CN112365744B - Airport scene target operation management method, device and system - Google Patents

Abstract

The invention relates to airport management technology, in particular to an airport surface target operation management method, device and system; the airport surface target operation management method includes: collecting real-time data of management targets in the airport surface and real-time data of the surface environment; The data in the existing GIS map information storage module; the collected real-time positioning data of the management target in the scene is fused; the data in the GIS map information storage module is updated in real time according to the collected surrounding environment data of the vehicle; the management target in the scene is updated in real time. Generate work tasks and issue work tasks, and monitor the working status of management targets in real time; determine whether each management target needs to be moved on the scene, plan the path of the management targets, and send the moving route to the management targets. By monitoring, guiding and early warning of airport management targets based on the overall real-time data of the airport, it can effectively improve the safety and carrying capacity of the airport surface target operation.

Description

An airport surface target operation management method, device and system

technical field

The invention relates to airport management technology, in particular to a method, device and system for the operation and management of airport surface objects.

Background technique

Under the current trend of the great development of domestic civil aviation, the load of aircraft carried by airports is increasing, and the airport needs to be equipped with a larger number of vehicles, personnel and other supporting facilities to serve the aircraft to ensure the safe operation of flights. severe. In the prior art, the management method of aircraft and vehicles on the airport surface adopts a single location information management function, and the aircraft and vehicles are managed separately, and there are few automated linkage mechanisms. At the same time, because of the different functions of the aircraft and various vehicles at the airport, they are usually dispatched and managed by the airport, air traffic control, and airlines. The information between each department is relatively independent, and it takes a long time to respond to each other, which reduces the operating efficiency of the aircraft/vehicle. . With the increase in the number of various targets such as aircraft and vehicles on the airport surface, the possibility of operational conflicts between targets is also increasing.

It is necessary to develop a systematic surface target operation management method and system to effectively manage the surface target, reduce the risk of surface conflict, and improve the airport's carrying capacity.

SUMMARY OF THE INVENTION

Based on the requirements of the prior art, the present invention provides a method, device and system for the operation and management of airport surface objects, which can effectively improve the safety of airport surface object operation by monitoring, guiding and early warning of airport management objects based on the overall real-time data of the airport. The specific technical solutions are as follows:

In a first aspect, the present invention discloses a method for the operation and management of airport surface objects, including data acquisition and data processing;

The data acquisition refers to

Collect real-time data of management targets in the airport surface and real-time data of surface environment; and retrieve the data contained in the existing GIS map information storage module;

The data processing includes:

Integrate the collected real-time positioning data of management targets in the scene to obtain the unique real-time position information of each target in the scene;

Update the data in the GIS map information storage module in real time according to the collected data of the surrounding environment of the vehicle;

Generate work tasks and issue work tasks for the management targets in the scene, and monitor the working status of the management targets in real time; then judge whether each management target needs to be moved according to the work tasks, and according to the operation rules of the scene targets and the latest GIS map information in the storage module The data of the management target are routed, and the moving route is sent to the management target.

In the method of the present invention, through the real-time data collection of the management target in the airport, its environment, and the data in the GIS map information storage module (airport map model and the operating rules of the scene target), the target in the scene is managed through data processing, and the judgment is made. Whether each target needs to be moved, and if so, the planned moving route for it; in the process of data processing, the existing airport map model is updated in real time through the collected data to ensure that the route planning for the management target is based on the latest airport map model. .

Preferably, the data processing further includes constructing a three-dimensional operating model of the aircraft/vehicle on the airport surface according to the aircraft/vehicle position state information, the GIS map information storage module data, the three-dimensional data model of the aircraft/vehicle, and the three-dimensional data model of the airport.

This model is established in the method of the present invention for further evaluation of the collision probability between aircraft, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and structures on the airport surface. It enables timely and effective linkage and collaboration among various departments of the airport, improves and reduces the operation efficiency of aircraft/vehicles, and improves the safety index of airport operation.

Preferably, the data processing further includes calculating and calculating the conflicts between surface aircraft, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and surrounding buildings based on the three-dimensional operation model of the aircraft/vehicles on the airport surface. Get an early warning plan, and issue an early warning plan.

