Civil aviation intelligent warning cone based on RTK positioning

Abstract

The invention provides a civil aviation intelligent warning cone based on RTK positioning, and the warning cone comprises a foldable and stackable warning cone body which is provided with a positioning system which is used for obtaining the position information of the warning cone; the control system is used for generating a control signal according to the position information and a preset driving route and a preset obstacle avoidance strategy of the airport ground station; the driving system is used for responding to the control signal to drive the warning cone body to move along a preset driving route; the obstacle avoidance system is used for detecting the distance and azimuth information of an obstacle relative to the warning cone body in real time, generating an obstacle avoidance instruction, performing local fine adjustment on a preset driving route and sending the obstacle avoidance instruction to the control system; and the communication module is used for receiving a placement / recovery instruction sent by the wearable bracelet, forwarding the placement / recovery instruction to the control system, and sending state information of the warning cone body to the wearable bracelet. The civil aviation intelligent warning cone can replace manual placement, the labor intensity is reduced, and the safety and efficiency of an airport apron are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of airport position warning, and particularly relates to an intelligent warning cone for civil aviation based on RTK positioning. BACKGROUND

[0002] With the continuous growth of civil aviation transportation volume, the airport position turnover rate is continuously improved. The traditional manual placement of warning cones has the following defects: 1. High labor intensity: 6-8 warning cones need to be placed in front and behind the wheels of a single flight, and the staff needs to frequently go back and forth for hundreds of meters; 2. Large positioning error: manual placement by visual inspection leads to position deviation, affecting the safety of aircraft entering and leaving; 3. High safety risk: personnel entering the taxiway or parking position is prone to FOD (foreign object) events.

[0003] Therefore, an intelligent warning cone capable of autonomous positioning, automatic driving and real-time control is needed to reduce labor costs and improve operation accuracy and safety. SUMMARY

[0004] The application aims to provide an intelligent warning cone for civil aviation with centimeter-level positioning accuracy, laser radar real-time obstacle avoidance, UWB bracelet bidirectional interaction and multi-machine cooperation capability, to realize automatic deployment, recovery, state monitoring and energy management of the warning cone, and significantly improve the efficiency and safety of airport ground operation.

[0005] To achieve the above-mentioned purpose, the application provides the following solutions: An intelligent warning cone for civil aviation based on RTK positioning, comprising a foldable and stackable warning cone body, wherein the warning cone body is provided with: a positioning system for acquiring position information of the warning cone; a control system in communication connection with the positioning system, for generating a control signal according to the position information and a preset driving route and a preset obstacle avoidance strategy of an airport ground station; a driving system in communication connection with the control system, for driving the warning cone body to move along the preset driving route in response to the control signal; an obstacle avoidance system in communication connection with the control system, for detecting distance and direction information of an obstacle relative to the warning cone body in real time, generating an obstacle avoidance instruction, locally fine-tuning the preset driving route, and sending the obstacle avoidance instruction to the control system; a communication module in bidirectional communication connection with a wearable bracelet, for receiving a placement / recovery instruction sent by the wearable bracelet and forwarding the placement / recovery instruction to the control system, and sending state information of the warning cone body to the wearable bracelet.

[0006] Preferably, the positioning system comprises: an RTK module, configured to obtain absolute position information of the warning cone body with millimeter-level precision by using a differential correction signal of a ground base station; an IMU inertial measurement unit, configured to obtain attitude information of the warning cone body by using an inertial navigation principle; an RTK-IMU coupling unit, configured to fuse the absolute position information and the attitude information based on a Kalman filter to obtain final position information of the warning cone body.

[0007] Preferably, the RTK-IMU coupling unit comprises: a data fusion subunit, configured to fuse the absolute position information and the attitude information based on a Kalman filter to obtain a state vector of the warning cone body; a prediction subunit, configured to predict a state vector and a covariance matrix at a current time by using a state vector at a previous time and a current measurement value of the IMU inertial measurement unit; an update subunit, configured to, when the RTK-IMU coupling unit provides a new position measurement value, convert the predicted state vector to a measurement space to obtain a predicted measurement value, compare the predicted measurement value with an actual position measurement value to obtain a measurement residual, and update the state vector and the covariance matrix by using a Kalman gain to weight the measurement residual.

[0008] Preferably, the control system comprises: an upper computer decision layer, configured to make decisions on path tracking and obstacle avoidance; a lower computer execution layer, configured to drive a motor and collect data based on a path tracking result and an obstacle avoidance decision.

