A monitoring system and method for a mobile aircraft dock

Abstract

The application discloses a kind of mobile aircraft dock monitoring system and method, it is related to engineering machinery monitoring technical field, including: data acquisition module, it is used to obtain the equipment operation data of mobile aircraft dock, motion state data and peripheral environment data;Data processing module is connected with the data acquisition module, for the data collected are handled, obtain the pose data of mobile aircraft dock, dynamic obstacle map, equipment fault early warning information and the real-time video of peripheral environment;Dispatch platform is connected with the data processing module, for according to the pose data, dynamic obstacle map and the real-time video of peripheral environment constructs dynamic simulation three-dimensional model, and according to equipment fault early warning information and dynamic simulation three-dimensional model sends alarm prompt, can enhance the perception ability of operator and commander, has obtained more stable accurate information, has reduced the collision risk with aircraft, facilities and personnel, improves the safety and reliability of equipment.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery monitoring technology, and in particular to a monitoring system and method for a mobile aircraft dock. Background Technology

[0002] Mobile aircraft docks are critical ground equipment in aviation maintenance support, primarily used to provide a maintenance work platform and shelter for aircraft. They need to move frequently within the hangar or apron area and safely dock with the aircraft fuselage. With the ever-increasing demands for aviation maintenance efficiency, modern aircraft docks not only require flexible mobility but also stringent requirements for the precision of their movement control, the reliability of equipment operation, and the safety monitoring of the work process. Therefore, building a monitoring system that can reflect the real-time operating status, location information, and surrounding environment of the aircraft dock is an important prerequisite for ensuring the safety and efficiency of maintenance operations.

[0003] Existing aircraft dock monitoring systems typically rely on the experience of operators and the command of ground personnel, and lack timely support for special situations and analysis of equipment failures. The aforementioned existing technologies have the following drawbacks: operators have blind spots and insufficient attention on site, which increases the risk of collisions with aircraft or facilities; secondly, after equipment failures or special situations occur, manual confirmation and identification are required before remote reporting, resulting in delayed fault warnings and difficulty for remote personnel to provide timely assistance, making it difficult to meet the needs of efficient operation and maintenance in complex environments. Summary of the Invention

[0004] This invention provides a monitoring system and method for a mobile aircraft dock, which solves the technical problems of existing mobile aircraft dock monitoring systems relying on manual command and operator experience, resulting in a high risk of accidents, and after an accident, there are often delays in fault warnings and untimely remote support.

[0005] Firstly, a monitoring system for a mobile aircraft dock is provided, including: The data acquisition module is used to acquire equipment operation data, motion status data, and surrounding environment data of the mobile aircraft dock; The data processing module, which is connected to the data acquisition module, is used to process the acquired data to obtain the pose data of the mobile aircraft dock, dynamic obstacle map, equipment fault early warning information, and real-time video of the surrounding environment. The scheduling platform, connected to the data processing module, is used to construct a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment, and to issue alarm prompts based on equipment fault warning information and the dynamic simulation 3D model.

[0006] In some embodiments, the data acquisition module includes: A programmable logic controller (PLC) data acquisition device is used to collect equipment operation data of a mobile aircraft dock. The equipment operation data includes driving pressure, braking pressure, steering pressure, running speed, wheel set steering angle, engine speed, water temperature, and battery voltage parameters. RTK equipment and cable displacement sensor are used to collect motion status data of mobile aircraft dock. The motion status data includes the three-dimensional coordinates, heading angle and movement distance of the mobile aircraft dock. The RTK equipment is used to collect the three-dimensional coordinates and heading angle of the mobile aircraft dock, and the cable displacement sensor is used to collect the movement distance of the mobile aircraft dock. A lidar array and a camera array are used to collect environmental data of the mobile aircraft dock. The environmental data includes 3D point cloud data and real-time video of the surrounding environment. The lidar array is used to collect 3D point cloud data of the surrounding environment for obstacle detection, and the camera array is used to collect real-time video of the surrounding environment of the mobile aircraft dock.