In the data processing of the method of the present invention, based on the above model, the possibility of collision between aircraft, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and buildings on the airport surface is further evaluated; A warning command is issued to the corresponding target, and the closer the distance to a possible collision is, the manifestation of the warning will also change, so that the operator can take timely measures to eliminate the danger of conflict.

Preferably, the data acquisition includes collecting the vehicle's own health data and the vehicle's current work task data;

The data processing includes one or more of the following:

Determine whether the state of the vehicle is healthy; if it is healthy, send the corresponding vehicle health state data; otherwise, send an alarm instruction;

Judging whether the current status of the vehicle is competent for the current work task; if it is competent, issue an execution instruction; otherwise, issue a vehicle replacement instruction;

It is judged whether the vehicle complies with the airport scene operation rules; when not, a warning instruction is issued to the vehicle.

In the method of the present invention, by monitoring the running health state of the vehicle in real time, the operation efficiency of the vehicle on the airport scene is ensured, the targets in the scene can be effectively allocated and managed, the scene safety is improved as a whole, and the conflict risk is reduced.

Preferably, the data processing further comprises, according to the collected data including the positioning data of the aircraft and the vehicle, the working status data, the health status data of each vehicle, the GIS map information data, the airport scene operation rule data and the airport three-dimensional data, to these data After comprehensive processing, the heat map of the airport scene and the prediction of future heat map trends are obtained.

In the present invention, the airport scene operation situation analysis and future situation trends obtained by analyzing various information such as aircraft/vehicle position status information, aircraft/vehicle working status information and other information by using big data methods are mainly presented in the form of heat maps, tables, etc. A variety of ways; can conduct regional risk assessment in advance and make plans in time to ensure the normal operation of the airport.

In a second aspect, the present invention also discloses an airport surface target operation management device, comprising:

Positioning data fusion processing module: It is used to fuse the real-time positioning data of management targets in the scene to obtain the unique real-time position information of each target on the scene;

Artificial intelligence deep learning module: used to update the airport map model in real time according to the collected data of the surrounding environment of the vehicle;

Work process data processing module: It is used to generate work tasks and issue work tasks for the management targets in the scene, and at the same time monitor the working status of the management targets in real time; The data in the latest GIS map information storage module performs path planning for the management target, and sends the moving route to the management target.

Preferably, the airport surface target operation management device includes

The cloud computing conflict early warning processing module is used to construct a three-dimensional operating model of the aircraft/vehicle on the airport surface based on the position status information of the aircraft/vehicle, GIS map information, the three-dimensional data model of the aircraft/vehicle, and the three-dimensional data model of the airport, and based on the The three-dimensional vehicle operation model calculates the conflicts between aircraft on the surface, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and surrounding buildings, and obtains an early warning plan, and issues an early warning plan.

Preferably, the airport surface target operation management device includes

The vehicle health status processing module is used to monitor the normal operation of the vehicle in real time according to the collected vehicle health status data and combined with the vehicle working status, assign the task vehicle replacement for the work plan that cannot be completed, and issue warning instructions for abnormal health status data. issued.

Preferably, the airport scene target operation management device further comprises an airport scene operation situation processing module, which is used for collecting positioning data including aircraft and vehicles, working status data, health status data of each vehicle, GIS map information, and airport scene data. The data of operation rules and three-dimensional data of the airport are comprehensively processed to obtain the heat map of the airport scene and the analysis of the future heat map trend.

In a third aspect, the present invention also discloses an airport surface target operation management and early warning system, including a data storage sub-system for data transmission and connection through a system gateway, and the data processing sub-system adopts any of the devices described in the second aspect above. , Data acquisition subsystem, airport scene wireless communication subsystem, vehicle mobile terminal and operation management subsystem;

The data storage subsystem includes a three-dimensional data model storage module, a vehicle health state data storage module, a scene target operation rule storage module, a GIS map information storage module, an aircraft/vehicle working status storage module, and an aircraft/vehicle position status storage module; Access to other subsystems for data storage or retrieval;