[0009] Preferably, the obstacle avoidance system comprises: a laser radar, configured to scan environmental information in all directions around the warning cone body to obtain point cloud data; an upper computer, configured to analyze the point cloud data in real time, identify potential obstacles, generate an obstacle avoidance instruction to fine-tune a preset driving route of the warning cone body according to positions, sizes and motion trends of the potential obstacles, and send the obstacle avoidance instruction to the control system.

[0010] Preferably, the driving system adopts three sets of independent direct-current motors to drive an omnidirectional wheel chassis or a four-wheel drive chassis, so as to realize movement of the warning cone body in any direction and rotation of the warning cone body in place; when the warning cone body reaches a preset coordinate, the driving motor immediately enters zero-speed locking to form an electronic brake.

[0011] Preferably, the system further comprises an energy management system configured to manage energy of the warning cone body; the energy management system comprises: A battery monitoring unit is configured to monitor state information of the battery of the cone body. An energy distribution unit is configured to distribute and manage energy for each system integrated in the cone body based on the state information. A charging management unit is configured to manage charging of the battery based on the state information of the battery, and the battery is a lithium iron phosphate battery.

[0012] Preferably, a safety protection system is further included for sound and light alarm, emergency stop and power-off protection.

[0013] Compared with the prior art, the present application has the following beneficial effects: 1. Centimeter-level "planning-fine-tuning" composite navigation: The dual-layer navigation architecture of "airport ground station preset global path + laser radar local fine-tuning" is created, dynamic obstacle avoidance is realized under the premise of ensuring the overall trend unchanged, and the airport operation specification and real-time safety are considered.

[0014] 2. UWB bracelet one-to-many bidirectional interaction: UWB low-latency communication is introduced into the warning cone for the first time, a single bracelet is used to monitor / control multiple warning cones, and the power, position, speed and abnormal state are returned, so that the operator can complete the deployment and recovery without entering the position, and the labor intensity is greatly reduced. Multi-machine cooperative communication and energy management design supports large-scale position synchronous operation and improves position turnover efficiency by more than 15%.

[0015] 3. Omnidirectional wheel, four-wheel drive, direct drive integrated chassis: The traditional transmission mechanism is cancelled, and three direct current motors are used to drive the omnidirectional wheel or four motors are used for differential four-wheel drive to realize translation in any direction and rotation in place. The mechanical complexity is simplified, and the reliability is improved.

[0016] 4. RTK+IMU tight coupling positioning: RTK provides centimeter-level absolute coordinates, and IMU compensates for short-term drift caused by satellite signal shielding, so that the positioning accuracy is less than 5 cm in the shadow area of the corridor bridge and high fuselage.

[0017] 5. Integrated foldable warning cone structure: The cone body and the chassis adopt a detachable quick plug interface, the cone body can be folded or detached during parking on the apron, the storage volume is reduced, and the one-time transportation capacity of the support vehicle is improved.

[0018] 6. Extremely high safety redundancy system: Laser radar + sound and light alarm + emergency stop button three-level safety link, abnormality triggers braking within 0.2 seconds and reports to the bracelet and the operator, meeting the zero tolerance requirement of airport FOD. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the present application, the following briefly introduces the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0020] Figure 1 The hardware logic diagram of the civil aviation intelligent warning cone based on RTK positioning of the embodiment of the present application; Figure 2 The program flow chart of the civil aviation intelligent warning cone based on RTK positioning of the embodiment of the present application; Figure 3 The omni-directional wheel chassis schematic diagram of the embodiment of the present application; Figure 4 The Mecanum wheel schematic diagram of the embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0022] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0023] Embodiment one As shown in Figure 1 , Figure 2 , a civil aviation intelligent warning cone based on RTK positioning, comprising a foldable and stackable warning cone body, the warning cone body is provided with: a positioning system, a control system, a driving system, an obstacle avoidance system and a communication module.

