Device for controlling automatic driving and steering of aviation food truck

Abstract

The utility model relates to the technical field of aviation ground equipment, and discloses an aviation food truck automatic driving steering control device which comprises a truck head and a truck body, a steering mechanism is arranged at the bottom of the truck head, a rear wheel assembly is arranged at the bottom of the truck body, and laser radars are installed on the front side of the truck head and three side faces of the truck body. Cameras are mounted on the front side of the vehicle head and three side surfaces of the vehicle body, and millimeter-wave radars are mounted on the front side of the vehicle head and the rear side of the vehicle body. According to the utility model, the environment sensing module can comprehensively and accurately sense the environment information around the vehicle, and the environment sensing module is composed of a plurality of laser radars, cameras and millimeter-wave radars and can adapt to various complex environment conditions, such as different illumination intensities and severe weather, and the millimeter-wave radars can reliably detect in the severe weather, so that the reliability of the system is improved. And the camera and the laser radar can accurately perceive in a normal environment, so that the device can stably work in various environments.

Description

Technical Field

[0001] This utility model belongs to the field of aviation ground equipment technology, specifically, it relates to a device for automatic steering control of aviation food trucks. Background Technology

[0002] As an important ground support vehicle at airports, airline catering trucks are mainly used to transport in-flight meals and other supplies to the aircraft cabin. Currently, most airline catering trucks rely on manual driving for steering. Although some existing autonomous vehicle steering control devices have achieved a certain degree of automation, the complex airport ground environment and various interference factors, such as airflow generated by aircraft takeoff and landing, wear and tear on ground markings, and changes in lighting at different times of day, make existing steering control devices unable to adequately meet the steering control requirements of airline catering trucks in the special environment of airports.

[0003] In view of the above, this utility model is hereby proposed. Utility Model Content

[0004] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by this utility model is as follows:

[0005] A device for automatic steering control of an aviation food truck includes a front end and a body. A steering mechanism is provided at the bottom of the front end, and a rear wheel assembly is provided at the bottom of the body. LiDARs are installed on the front of the front end and three sides of the body. Cameras are installed on the front of the front end and three sides of the body. Millimeter-wave radars are installed on the front of the front end and the rear of the body. The LiDARs, cameras, and millimeter-wave radars constitute an environmental perception module. A control room is located inside the front end.

[0006] In a preferred embodiment of this utility model, the front of the vehicle is connected to the vehicle body, and a food compartment is installed on the top of the vehicle body.

[0007] In a preferred embodiment of this utility model, the steering mechanism includes a front wheel, a steering motor, and a transmission assembly. Two front wheels are symmetrically arranged. The transmission assembly is connected to the front wheels. The output shaft of the steering motor is connected to the transmission shaft of the transmission assembly via a coupling.

[0008] In a preferred embodiment of this utility model, the control room is equipped with a data processing module, a steering control module, a positioning module and a communication module.

[0009] In a preferred embodiment of this utility model, the data processing module is used to receive data transmitted by the environmental perception module and perform data fusion processing.

[0010] In a preferred embodiment of this utility model, the steering control module is a steering controller, and the steering controller receives steering path information sent by the data processing module.

[0011] Compared with the prior art, the present invention has the following advantages:

[0012] This invention, through its environmental perception module, enables comprehensive and accurate perception of the vehicle's surrounding environment. This module, composed of multiple lidar units, cameras, and millimeter-wave radars, is adaptable to various complex environmental conditions, such as varying light intensities and adverse weather. The reliable detection of the millimeter-wave radar in adverse weather conditions, combined with the precise perception of the cameras and lidar in normal environments, ensures stable operation of the device in all conditions, guaranteeing the safe operation of the aviation food truck. Combined with the precise position reference provided by the positioning module, the data processing module can plan accurate steering paths. The steering control module achieves high-precision steering operations through a feedback control mechanism. This not only enables automatic steering of the aviation food truck but also effectively improves the steering accuracy of the truck in complex airport ground environments, reducing the risk of collisions.