[0007] In some embodiments, the data processing module includes: The industrial control computer is used to fuse the motion status data and surrounding environment data of the mobile aircraft dock and calculate the pose data of the mobile aircraft dock; to construct a dynamic obstacle map using the 3D point cloud data of the surrounding environment of the mobile aircraft dock; and to perform fault detection and generate equipment fault early warning information based on the equipment operation data of the mobile aircraft dock.

[0008] In some embodiments, the scheduling platform includes: The model building module is used to build a dynamic simulation 3D model based on the pose data of the mobile aircraft dock, dynamic obstacle map and real-time video of the surrounding environment. The early warning module is used to assess risks and issue alarms based on equipment fault warning information and dynamic simulation 3D models.

[0009] In some embodiments, the scheduling platform further includes: The visualization platform module includes multiple displays for showing dynamic simulation 3D models, equipment operation data of the mobile dock, and alarm prompts.

[0010] In some embodiments, the RTK device includes: An RTK integrated navigation device, wherein the RTK integrated navigation device is installed at the center of the top of a mobile aircraft dock; Two RTK antennas are symmetrically mounted on top of the mobile aircraft dock.

[0011] In some embodiments, the lidar array includes: Four wide-area lidar units are installed at the four corners of the mobile aircraft dock. Two tail-wing lidars are installed on both sides of the center of the mobile aircraft dock.

[0012] Secondly, a monitoring method for a mobile aircraft dock is provided, based on a monitoring system for a mobile aircraft dock as described in any of the above claims, comprising the following steps: Acquire equipment operation data, motion status data, and surrounding environment data for the mobile aircraft dock; The collected data is processed to obtain the pose data of the mobile aircraft dock, dynamic obstacle map, equipment failure early warning information, and real-time video of the surrounding environment. A dynamic simulation 3D model is constructed based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment. Alarm prompts are issued based on equipment fault warning information and the dynamic simulation 3D model.

[0013] In some embodiments, constructing a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment includes: A proportional dynamic 3D model is constructed based on the pose data of the mobile aircraft dock and the dynamic obstacle map. A dynamic simulation 3D model is obtained by projecting real-time video of the surrounding environment of the mobile aircraft dock as a dynamic texture image onto the dynamic 3D model.

[0014] In some embodiments, issuing alarm prompts based on equipment fault warning information and dynamic simulation 3D models includes: Based on the equipment failure warning information, identify the equipment in the mobile aircraft dock that has a problem and issue relevant equipment alarm prompts; The warning level is constructed based on the distance to obstacles and the operating speed of the mobile aircraft dock, and the warning level of the mobile aircraft dock is determined based on the dynamic simulation 3D model and an alarm is issued.

[0015] The beneficial effects of the technical solution provided by this invention include: This invention discloses a monitoring system and method for a mobile aircraft dock. The system acquires equipment operation data, motion status data, and surrounding environment data of the mobile aircraft dock. It processes the collected data to obtain the mobile aircraft dock's pose data, a dynamic obstacle map, equipment fault warning information, and real-time video of the surrounding environment. Based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment, a dynamic simulation 3D model is constructed. Alarm prompts are issued based on the equipment fault warning information and the dynamic simulation 3D model. This invention, by collecting and processing the mobile aircraft dock's own data and surrounding environment data, and converting them into a dynamic 3D simulation model, enables operators and command personnel to obtain more timely and accurate information, reduces the risk of collisions with aircraft, facilities, and personnel, and improves the safety and reliability of the equipment. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a monitoring system for a mobile aircraft dock provided in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of an RTK device provided in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure of a lidar array provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the network architecture of a monitoring system for a mobile aircraft dock provided in an embodiment of the present invention.

[0021] Figure 5 This is a flowchart illustrating a monitoring method for a mobile aircraft dock provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This invention provides a monitoring system and method for a mobile aircraft dock, which solves the technical problems of existing mobile aircraft dock monitoring systems relying on manual command and operator experience, resulting in a high risk of accidents, and after an accident, there are often delays in fault warnings and untimely remote support.

[0024] See Figure 1 As shown, this embodiment of the invention provides a monitoring system for a mobile aircraft dock, comprising: The data acquisition module is used to acquire equipment operation data, motion status data, and surrounding environment data of the mobile aircraft dock; The data processing module, which is connected to the data acquisition module, is used to process the acquired data to obtain the pose data of the mobile aircraft dock, dynamic obstacle map, equipment fault early warning information, and real-time video of the surrounding environment. The scheduling platform, connected to the data processing module, is used to construct a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment, and to issue alarm prompts based on equipment fault warning information and the dynamic simulation 3D model.