[0024] The positioning system is used to obtain the position information of the warning cone. In order to realize the centimeter-level high-precision positioning of the warning cone in the complex environment of the airport, the system adopts the technical scheme of tight coupling of RTK-GPS and IMU. RTK-GPS can significantly eliminate satellite orbit errors, clock errors, atmospheric delay and other common errors by receiving the differential correction signal from the ground reference station, thereby providing high-precision absolute position information. The GPS signal is easily affected by shielding or multipath effect, resulting in positioning interruption or precision reduction. The IMU measures the acceleration and angular velocity of itself, calculates the attitude, speed and position change of the carrier by using the principle of inertial navigation, and has the characteristics of strong autonomy and high short-term precision, but the error will accumulate with time. The absolute position information provided by the RTK-GPS and the relative motion information provided by the IMU are tightly coupled, which can make full use of the advantages of the two and make up for their respective shortcomings. The tight coupling algorithm is based on a Kalman filter, which deeply fuses the observation values of GPS and the original data of IMU. Even in the case of temporary loss of GPS signal or interference, the system can still rely on the high-frequency output of IMU to maintain high-precision positioning and attitude solution, ensuring that the warning cone can continuously and stably track the preset path. This fusion method has higher precision than only fusing position and speed information.

[0025] Further embodiments are directed to a positioning system comprising: an RTK module configured to obtain absolute position information of the warning cone body with millimeter-level precision using differential correction signals from a ground reference station; an IMU inertial measurement unit configured to obtain attitude information of the warning cone body using the principle of inertial navigation; an RTK-IMU coupling unit configured to fuse the absolute position information and the attitude information based on a Kalman filter to obtain final position information of the warning cone body.

[0026] Further embodiments are directed to an RTK-IMU coupling unit comprising: a data fusion subunit configured to fuse the absolute position information and the attitude information based on a Kalman filter to obtain a state vector of the warning cone body; Specifically, in the tight coupling system of RTK-GPS and IMU, the data fusion algorithm is the core link, and the commonly used algorithm is Kalman filtering. Kalman filtering is a kind of efficient recursive filter, which can estimate the state of a dynamic system from a series of measurement data containing noise. In the RTK-IMU tight coupling system, the state vector usually adopts Euler angles or quaternions, including position, velocity, attitude, and IMU sensor bias, accelerometer bias, gyroscope drift, etc.

[0027] A prediction unit is configured to predict the state vector and the covariance matrix at the current time by using the state vector at the last time and the current measurement value of the IMU (inertial measurement unit) and by using a motion model. wherein x is the state vector, F is the state transition matrix, B is the control input matrix, u is the control input, P is the state covariance matrix, and Q is the process noise covariance matrix.

[0028] The prediction unit inside uses a constant velocity-angular velocity motion model to complete short-time extrapolation. The model assumes that the linear velocity of the warning cone remains unchanged at the estimated value at the last time within the adjacent filtering period Δt, and the angular velocity directly uses the instantaneous angular rate output by the IMU gyroscope; the attitude is first updated by a first-order small-angle approximation, and then the linear velocity is projected into the navigation system and integrated to obtain a new position. The state transition matrix is linearized according to this assumption, and the state vector and the covariance matrix at the last time can be propagated forward, and the process noise covariance Q is added to cover the random disturbance caused by tire slip and ground unevenness. Since the running speed of the warning cone is moderate, the simplified model can ensure centimeter-level accuracy in short-time prediction, and avoid high-order dynamic operation, which is suitable for real-time operation of the onboard controller.

[0029] An update unit is configured to convert the predicted state vector to the measurement space when the RTK-IMU coupling unit provides a new position measurement value, obtain a predicted measurement value, and compare the predicted measurement value with the actual position measurement value to obtain a measurement residual; and update the state vector and the covariance matrix by using the Kalman gain to weight the measurement residual. The Kalman gain is calculated according to the predicted covariance and the measurement noise covariance. The calculation formula is as follows: wherein z is the measurement value of the RTK-GPS, H is the observation matrix, R is the measurement noise covariance matrix, y represents the residual of the predicted position and the RTK measured position, S represents the residual covariance pre of the sum of the measurement uncertainty and the measurement uncertainty, K represents the Kalman gain, and I represents a unit matrix with the same state dimension, which is used to maintain the positive definiteness of the covariance after updating.

[0030] A control system is in communication connection with the positioning system, and is configured to generate a control signal according to the position information and a preset driving route and a preset obstacle avoidance strategy of an airport ground station. In a further embodiment, the control system comprises: The host computer decision layer is used for path tracking and obstacle avoidance decision-making. The lower computer execution layer is used for driving the motor and data acquisition based on the path tracking result and the obstacle avoidance decision.