[0013] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0014] In the attached diagram:

[0015] Figure 1 This is a schematic diagram of the main structure of a device for automatic steering control of an aviation food truck according to the present invention.

[0016] Figure 2 This is a side view of the device for automatic steering control of an aviation food truck according to the present invention.

[0017] Figure 3 This is a schematic diagram of the internal structure of the front of a device for automatic steering control of an aviation food truck according to the present invention.

[0018] Figure 4 This is a schematic diagram of the steering mechanism structure of a device for automatic steering control of an aviation food truck according to the present invention.

[0019] In the diagram: 1. Front of the vehicle; 2. Body of the vehicle; 3. Food compartment; 4. Steering mechanism; 5. Rear wheel assembly; 6. LiDAR; 7. Camera; 8. Millimeter-wave radar; 9. Control room; 10. Data processing module; 11. Steering control module; 12. Positioning module; 13. Communication module; 14. Front wheel; 15. Steering motor; 16. Transmission assembly. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate this utility model.

[0021] like Figures 1 to 4 As shown

[0022] A device for automatic steering control of an aircraft catering truck includes a front end 1 and a body 2. The front end 1 is connected to the body 2. A food compartment 3 is mounted on the top of the body 2. A steering mechanism 4 is located at the bottom of the front end 1. The steering mechanism 4 includes two front wheels 14, a steering motor 15, and a transmission assembly 16. Two front wheels 14 are symmetrically arranged. The transmission assembly 16 is connected to the front wheels 14. The output shaft of the steering motor 15 is connected to the drive shaft of the transmission assembly 16 via a coupling. A rear wheel assembly 5 is located at the bottom of the body 2. LiDAR 6 is installed on the front side of the front end 1 and on the three sides of the body 2. By using the LiDAR 6 installed around the vehicle, three-dimensional spatial information within a certain range around the vehicle can be scanned in real time to obtain data such as the position, shape, and distance of surrounding obstacles. Cameras 7 are installed on the front side of the vehicle 1 and on the three sides of the vehicle body 2. The cameras 7 around the vehicle include front-view, rear-view, and side-view cameras. The front-view camera 7 is used to identify road markings, obstacles, other vehicles, and other targets ahead. The rear-view camera 7 is used to monitor the situation behind the vehicle. The side-view camera 7 is used to assist in observing the side area of ​​the vehicle. The cameras 7 analyze and process the captured images through image recognition technology. Millimeter-wave radars 8 are installed on the front side of the vehicle 1 and the rear side of the vehicle body 2. Through the millimeter-wave radars 8, the relative speed and distance between the vehicle and objects in front and behind can be accurately detected under adverse weather conditions, such as heavy fog and heavy rain. The lidar 6, cameras 7, and millimeter-wave radars 8 constitute the environmental perception module.

[0023] In a specific implementation, a control room 9 is located inside the front of the vehicle 1. The control room 9 houses a data processing module 10, a steering control module 11, a positioning module 12, and a communication module 13. The data processing module 10 receives data transmitted from the environmental perception module and performs data fusion processing. The steering control module 11 is a steering controller that receives steering path information sent by the data processing module 10. The positioning module 12 combines the BeiDou positioning system with an inertial navigation system, providing high-precision absolute position information for the vehicle in open environments. By measuring the vehicle's acceleration and angular velocity, it calculates the vehicle's relative position and attitude changes. The positioning module 12 transmits the acquired vehicle position and attitude information to the data processing module 10 in real time, providing an accurate position reference for path planning and steering control. The communication module 13 enables communication between the device and the airport ground control center, other ground equipment, and other components of the vehicle itself. In the communication between control systems, the environmental perception module transmits various data information it acquires to the data processing module 10 in real time. The data processing module 10 performs data fusion processing to construct an accurate model of the vehicle's surrounding environment, identify key information such as road boundaries, obstacles, and target parking positions, and calculate the vehicle's current position and attitude. At the same time, the data processing module 10, in conjunction with the positioning module 12, receives preset driving route information, plans the vehicle's steering path based on the environmental model and driving route, and sends the steering path information to the steering control module 11. The steering control module 11 receives the steering path information, calculates the required rotation angle and speed of the steering motor 15, and issues control commands to the steering motor 15, causing the steering motor 15 to drive the transmission component 16 to work according to the commands. The transmission component 16 converts the rotation of the steering motor 15 into the steering action of the front wheels 14, thereby enabling the vehicle to turn according to the planned steering path.