[0025] In this embodiment, the data acquisition module includes: A programmable logic controller (PLC) data acquisition device is used to collect equipment operation data of a mobile aircraft dock. The equipment operation data includes driving pressure, braking pressure, steering pressure, running speed, wheel set steering angle, engine speed, water temperature, and battery voltage parameters. RTK equipment and cable displacement sensor are used to collect motion status data of mobile aircraft dock. The motion status data includes the three-dimensional coordinates, heading angle and movement distance of the mobile aircraft dock. The RTK equipment is used to collect the three-dimensional coordinates and heading angle of the mobile aircraft dock, and the cable displacement sensor is used to collect the movement distance of the mobile aircraft dock. A lidar array and a camera array are used to collect environmental data of the mobile aircraft dock. The environmental data includes 3D point cloud data and real-time video of the surrounding environment. The lidar array is used to collect 3D point cloud data of the surrounding environment for obstacle detection, and the camera array is used to collect real-time video of the surrounding environment of the mobile aircraft dock.

[0026] like Figure 2 As shown, in this embodiment, the RTK device includes: An RTK integrated navigation device, wherein the RTK integrated navigation device is installed at the center of the top of a mobile aircraft dock; Two RTK antennas are symmetrically mounted on the top of the mobile aircraft dock; The RTK device can accurately determine the specific location and angle of the mobile aircraft dock. The two RTK antennas are installed on the line connecting the two vertices of the mobile aircraft dock, and the distance from each vertex is 1 / 4 of the length of the line connecting them.

[0027] like Figure 3 As shown, in this embodiment, the lidar array includes: Four wide-area lidar units are installed at the four corners of the mobile aircraft dock. Two tail-wing lidars are installed on both sides of the center of the mobile aircraft dock. The four wide-area lidars each have a 360-degree horizontal field of view, covering an area with a radius of 10 meters around the mobile aircraft dock. The two tail-mounted lidars are used to scan the aircraft's tail area to prevent collisions between the aircraft's tail and the mobile aircraft dock.

[0028] In this embodiment, the camera array includes: Eight cameras are installed on the outside of the mobile aircraft dock to capture real-time video of the surrounding environment.

[0029] In this embodiment, the data processing module includes: The industrial control computer is used to fuse the motion status data and surrounding environment data of the mobile aircraft dock and calculate the pose data of the mobile aircraft dock; to construct a dynamic obstacle map using the 3D point cloud data of the surrounding environment of the mobile aircraft dock; and to perform fault detection and generate equipment fault early warning information based on the equipment operation data of the mobile aircraft dock.

[0030] The industrial control computer uses a Kalman filter algorithm to fuse the motion state data and surrounding environment data of the mobile aircraft dock to obtain the pose data of the mobile aircraft dock, which can make the pose data of the mobile aircraft dock more accurate and eliminate the influence of errors from a single parameter. The industrial control computer constructs a dynamic obstacle map using 3D point cloud data of the surrounding environment of the mobile aircraft dock, and performs obstacle risk classification on the dynamic obstacle map. like Figure 4 As shown, the industrial control computer is connected to the lidar array, camera array, and pull-rope displacement sensor via a wired network, to the programmable logic controller acquisition device via an RS485 cable or wireless network, and to the RTK device via a serial port.

[0031] In this embodiment, the data processing module further includes: A network video recorder, used to record real-time video of the surrounding environment captured by the camera; like Figure 4 As shown, the network video recorder is connected to the camera array via a wired network.

[0032] In this embodiment, the scheduling platform includes: The model building module is used to build a dynamic simulation 3D model based on the pose data of the mobile aircraft dock, dynamic obstacle map and real-time video of the surrounding environment. The early warning module is used to assess risks and issue alarms based on equipment fault warning information and dynamic simulation 3D models.