[0031] The point cloud data obtained by the laser radar needs to be preprocessed first, including ground segmentation and point cloud clustering, to extract effective obstacle information. The ground segmentation algorithm can separate the ground point cloud from the obstacle point cloud. The clustering algorithm can aggregate the point clouds belonging to the same obstacle together to form an independent obstacle target. Once the obstacle is detected, the system needs to perform local path planning to fine-tune the local path to avoid obstacles while maintaining the overall direction of the ground station's preset route. In the application scenario of the warning cone, the preset trajectory can be used as the global path. When an obstacle is detected, the current position is taken as the starting point, and after bypassing the obstacle, the system returns to a certain point on the preset trajectory as the ending point. A safe local path is planned using the algorithm. The host computer decision layer is responsible for executing these algorithms and sending fine-tuning instructions to the lower computer based on the algorithm results.

[0032] The driving system is in communication connection with the control system and is used for driving the warning cone body to move along the preset driving route in response to the control signal. Further embodiments are that the driving system adopts three sets of independent direct current motors to drive the omni-directional wheel chassis or four-wheel drive chassis, which is used for realizing the movement and rotation in place of the warning cone body in any direction. As shown in FIGS. 8 and 9. Figure 3 、 Figure 4

[0033] For the omni-directional wheel chassis, at least three omni-directional wheels are usually needed, and each wheel is driven by an independent motor. For the four-wheel drive chassis, if differential steering is used, four independent drive motors are used to realize more flexible control. The advantage of independent motor driving is that the speed and steering of each wheel can be accurately controlled independently. By coordinating the movement of each motor, complex movement modes of the warning cone can be realized, such as forward movement, backward movement, lateral movement, rotation in place, and combinations of these basic movements. The intelligent warning cone has excellent omni-directional movement capability and can realize translation in any direction and precise rotation in place in a two-dimensional plane.

[0034] When the warning cone body reaches the preset coordinate, the drive motor immediately enters zero speed locking to form an electronic brake. Specifically, the warning cone adopts a "dynamic-static" integrated state, which is one of the core innovations of the present application. The driving state is to automatically drive to the specified coordinate along the preset trajectory of the ground station by using RTK+IMU fusion positioning and laser radar fine-tuning. The fixed state is to immediately enter "zero speed locking" of the drive motor after reaching the coordinate to form an electronic brake, without the need for a mechanical latch to fix in place.

[0035] ​Switching logic - after the wristband or ground station issues a recovery instruction, the electronic brake is released, and the warning cone reenters the driving state and returns. This is the first time that the civil aviation warning cone has achieved the whole process of "unmanned deployment - rigid locking - unmanned recovery".

[0036] The electronic brake is essentially a coded motor that can still output and maintain a controllable electromagnetic torque in a stationary state to resist any external force trying to rotate it. It is divided into "position capture - current given - torque closed loop". When the warning cone reaches the target coordinate point and is ready to enter the fixed state, the system will "capture the position" as the reference zero point. Then, the host computer sets the target speed to zero and transmits this instruction to the motor controller of the lower computer. The lower computer converts the error between the target speed and the actual speed into a current signal according to the PID control algorithm, which determines how much current needs to be passed to the motor winding to generate the desired electromagnetic torque. This current given value will drive the motor driver to output the corresponding current to the motor. The electromagnetic torque generated by the motor will try to maintain the wheel stationary. At the same time, the motor encoder will feedback the actual position and speed of the wheel in real time. The PID controller adjusts the current given value according to the difference between this feedback and the target value (zero speed, zero position), forming a "torque closed loop" control. This closed loop system can dynamically respond to external disturbances by adjusting the maintenance torque to ensure that the warning cone always remains in the captured initial position, thereby achieving precise "zero speed locking".

[0037] Obstacle avoidance system, in communication connection with the control system, for real-time detection of the distance and direction information of obstacles relative to the body of the warning cone, generation of obstacle avoidance instructions, local fine-tuning of the preset driving route, and sending of the obstacle avoidance instructions to the control system. Further embodiments are that the obstacle avoidance system comprises: Laser radar for scanning the environmental information around the body of the warning cone in all directions to obtain point cloud data; Host computer for real-time analysis of the point cloud data, identification of potential obstacles, and generation of obstacle avoidance instructions for fine-tuning of the preset driving route of the body of the warning cone according to the position, size, and motion trend of the potential obstacles, and fusion of the global path of the obstacle avoidance instructions to control the movement of the warning cone. The specific path is: laser radar point cloud → obstacle avoidance system host computer for perception and local planning → generation of obstacle avoidance instructions → fusion of the global path by the decision layer of the control system host computer → execution layer of the control system lower computer → motor.