The data acquisition subsystem includes a monitoring data acquisition subsystem, an optical camera and a lidar connected to the vehicle-mounted mobile terminal; the monitoring data acquisition subsystem is used to locate aircraft/vehicles on the airport surface, and use the obtained positioning information to The form of IP network data is transmitted to the data processing subsystem; the optical camera and lidar are used for real-time detection of the surrounding environment of the vehicle and the detection data is sent to the vehicle terminal in the form of IP network data;

The in-vehicle terminal includes an edge cloud computing conflict early warning processing module and an alarm module; it is mainly used for data interaction between vehicles operating on the airport scene and the data processing subsystem and data storage system, detecting the surrounding environment of the vehicle, monitoring the working status of the vehicle, and calculating the collision of the vehicle. Likelihood, warns of possible collision events and avoids conflicts;

The operation management subsystem is used for human-computer interaction oriented to the use of the data processing system, and includes three parts: a display module, a data processing module and an alarm module.

In general, the system of the present invention uses artificial intelligence to update airport information in real time to ensure the reliability of the collision avoidance mechanism;

1) The system adopts a variety of collision avoidance mechanisms to effectively ensure the safety of airport operations;

2) The system combines vehicle health, vehicle work tasks and vehicle operation safety monitoring to ensure the safety of scene operation and improve vehicle operation efficiency;

3) The system adopts a big data scheme to provide a reliable data base for the airport supervisor;

4) All functions of the system can be displayed graphically, which is easy for human-computer interaction;

5) The scheme adopted by the system can be expanded and obtained in the existing airport system, and the scheme is economical and effective.

In the method, device and system of the present invention, the data processing subsystem is the core, and after processing the collected data, the management objectives in the airport are managed, deployed and conflict early warning.

The "data processing subsystem" includes a positioning data fusion processing module, a work process data processing module, and an artificial intelligence deep learning module; in some preferred solutions, it includes a cloud computing conflict early warning processing module, an airport scene operation situation processing module and/or Vehicle health status processing module. The functions of each module are described as follows:

a) Positioning data fusion processing module

The "fixed data fusion processing module" can receive the collected real-time positioning data of aircraft/vehicle and fuse various data to obtain the unique position information of each target on the scene, and send the information to the data storage module (aircraft/vehicle status storage module) for storage, and use terminals (“operation management subsystem”, “vehicle mobile terminal” and “airborne mobile terminal”) for real-time display.

b) Worker process data processing module

The "work process data processing module" can calculate according to the requirements of the airport surface operation management target (vehicle/airplane) or work tasks, realize unified scheduling, and send work tasks to the terminal (vehicle mobile terminal or airborne mobile terminal). At the same time, it receives the working status information and demand information uploaded from the terminal in real time, monitors the operation of aircraft/vehicles on the airport surface, and sends the above data to the data storage system for storage (the "working status storage server" of the data storage subsystem). The work completed by the "work process data processing module" includes aircraft/vehicle path planning, work task distribution, and work task implementation supervision.

c) Cloud computing conflict early warning processing module

The "Cloud Computing Conflict Early Warning Processing Module" will monitor the location information of aircraft/vehicles running on the airport surface in real time, and at the same time retrieve the 3D data model data of the aircraft/vehicle and the 3D map model data of the airport, and complete the operation between aircraft, vehicles, aircraft and vehicles on the scene. Conflicts between aircraft/vehicles and surrounding buildings are calculated, and multiple levels are divided according to the conflict prediction time, differentiated early warning schemes are implemented, and the early warning schemes are sent to the corresponding terminals (airborne/vehicle mobile terminals and Operation management subsystem) to realize conflict early warning.

d) Airport surface operation situation processing module

The "airport surface operation situation processing module" can call the data of multiple modules such as "aircraft/vehicle position state storage module" and "working state storage module" to complete the operation situation analysis of airport surface targets and short-term situation prediction in the future.

e) Artificial intelligence deep learning module

The "Artificial Intelligence Deep Learning Module" can receive the data of the "vehicle sensors" and compare it with the 3D map data in the "GIS map memory module" and the historical vehicle sensor data to complete the regular correction and update of the 3D map model.

f) Vehicle Health Status Processing Module

The "vehicle health status processing module" can obtain the vehicle health status data uploaded by the "vehicle mobile terminal", and monitor the normal operation of the vehicle in real time in combination with the working status of the vehicle. The abnormal status data is used to issue a warning command.