[0033] like Figure 4 As shown, the scheduling platform is connected to the data processing module via a wireless network, preferably a 5G network; The model building module constructs a proportional dynamic 3D model based on the pose data of the mobile aircraft dock and the dynamic obstacle map. Then, real-time video of the surrounding environment of the mobile aircraft dock is projected as a dynamic texture image onto the dynamic 3D model to obtain a dynamic simulation 3D model, thus obtaining an accurate proportional dynamic simulation 3D model of the mobile aircraft dock and its surrounding environment.

[0034] The early warning module identifies the equipment in the mobile aircraft dock that has a problem based on the equipment fault early warning information and issues relevant equipment alarm prompts. The early warning module constructs early warning rules based on the distance to obstacles and the operating speed of the mobile aircraft dock, divides the early warning rules into early warning levels, and determines the early warning level of the mobile aircraft dock based on the dynamic simulation three-dimensional model and issues an alarm prompt. The early warning module constructs early warning rules, including composite rules, based on the distance to the obstacle and the operating speed of the mobile aircraft dock. For example, if the obstacle is within 5 meters and the speed of the mobile aircraft dock is greater than 1 m / s.

[0035] In this embodiment, the scheduling platform further includes: The visualization platform module includes multiple displays for showing dynamic simulation 3D models, equipment operation data of the mobile dock, and alarm prompts; The visualization platform module can display the alarm level and the cause of the alarm in real time, and link the mobile aircraft dock to perform emergency avoidance operations, such as deceleration or stopping commands, thereby improving the safety and visibility of the mobile aircraft dock.

[0036] See Figure 5 As shown, this embodiment of the invention also provides a monitoring method for a mobile aircraft dock, and a monitoring system for a mobile aircraft dock based on any of the above-described embodiments, comprising the following steps: S1. Acquire equipment operation data, motion status data, and surrounding environment data of the mobile aircraft dock.

[0037] S2. Process the collected data to obtain the pose data of the mobile aircraft dock, dynamic obstacle map, equipment fault warning information, and real-time video of the surrounding environment.

[0038] S3. Construct a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment, and issue an alarm prompt based on the equipment fault warning information and the dynamic simulation 3D model.

[0039] In this embodiment, the step of constructing a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment includes: A proportional dynamic 3D model is constructed based on the pose data of the mobile aircraft dock and the dynamic obstacle map. A dynamic simulation 3D model is obtained by projecting real-time video of the surrounding environment of the mobile aircraft dock as a dynamic texture image onto the dynamic 3D model.

[0040] In this embodiment, issuing an alarm notification based on equipment fault warning information and a dynamic simulation 3D model includes: Based on the equipment failure warning information, identify the equipment in the mobile aircraft dock that has a problem and issue relevant equipment alarm prompts; The warning level is constructed based on the distance to obstacles and the operating speed of the mobile aircraft dock, and the warning level of the mobile aircraft dock is determined based on the dynamic simulation 3D model and an alarm is issued.

[0041] In summary, the monitoring system and method for a mobile aircraft dock in this embodiment of the invention acquires equipment operation data, motion status data, and surrounding environment data of the mobile aircraft dock; processes the collected data to obtain the mobile aircraft dock's pose data, dynamic obstacle map, equipment fault early warning information, and real-time video of the surrounding environment; constructs a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment, and issues alarm prompts based on the equipment fault early warning information and the dynamic simulation 3D model. This invention, by collecting and processing the mobile aircraft dock's own data and surrounding environment data, and converting them into a dynamic 3D simulation model, enables operators and command personnel to obtain more timely and accurate information, reduces the risk of collisions with aircraft, facilities, and personnel, and improves the safety and reliability of the equipment.

[0042] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0043] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0044] The serial numbers in the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0045] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A monitoring system for a mobile aircraft dock, characterized in that, include: The data acquisition module is used to acquire equipment operation data, motion status data, and surrounding environment data of the mobile aircraft dock; The data processing module, which is connected to the data acquisition module, is used to process the acquired data to obtain the pose data of the mobile aircraft dock, dynamic obstacle map, equipment fault early warning information, and real-time video of the surrounding environment. The scheduling platform, connected to the data processing module, is used to construct a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment, and to issue alarm prompts based on equipment fault warning information and the dynamic simulation 3D model.