[0038] Specifically, in order to realize the real-time obstacle avoidance function of the warning cone in the automatic driving process, the application selects a laser radar as the core environment perception sensor. The specific model is Heral D500 laser radar. This model of laser radar has a 360° horizontal field of view coverage. The laser radar can scan the all-around environmental information around the warning cone, especially in the taxiway area in front of the warning cone and the wingtip area on both sides. These areas are the key areas prone to collision or intrusion in airport ground operation. The 360° field of view can ensure that the warning cone can discover obstacles from all directions in time, such as luggage trailers, service vehicles, other equipment or personnel, etc. The laser radar measures the distance by emitting a laser beam and receiving the reflected signal. These point cloud data are directly sent to the host computer for processing. The obstacle avoidance algorithm adopts a "dynamic speed window + speed obstacle" fusion strategy: first, take the current speed as the center and discretely sample in the limited speed space to generate multiple groups of candidate linear and angular velocities; then, forward simulate a short-time trajectory for each group of speed, and convert the laser radar clustered obstacle polygon into a speed obstacle cone to eliminate all future possible collision trajectories; finally, in the remaining safe trajectories, select the local target point corresponding to the optimal speed as the obstacle avoidance instruction and send it to the control system, with the three weighted scores of heading to the global path, away from the obstacle and maintaining a high speed. This algorithm realizes centimeter-level local detour under the premise of keeping the overall trend of the airport specified path unchanged, and the single calculation time is millisecond level, which meets the real-time safety requirements in low-speed running scenarios. This obstacle avoidance system based on laser radar enables the warning cone to flexibly avoid sudden obstacles while following the preset trajectory, ensuring driving safety. The performance parameters of the laser radar, such as ranging accuracy, ranging range, angular resolution and scanning frequency, will directly affect the effect of the obstacle avoidance system.

[0039] The communication module is bidirectionally connected with the wearable bracelet, used for receiving the placement / recycling instructions sent by the wearable bracelet and forwarding them to the control system, and sending the state information of the warning cone body to the wearable bracelet.

[0040] The communication module adopts a UWB wireless communication unit, supports bidirectional communication with a wearable bracelet, is used for receiving placement and recycling instructions and real-time feedback of power, speed, position and running state information, and simultaneously supports cooperative communication with an airport ground control center or other warning cones. The communication core of the intelligent warning cone system relies on ultra-wideband (UWB) wireless technology, and in particular, the convenient and reliable bidirectional interaction between the staff and the warning cone is realized through the UWB bracelet. The UWB bracelet worn by the on-site operator has an appearance design similar to a common sports watch, and is easy to wear and operate. The bracelet is provided with special "laying" and "recycling" touch screen virtual buttons. When the staff presses the "laying" button and selects the target warning cone or a group of warning cones, the corresponding instructions will be sent to the selected warning cone through the UWB wireless link. The warning cone receiving the instructions will be started in turn and automatically travel to the specified coordinate point according to the preset program. Similarly, when the "recycling" button is pressed, the warning cone will receive the return instruction and queue to automatically return to the charging pile or the specified parking area. In addition to the instruction issuing function, the UWB bracelet also has an important state feedback function. The warning cone will continuously send the real-time power percentage, accurate current position coordinates, current travel speed and running state (such as driving, reaching, charging, fault, etc.) information to the bracelet through the UWB link. The screen of the bracelet will display these key information in real time, so that the staff can grasp the dynamic of each warning cone at any time. This bidirectional communication mechanism not only simplifies the operation process, but also greatly improves the monitorability and management efficiency of the system.

[0041] Further embodiments are directed to further comprising an energy management system for managing energy of the warning cone body; the energy management system comprises: a battery monitoring unit for monitoring state information of the battery of the warning cone body; an energy distribution unit for distributing and managing energy for each system integrated in the warning cone body based on the state information; a charging management unit for managing charging of the battery based on the state information of the battery; the battery is a lithium iron phosphate battery.