[0024] The implementation principle of the device for automatic steering control of an aviation food truck in this embodiment is as follows: In specific use, the lidar 6 installed around the vehicle can scan the three-dimensional spatial information within a certain range around the vehicle in real time, and obtain data such as the position, shape, and distance of surrounding obstacles. The cameras 7 installed around the vehicle include front-view, rear-view, and side-view cameras. The front-view camera 7 is used to identify road markings, obstacles, other vehicles, and other targets in front. The rear-view camera 7 is used to monitor the situation behind the vehicle. The side-view camera 7 is used to assist in observing the side area of ​​the vehicle. Through the millimeter-wave radar 8 installed, the relative speed and distance between the vehicle and objects in front and behind can be accurately detected under adverse weather conditions, such as heavy fog and heavy rain. The environmental perception module transmits the acquired data information to the data processing unit in real time. The data processing module 10 fuses and processes the data to construct an accurate model of the vehicle's surrounding environment, identify key information such as road boundaries, obstacles, and target parking positions, and calculate the vehicle's current position and attitude. Simultaneously, the data processing module 10, in conjunction with the positioning module 12, receives preset driving route information, plans the vehicle's steering path based on the environmental model and driving route, and sends the steering path information to the steering control module 11. The steering control module 11 receives the steering path information, calculates the required rotation angle and speed of the steering motor 15, and issues control commands to the steering motor 15, causing the steering motor 15 to drive the transmission component 16 to work according to the commands. The transmission component 16 converts the rotation of the steering motor 15 into the steering action of the front wheels 14, thereby enabling the vehicle to turn according to the planned steering path.

Claims

1. A device for automatic steering control of an aircraft catering truck, comprising a front (1) and a body (2), characterized in that, A steering mechanism (4) is provided at the bottom of the front of the vehicle (1), a rear wheel assembly (5) is provided at the bottom of the body (2), a lidar (6) is installed on the front of the front of the vehicle (1) and on the three sides of the body (2), a camera (7) is installed on the front of the front of the vehicle (1) and on the three sides of the body (2), a millimeter-wave radar (8) is installed on the front of the front of the vehicle (1) and on the rear of the body (2), the lidar (6), the camera (7) and the millimeter-wave radar (8) form an environmental perception module, and a control room (9) is provided inside the front of the vehicle (1).

2. The device for automatic steering control of an aircraft catering truck according to claim 1, characterized in that, The front (1) is connected to the body (2), and a food compartment (3) is installed on the top of the body (2).

3. The device for automatic steering control of an aircraft catering truck according to claim 1, characterized in that, The steering mechanism (4) includes a front wheel (14), a steering motor (15), and a transmission assembly (16). There are two front wheels (14) symmetrically arranged. The transmission assembly (16) is connected to the front wheels (14). The output shaft of the steering motor (15) is connected to the transmission shaft of the transmission assembly (16) through a coupling.

4. The device for automatic steering control of an aircraft catering truck according to claim 1, characterized in that, The control room (9) is equipped with a data processing module (10), a steering control module (11), a positioning module (12), and a communication module (13).

5. The device for automatic steering control of an aircraft catering truck according to claim 4, characterized in that, The data processing module (10) is used to receive data transmitted by the environmental perception module and perform data fusion processing.

6. The device for automatic steering control of an aircraft catering truck according to claim 4, characterized in that, The steering control module (11) is a steering controller, and the steering controller receives steering path information sent by the data processing module (10).

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