In the method and system of the present invention, the data acquisition subsystem is realized by monitoring the data acquisition subsystem and the vehicle-mounted sensor.

The "surveillance data acquisition sub-system" adopted in the present invention is a monitoring system that adopts multi-standard airport scene target positioning. The target positioning technology involved in this sub-system is to use various technical characteristics to locate the airport scene aircraft/vehicles. And transmit the obtained positioning information to the data processing subsystem in the form of IP network data.

The "Surveillance Data Acquisition Subsystem" includes various types of target positioning technologies on the existing airport scene, including primary radar positioning technology, secondary radar positioning technology, ADS-B positioning technology and multi-point positioning technology.

a) Primary radar positioning technology

The primary radar positioning technology is to use pulse radar to continuously transmit radio frequency pulses to the airport surface, and at the same time receive the echoes generated by the aircraft/vehicles on the surface when the pulses meet, and confirm the position of the target through the time and direction of the pulses and echoes.

b) Secondary radar positioning technology

In the secondary radar positioning technology, the interrogation radar on the airport surface transmits an interrogation signal to the airport surface in a certain mode. After receiving the interrogation signal, the transponder installed on the aircraft sends the reply signal back to the ground interrogation radar after processing and decoding. , the ground interrogation radar obtains the response signal and then decodes it to obtain the aircraft's position, altitude and other information.

c) ADS-B positioning technology

The ADS-B positioning technology is the broadcast information sent by the ADS-B system receiver on the airport scene. The broadcast information contains various information such as the aircraft's own satellite positioning, aircraft signs, etc., so as to obtain the aircraft position.

d) Multi-point positioning technology

The multi-point positioning technology uses multiple receivers on the airport surface to capture the pulse of the aircraft transponder, and calculates the position and identification of the aircraft on the airport surface by using the different times when the pulse of the aircraft transponder reaches each receiver.

Vehicle sensor

It is used in conjunction with a vehicle-mounted mobile terminal, and consists of an optical camera and a lidar to realize real-time detection of the surrounding environment of the vehicle. The functions of the two components are as follows:

Optical camera

The "optical camera" is used to capture 360-degree video information around the vehicle in real time, and send the video to the vehicle terminal in the form of IP network data.

Lidar

"Lidar" is installed around the vehicle, and uses the characteristics of the laser's fast propagation speed and good linearity to emit the laser, and receives the returned information to describe the physical surface shape to be measured. The lidar is used to detect the environment around the vehicle and whether there are objects such as aircraft/vehicles around, and send the detection data to the vehicle terminal in the form of IP network data.

The system of the present invention involves a system gateway, a timing sub-system, a differential positioning sub-system, an airport surface wireless communication sub-system, a vehicle-mounted mobile terminal, an air-borne mobile terminal, a vehicle-mounted sensor and some sub-systems and modules in the operation management sub-system: These subsystems are described as follows:

System Gateway

The systems of the present invention are constructed in the form of IP networks, and the "system gateway" is a bridge connecting each component in the system. In order to reduce the mutual influence between the components and ensure the interconnection of data between each other, the "system gateway" allocates and manages the IP network/address for each component in the access system. In addition, the "system gateway" can also have a firewall function. This patent relates to the system being able to connect with the external network (such as the internet, etc.), and the "system gateway" can realize the remote output of data while ensuring the security of the internal network of the system.

time division system

The system of the present invention may include a time service and division system, which is based on a time service system of an IP data network. The "time service and distribution system" obtains time information through the Internet or time service satellites, and is internally calibrated and converted to the current time of use.