[0042] Specifically, the energy management system can ensure continuous operation for more than 8 hours. In order to ensure the stable operation of the intelligent warning cone in the extreme temperature environment of the airport and meet the long-time operation requirement, the system selects the lithium iron phosphate battery with excellent high-temperature resistance as the main power source. Compared with the traditional lead-acid battery or other types of lithium ion battery, the lithium iron phosphate battery has higher thermal stability and safety. The electric heat peak can reach more than 350 degrees Celsius, which means that even in the case of high temperature on the ground of the airport in summer (for example, in the case of extreme high temperature in a certain airport), the battery can still work safely and reliably, and is not prone to safety problems such as thermal runaway. In addition, the lithium iron phosphate battery also has the advantages of long cycle life, high charging and discharging efficiency, and low self-discharge rate. In the full charge state, a single charge can support the continuous operation of the warning cone for more than 8 hours, which is enough to cover the needs of one working shift or multiple deployment and recovery operations of the airport. This long endurance reduces the trouble of frequent charging and improves the operation efficiency and attendance rate of the warning cone. At the same time, its good charging and discharging characteristics are also conducive to the optimization of the energy management system, ensuring the efficient use of battery energy.

[0043] The warning cone body is provided with a storage device and a fixing device, and the storage device and the fixing device are detachably connected with the warning cone body.

[0044] Further embodiments are provided, further comprising a safety protection system for sound and light alarm, emergency stop and power-off protection. The top of the warning cone integrates high-brightness LED warning lights, which are usually in bright colors such as red and yellow, and can be set to constant light, flashing or specific frequency strobe mode, to provide clear visual warning signals in both day and night. The brightness and flashing mode of the warning lights can be customized according to the specific regulations of the airport or the operation requirements. In addition to visual warning, the warning cone is also equipped with a sound and light alarm. When the warning cone is in automatic driving state, performing obstacle avoidance action, low power or encountering other abnormal situations, the sound and light alarm can emit a specific sound prompt to remind nearby personnel and vehicles to avoid; the intelligent warning cone sets an emergency stop button in a conspicuous position on the chassis. When the staff finds that the warning cone has abnormal behavior, may collide or needs to interrupt its current task immediately, they can quickly press the emergency stop button. Once the emergency stop button is triggered, the system will immediately cut off the power supply of the drive motor, making the warning cone stop all movements in the shortest time. At the same time, the sound and light alarm may be activated to issue an emergency stop warning signal; the energy management system and safety protection system of the intelligent warning cone also integrate power-off protection function. This function is mainly aimed at two situations: one is power-off during normal shutdown or system hibernation, and the other is accidental power-off. In the case of normal power-off, the system will perform a series of safety operations, such as saving the current state information, placing the drive motor in a safe state, and turning off unnecessary peripherals to save the last bit of power. In the case of accidental power-off, although the system may not be able to perform a complete shutdown process, the hardware design will ensure that the key safety features are maintained.

[0045] The present embodiment provides a specific warning cone application process: the warning cone of the present invention appears in the actual airport scene as a foldable and stackable warning cone barrel, with a sound and light alarm and warning lights on the top, an emergency stop button in a conspicuous position on the chassis, and a complete set of "electronic brain" hidden at the bottom. The RTK antenna and IMU are integrated in the partition inside the cone barrel, close to the shell, both rainproof and avoiding being crushed by tires; the laser radar selects the Heral D500, with a 360° field of view covering the taxiway and wingtip area in front of the cone, and the scanning data is directly sent to the upper computer, and then the internal algorithm gives fine tuning instructions. The process is completely transparent to on-site personnel, and the staff only need to know that the cone barrel will walk along the "invisible track" drawn by the ground station. If a baggage trailer or service vehicle appears in front, it will move aside slightly and continue to move forward without deviating from the intended route.

[0046] The motor, battery and control board are all embedded in the chassis, which can be switched to omni-directional wheels or four-wheel drive version as needed: the omni-directional wheels are suitable for narrow space and side movement; the four-wheel drive is more suitable for long-distance straight running. Both chassis cancel the traditional transmission box, and the motor directly drives the hub, which saves space and reduces maintenance points. The lithium iron phosphate battery has an electric heating peak of more than 350 degrees, which can cope with various extreme high temperature conditions such as Guangzhou Baiyun Airport, and can run for 8 hours after full charge. Once the power drops to 20%, the warning cone will first send the "low power" message to the bracelet, and then slide back to the charging pile according to the instruction, and automatically align the charging contact without manual intervention.

[0047] Communication is all given to UWB solution. The bracelet worn by the on-site personnel is like a common sports watch. Press the "layout" button, and the selected several warning cones will start in turn; press "recycle", and they will return in turn. The screen of the bracelet scrolls the power, position and speed of each cone barrel in real time. If someone mistakenly moves the cone barrel to another place, the bracelet will vibrate and pop up a red prompt immediately.

