (40); if the aircraft wheel load signal indicates that the aircraft is on the ground, the throttle lever angle signal indicates that the throttle lever angle is less than the minimum take-off thrust angle, and the anti-collision light on signal indicates that the aircraft anti-collision light is on, the aircraft ground active collision avoidance system is started, and the collision prediction module (20) and the collision warning module (30) are allowed to send signals. Otherwise, the collision prediction module (20) and the collision warning module (30) are prohibited from sending signals.

5. An aircraft ground active collision avoidance system, characterized in that: The aircraft ground active collision avoidance system (1) comprises: A sensor module (10), the sensor module (10) comprising a sensor for detecting the speed of the aircraft, the acceleration of the aircraft, the relative distance between the aircraft and an external object, and the relative speed between the aircraft and the external object; A collision prediction module (20), the collision prediction module (20) being connected to the sensor module (10) and calculating a collision time (t) when the aircraft collides with the external object; A collision warning module (30) is connected to the collision prediction module (20), receives the collision time (t), and selectively issues a collision warning (a1).

6. The aircraft ground active collision avoidance system according to claim 5, characterized in that: The sensor module (10) comprises a first group of sensors for detecting the relative distance between the aircraft and an external object, and the relative speed between the aircraft and the external object. Each of the first group of sensors is optionally installed at one or more positions of the aircraft's nose, the wingtip of the left wing, the wingtip of the right wing, the left and right sides of the tail, the height of the vertical tail, and the belly.

7. The aircraft ground active collision avoidance system according to claim 5, characterized in that: A collision warning module (30) receives the collision time (t) and selectively issues a collision warning (a1) or a collision pre-warning (a2).

8. The aircraft ground active collision avoidance system according to claim 5, characterized in that: The collision prediction module (20) is also connected to a brake assembly of the aircraft and selectively commands the brake assembly to brake.

9. The aircraft ground active collision avoidance system according to claim 5, characterized in that: The sensor module (10) further comprises a second set of sensors for detecting the wheel load of the aircraft, the throttle angle of the aircraft, and the opening of the anti-collision lights of the aircraft, and The aircraft ground active collision avoidance system (1) further comprises a start-up judgment module (40), which is connected to the sensor module (10), the collision prediction module (20) and the collision warning module (30) and is used to selectively start and stop the aircraft ground active collision avoidance system (1), and correspondingly allow and prohibit the collision prediction module (20) and the collision warning module (30) from sending signals.

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