Differential Positioning Subsystem

The "Differential Positioning Subsystem" is equipped with a positioning satellite receiver, which can perform satellite positioning to obtain the position information of the reference station. The "Differential Positioning Subsystem" uses IP network data to send the calculated error between the position of the reference station and the actual position to the vehicle terminal. The system differential reference station can use various satellite differential technologies such as GPS and BD.

data storage subsystem

The system "data storage sub-system" of the present invention includes a three-dimensional data model storage module, a scene target operation rule storage module, a GIS map information storage module, and an aircraft/vehicle position state storage module. The sub-system can classify and store various types of data in the system. , with powerful storage capacity.

a) 3D data model storage module

The "3D data model storage module" is used to store the 3D digital models of vehicles and various types of aircraft on the scene. At the same time, the internal storage data of the "3D data model storage module" can be accessed by the data processing subsystem, etc., and the 3D model data of the aircraft/vehicle can be called. For safe computing use.

b) Vehicle health state data storage module

The "vehicle health state data storage module" is used to store data related to various health states such as fuel and speed of various operating vehicles on the scene, and classify and store vehicle signs, data types and other aspects. At the same time, the data in the "vehicle health state data storage" module can be read and called by other modules.

c) Airport surface target operation rules storage module

The system "airport surface target operation rules storage module" is used to store the airport surface aircraft/vehicle operation rules. For example, vehicles must stop and wait at the corresponding points of the flight path when the aircraft takes off and land. It is not limited to the above two situations. At the same time, the "airport surface target operation rules storage module" transmits various operation rules to the "GIS map information storage module" in a digital form.

d) GIS map information storage module

The "GIS map information storage module" is mainly used to store 2D and 3D airport scene map information, and at the same time, it receives the digital aircraft/vehicle operation rules sent by the "surface target operation rules storage module" and forms the corresponding monitoring area, such as the area where speeding is strictly prohibited, It is strictly forbidden to enter the area, etc. Furthermore, the "GIS map information storage module" sends the latest airport scene map and monitoring area information to the "airborne/vehicle mobile terminal" and "operation management sub-system" display module of the airport scene, so as to realize the implementation supervision of the prototype vehicle/aircraft on the scene. . In addition, the "GIS map information storage module" will also store the vehicle camera video and lidar data uploaded by the on-board sensors, and match the three-dimensional map data with the above two kinds of data.

e) Aircraft/vehicle working status storage module

"Aircraft/Vehicle Working Status Storage Module" is used to store the working status of aircraft/vehicles operating on the scene in real time, such as aircraft parking positions, vehicle running destinations, fuel tank status of refueling trucks, and the location of shuttle service aircraft and other airport scene working statuses Happening. At the same time, the data in the "aircraft/vehicle working state storage module" can be accessed and called by other modules.

f) Aircraft/Vehicle Position Status Storage Module

The "aircraft/vehicle position state storage module" is used to receive the surface vehicle aircraft/vehicle positioning data fused in the "positioning data fusion processing module", and store it in the way of aircraft/vehicle sign and time axis classification. At the same time, the data in this module can be accessed and called by other modules.

Airport scene wireless communication subsystem

"Airport scene wireless communication subsystem" can ensure reliable connection between "airborne/vehicle mobile terminal" and "system gateway", and complete the transmission of various data in the system. The wireless communication system is a dedicated wireless communication system for airport scene and is based on IP The network is built with both mobility and wireless broadband functions, such as the airport's existing "5G communication system", "LTE communication system", "WiFi communication system" and "AeroMACS communication system".

Vehicle mobile terminal

The "vehicle mobile terminal" includes a wireless communication module, a data processing module, a data storage module, an edge cloud computing conflict early warning processing module, an external sensor interface, a display module and an alarm module. The on-board terminal is mainly used for the data interaction between the running vehicle at the airport and the system server, detecting the surrounding environment of the vehicle, ensuring the safety of the vehicle operation, monitoring the working status of the vehicle and other functions.

a) Wireless communication module

The "wireless communication module" is a connection terminal for the wireless communication sub-system at the airport scene of the system, which can ensure the data interaction between the "vehicle mobile terminal" and the system server.

b) Data processing module

The "data processing module" is used to process the data sent by the receiving server and transmit it to each component of the "vehicle mobile terminal". And send the data to the "wireless communication module" and then transmit it to the server.

c) Data storage module

The "data storage module" is used to store various data information such as two-dimensional maps of the airport scene and restricted control areas.

d) Edge cloud computing conflict early warning processing module

The "Edge Cloud Computing Conflict Early Warning Processing Module" can detect the surrounding environment of its own vehicle through intelligent computing through the optical camera and lidar data of the "vehicle external sensor", and generate warning instructions for possible conflict behaviors and send them to the warning module.

e) External sensor interface

The "external sensor interface" is used to connect vehicle sensors and transmit sensor data to the vehicle terminal for further processing.

f) Display module

The "display module" is used to display the map information of the airport surface, the location information of the aircraft/vehicle on the airport surface, the health status of the own vehicle, and the working status of the vehicle.

g) Alarm module

The "Alarm Module" employs a warning device such as a sound or a buzzer. When the vehicle terminal receives the warning command sent by the server or detects a conflict warning by itself, it will issue a warning.