[0048] The installation and recovery of the whole system are also reduced: there is only one quick release buckle between the cone barrel and the chassis, which can be installed by one turn and one buckle; the folded cone barrel can be stacked like a paper cup, reducing the space and making it easier to transport. Field trials show that the placement task that originally took two workers ten minutes can now be started by one person in ten seconds with one hand, and the whole process does not need to step into the site again, which reduces the risk of runway intrusion and allows the dispatcher to focus more on flight release.

[0049] The above-described embodiments are only descriptions of the preferred modes of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A civil aviation intelligent warning cone based on RTK positioning, comprising a foldable and stackable warning cone body, characterized in that, The warning cone body is provided with: A positioning system is used to obtain the location information of the warning cones; The control system is communicatively connected to the positioning system and is used to generate control signals based on the location information and the airport ground station's preset driving route and preset obstacle avoidance strategy. A drive system, communicatively connected to the control system, is used to respond to the control signal to drive the warning cone body to move along the preset driving route; The obstacle avoidance system is communicatively connected to the control system. It is used to detect the distance and orientation information of obstacles relative to the warning cone body in real time, generate obstacle avoidance commands, make local fine adjustments to the preset driving route, and send the obstacle avoidance commands to the control system. The communication module is bidirectionally connected to the wearable wristband and is used to receive placement / recycling instructions from the wearable wristband and forward them to the control system, and to send the status information of the warning cone body to the wearable wristband.

2. The intelligent warning cone for civil aviation according to claim 1, characterized in that, The positioning system includes: The RTK module is used to obtain the absolute position information of the warning cone with millimeter-level accuracy using the differential correction signal of the ground base station; An inertial measurement unit (IMU) is used to acquire the attitude information of the warning cone body using the principle of inertial navigation. The RTK-IMU coupling unit is used to fuse the absolute position information and the attitude information based on a Kalman filter to obtain the final position information of the warning cone body.

3. The intelligent warning cone for civil aviation according to claim 2, characterized in that, The RTK-IMU coupling unit includes: The data fusion subunit is used to fuse the absolute position information and the attitude information based on a Kalman filter to obtain the state vector of the warning cone body; The prediction subunit is used to predict the current state vector and covariance matrix using the state vector from the previous moment and the current measurement value from the IMU inertial measurement unit through the motion model. An update subunit is used to transform the predicted state vector into the measurement space when the RTK-IMU coupling unit provides new position measurements, obtain the predicted measurement value, and compare the predicted measurement value with the actual position measurement value to obtain the measurement residual; the measurement residual is weighted using Kalman gain to update the state vector and the covariance matrix.

4. The intelligent warning cone for civil aviation according to claim 1, characterized in that, The control system includes: The host computer decision-making layer is used for path tracking and obstacle avoidance decisions. The lower-level execution layer is used to drive the motor and collect data based on path tracking results and obstacle avoidance decisions.

5. The intelligent warning cone for civil aviation according to claim 1, characterized in that, The obstacle avoidance system includes: LiDAR is used to scan the all-around environmental information around the warning cone to obtain point cloud data; The host computer is used to perform real-time analysis of the point cloud data, identify potential obstacles, and generate obstacle avoidance commands based on the position, size, and movement trend of the potential obstacles to fine-tune the preset driving route of the warning cone body, and send the obstacle avoidance commands to the control system.

6. The intelligent warning cone for civil aviation according to claim 1, characterized in that, The drive system uses three independent DC motors to drive the omnidirectional wheel chassis or four-wheel drive chassis, which is used to realize the movement and rotation of the warning cone body in any direction. When the warning cone body reaches the preset coordinates, the drive motor immediately enters zero speed lock, forming an electronic brake.

7. The intelligent warning cone for civil aviation according to claim 1, characterized in that, It also includes an energy management system for managing the energy of the warning cone itself; the energy management system includes: The battery monitoring unit is used to monitor the status information of the battery in the warning cone body. The energy distribution unit is used to distribute and manage energy for the various systems integrated into the warning cone body based on status information; A charging management unit is used to manage the charging of the battery based on the battery's status information; the battery is a lithium iron phosphate battery.

8. The intelligent warning cone for civil aviation according to claim 1, characterized in that, It also includes a safety protection system for audible and visual alarms, emergency stops, and power outage protection.

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