2. The monitoring system for a mobile aircraft dock according to claim 1, characterized in that, The data acquisition module includes: A programmable logic controller (PLC) data acquisition device is used to collect equipment operation data of a mobile aircraft dock. The equipment operation data includes driving pressure, braking pressure, steering pressure, running speed, wheel set steering angle, engine speed, water temperature, and battery voltage parameters. RTK equipment and cable displacement sensor are used to collect motion status data of mobile aircraft dock. The motion status data includes the three-dimensional coordinates, heading angle and movement distance of the mobile aircraft dock. The RTK equipment is used to collect the three-dimensional coordinates and heading angle of the mobile aircraft dock, and the cable displacement sensor is used to collect the movement distance of the mobile aircraft dock. A lidar array and a camera array are used to collect environmental data of the mobile aircraft dock. The environmental data includes 3D point cloud data and real-time video of the surrounding environment. The lidar array is used to collect 3D point cloud data of the surrounding environment for obstacle detection, and the camera array is used to collect real-time video of the surrounding environment of the mobile aircraft dock.

3. The monitoring system for a mobile aircraft dock according to claim 1, characterized in that, The data processing module includes: The industrial control computer is used to fuse the motion status data and surrounding environment data of the mobile aircraft dock and calculate the pose data of the mobile aircraft dock; to construct a dynamic obstacle map using the 3D point cloud data of the surrounding environment of the mobile aircraft dock; and to perform fault detection and generate equipment fault early warning information based on the equipment operation data of the mobile aircraft dock.

4. The monitoring system for a mobile aircraft dock according to claim 1, characterized in that, The scheduling platform includes: The model building module is used to build a dynamic simulation 3D model based on the pose data of the mobile aircraft dock, dynamic obstacle map and real-time video of the surrounding environment. The early warning module is used to assess risks and issue alarms based on equipment fault warning information and dynamic simulation 3D models.

5. The monitoring system for a mobile aircraft dock according to claim 4, characterized in that, The scheduling platform also includes: The visualization platform module includes multiple displays for showing dynamic simulation 3D models, equipment operation data of the mobile dock, and alarm prompts.

6. The monitoring system for a mobile aircraft dock according to claim 2, characterized in that, The RTK device includes: An RTK integrated navigation device, wherein the RTK integrated navigation device is installed at the center of the top of a mobile aircraft dock; Two RTK antennas are symmetrically mounted on top of the mobile aircraft dock.

7. The monitoring system for a mobile aircraft dock according to claim 2, characterized in that, The lidar array includes: Four wide-area lidar units are installed at the four corners of the mobile aircraft dock. Two tail-wing lidars are installed on both sides of the center of the mobile aircraft dock.

8. A monitoring method for a mobile aircraft dock, characterized in that, The monitoring system for a mobile aircraft dock according to any one of claims 1-7, the method comprising the following steps: Acquire equipment operation data, motion status data, and surrounding environment data for the mobile aircraft dock; The collected data is processed to obtain the pose data of the mobile aircraft dock, dynamic obstacle map, equipment failure early warning information, and real-time video of the surrounding environment. A dynamic simulation 3D model is constructed based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment. Alarm prompts are issued based on equipment fault warning information and the dynamic simulation 3D model.

9. The monitoring method for a mobile aircraft dock according to claim 8, characterized in that, The step of constructing a dynamic simulation 3D model based on the pose data, dynamic obstacle map, and real-time video of the surrounding environment includes: A proportional dynamic 3D model is constructed based on the pose data of the mobile aircraft dock and the dynamic obstacle map. A dynamic simulation 3D model is obtained by projecting real-time video of the surrounding environment of the mobile aircraft dock as a dynamic texture image onto the dynamic 3D model.

10. A monitoring method for a mobile aircraft dock according to claim 8, characterized in that, The alarm notification issued based on equipment fault early warning information and dynamic simulation 3D model includes: Based on the equipment failure warning information, identify the equipment in the mobile aircraft dock that has a problem and issue relevant equipment alarm prompts; The warning level is constructed based on the distance to obstacles and the operating speed of the mobile aircraft dock, and the warning level of the mobile aircraft dock is determined based on the dynamic simulation 3D model and an alarm is issued.

Images