Airborne mobile terminal

"Airborne mobile terminal" consists of six parts: wireless communication module, data processing module, data storage module, working status module, display module and alarm module. Running information, work orders and other data information.

The specific functions of the above six modules are as follows:

a) Wireless communication module

The "wireless communication module" is a connection terminal for the wireless communication sub-system at the airport scene of the system, which can ensure the data exchange between the airborne mobile terminal and the system server.

b) Data processing module

The "data processing module" connects the wireless communication module and the internal modules of the airborne terminal to realize the data interaction between each module and the server.

c) Data storage module

The "data storage module" is used to store various data information such as two-dimensional maps of the airport scene and restricted control areas.

d) Working status module

The "work status module" is connected with the "data processing module", and is used to exchange data with the server "work process data processing module" to complete the interaction of work instructions and the upload of work progress status.

e) Display module

The "display module" is used to display various information such as airport surface map information, airport surface aircraft/vehicle location information, and its own aircraft working status.

f) Alarm module

The "Alarm Module" employs a warning device such as a sound or a buzzer. When the airborne terminal receives the alarm command sent by the server, it will issue a warning.

Operation management subsystem

The "operation management sub-system" is mainly human-computer interaction for server use, and is mainly composed of three parts: display module, data processing module and alarm module.

a) Display module

The "display module" is used to display the airport surface map information, the airport surface aircraft/vehicle position information, the surface target working status information and various warning information.

b) Data processing module

The "data processing module" is used to process the interactive data information between the operation management subsystems.

c) Alarm module

The "Alarm Module" employs a warning device such as a sound or a buzzer. When the "operation management subsystem" receives the alarm command sent by the server, it will issue a warning. Whenever there is a conflict warning on the airport scene, warning information will be generated and sent to the "operation management sub-system", and an alarm will be issued.

Description of drawings

Fig. 1. device schematic diagram of the present invention;

Fig. 2. In the device of the present invention, the processing of data by the positioning data fusion processing module to realize the exemplary flow of airport scene target monitoring;

Fig. 3. the artificial intelligence deep learning module in the device of the present invention realizes the exemplary process flow of airport three-dimensional map model update to data processing;

Fig. 4. Exemplary process flow that the working progress data processing module in the device of the present invention realizes the working state monitoring of airport scene to data processing;

Fig. 5. The exemplary flow that the data processing module of the working process in the device of the present invention realizes the guidance of the airport scene target for data processing;

Fig. 6. The cloud computing conflict early warning processing module in the device of the present invention processes the collected data to realize the exemplary flow of system-level conflict early warning evaluation;

Fig. 7 is a schematic diagram of the monitoring flow of the vehicle state by the vehicle health state processing module in the device of the present invention;

Fig. 8 is a schematic diagram of the monitoring flow of the vehicle running state by the vehicle health state processing module in the device of the present invention;

Fig. 9. in the apparatus of the present invention, the airport scene operation situation processing module carries out data processing to realize the flow chart of the airport scene operation situation analysis and prediction;

Figure 10. A schematic diagram of the composition of an airport surface target operation management and early warning system of the present invention;

Figure 11. The flow of the method for realizing the early warning evaluation of the vehicle's own conflict in the vehicle-mounted mobile terminal.

Detailed ways

The present invention is further exemplified below in conjunction with the accompanying drawings, but is not intended to limit the present invention.

As shown in Figure 1, an airport surface target operation management device is characterized in that it includes

Positioning data fusion processing module: It is used to fuse the real-time positioning data of management targets in the scene to obtain the unique real-time position information of each target on the scene;

Artificial intelligence deep learning module: used to update the airport map model in real time according to the collected data of the surrounding environment of the vehicle;

Work process data processing module: used to judge whether each management target on the scene needs to be moved, carry out path planning according to the operation rules of the scene target and the airport map data, and send the moving route to the management target.

An exemplary flow of data processing by the positioning data fusion processing module is shown in Figure 2, and the steps are as follows:

1) The data fusion processing module receives the aircraft/vehicle positioning data on the airport surface according to the "surveillance data collection subsystem" and the "vehicle positioning terminal";

2) The data fusion processing module classifies after receiving various positioning data, and divides the data into aircraft positioning data and vehicle positioning data respectively;

3) Judging from the aircraft positioning data that the data sources for the same aircraft positioning are one or more, if there is one, directly output the data, if there are multiple, fuse and output multiple data;

4) The processing method of vehicle positioning data is the same as 3);

5) Send the processed data to the "aircraft/vehicle position state storage module" for storage, and simultaneously send it to the display modules of the "vehicle mobile terminal", "airborne mobile terminal" and "operation management subsystem" for display;

6) When "vehicle mobile terminal" and "airborne mobile terminal" access the system, they will first access the "GIS map storage module" to check whether the airport map has been updated. If there is an update, the new map will be downloaded and displayed in their respective display modules. Display, if there is no update, use the original airport map to display in the display module.

An exemplary process of data processing by the artificial intelligence deep learning module is shown in Figure 3, and the steps are as follows:

1) "Lidar" and "optical camera" collect spatial information around the vehicle when the vehicle is driving, and send this information to the "Artificial Intelligence Deep Learning Module";

2) The "Artificial Intelligence Deep Learning Module" obtains the detection data obtained by the "Lidar" detection and the "Optical Camera" detection and combines the vehicle position in the "GIS Map Information Storage Module" to establish a three-dimensional digital model of the position;

3) The "artificial intelligence deep learning module" confirms the newly generated three-dimensional digital model of the above-mentioned position by multiple vehicles or multiple times and compares it with the data in the three-dimensional data model storage module;

4) If the new model is the same as the 3D model in the 3D data model storage module, no change will be made;

5) If the new model is not the same as the three-dimensional model in the three-dimensional data model storage module, the original three-dimensional model in the "three-dimensional data model storage module" is replaced by the new model, thereby realizing the update of the airport three-dimensional model.

The exemplary flow of data processing by the work process data processing module is shown in Figure 4 and Figure 5, and the steps are as follows:

1) The "vehicle mobile terminal working status module" tracks the working status of the vehicle in real time, and sends the working progress of the vehicle and the demand of the vehicle to the working process data processing module of the data processing subsystem;

2) The airborne mobile terminal working status module sends the aircraft requirements to the data processing subsystem working process processing module;

3) After receiving the aircraft demand, vehicle demand and vehicle working status, the data processing subsystem work process processing module calls the aircraft/vehicle position and data storage subsystem in the aircraft/vehicle position state storage module in the "Data Storage Subsystem". Each aircraft/vehicle work plan of the work state storage server;

4) The work process data processing module issues work tasks to the designated aircraft/vehicle through comprehensive operations, and monitors the working status of the aircraft/vehicle in real time, updates the work plan to the working status storage module, and displays it on the aircraft/vehicle mobile terminal at the same time. module;

5) The working process data processing module judges whether the aircraft/vehicle needs to move according to the generated aircraft/vehicle work task and the data in the aircraft/vehicle position state storage module;

6) If the aircraft/vehicle needs to move, the "Working Process Data Processing Module" will call the "Surface Target Operation Rule Storage Module" and "GIS Map Information Storage Module Data", and calculate the movement route of the aircraft/vehicle and convert its route. Send to the display module corresponding to the "aircraft/vehicle mobile terminal".

7) If the plane/vehicle does not need to move, the "work process data processing module" enters the next path planning calculation.

In some embodiments, the device of the present invention further includes a cloud computing conflict early warning processing module for constructing the airport surface aircraft/vehicle according to the aircraft/vehicle position state information, GIS map information, the three-dimensional data model of the aircraft/vehicle, and the three-dimensional data model of the airport. A three-dimensional running model of the vehicle, and based on the three-dimensional running model of the aircraft/vehicle on the airport surface, the conflict between the aircraft on the surface, between the vehicles, between the aircraft and the vehicle, and between the aircraft/vehicle and the surrounding buildings is calculated and early warning is obtained plan and issue an early warning plan.

The collected data is processed by the cloud computing conflict early warning processing module to realize the system-level conflict early warning evaluation. An exemplary process is shown in Figure 6, and the steps are as follows:

1) "Cloud Computing Conflict Early Warning Processing Module" obtains aircraft/vehicle position status information, GIS map information, aircraft/vehicle 3D data model, and airport 3D data model;

2) "Cloud Computing Conflict Early Warning Processing Module" establishes a three-dimensional operating model of aircraft/vehicles on the airport surface;

3) The "cloud computing conflict early warning processing module" calculates between aircraft, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and surrounding buildings under the 3D model according to the running speed, running direction, and running route of the aircraft/vehicle. the possibility of collision between;

4) The "Cloud Computing Conflict Early Warning Processing Module" estimates the time when a collision may occur. If the time is within a certain threshold range, the "Cloud Computing Conflict Early Warning Processing Module" issues a warning to the aircraft/vehicle associated with the collision;

5) If the possibility of collision is eliminated, the warning instruction is eliminated. If it is not eliminated, the warning instruction is changed (more urgent, etc.) to remind the personnel.

In some embodiments, the device of the present invention further includes a vehicle health status processing module, which is used to monitor the normal operation of the vehicle in real time according to the collected vehicle health status data and in combination with the vehicle working status, and to monitor the uncompleted work plan or health status in real time. A warning command is issued for abnormal data.

Figure 7 shows an exemplary process for the data processing by the vehicle health state processing module to realize vehicle health state monitoring, and the steps are as follows:

1) The "vehicle mobile terminal" obtains the CAN bus data and uploads it to the "vehicle health status processing module";

2) The "vehicle health state processing module" calculates whether each state of the vehicle is normal;

3) The "vehicle health status processing module" sends the vehicle health status to the "vehicle health status data storage module" for the "vehicle mobile terminal" and the "operation management subsystem" to retrieve and display;

4) If the "vehicle health state processing module" finds that the vehicle state is abnormal, it will send an alarm instruction to the corresponding "vehicle mobile terminal" alarm module for prompting.

Figure 8 shows an exemplary process for the vehicle health state processing module to process data to realize vehicle operation health state monitoring

1) The "vehicle mobile terminal" obtains the CAN bus data and uploads it to the "vehicle health status processing module";

2) The "vehicle health state processing module" calls the vehicle work task in the "work state storage module", and calculates whether the vehicle state is competent for the work task;

3) If the vehicle state is competent for the work task, this starts to perform the work task;

4) If the vehicle status is not competent for the work task, it will be fed back to the "work process data processing module" to arrange tasks for other vehicles;

5) "Vehicle Health Status Processing Module" retrieves the data of "GIS Map Information Storage Module" and "Aircraft/Vehicle Location Status Storage Module" to judge in real time whether the vehicle conforms to the airport scene operation rules;

6) If the vehicle complies with the airport surface operation rules, the "vehicle health status processing module" continues to monitor;

7) If the vehicle does not meet the airport scene operation rules, the "vehicle health status processing module" will issue a warning to the corresponding vehicle.

In some embodiments of the device of the present invention, an airport scene operation situation processing module is further included, which is used for collecting positioning data including aircraft and vehicles, working status data, health status data of each vehicle, GIS map information, and airport scene operation rules. Data and airport 3D data, and comprehensively process these data to obtain the heat map of the airport scene and the analysis of the future heat map trend.

The airport surface operation situation processing module performs data processing to realize the implementation method flow of the airport surface operation situation analysis and prediction subsystem as shown in Figure 9, and the steps are as follows:

1) The "airport scene operation situation processing module" module obtains aircraft/vehicle position status information, aircraft/vehicle working status information, vehicle health status information, GIS map information, operation rule information and airport 3D data information in the data storage subsystem;

2) The "airport scene operation situation processing module" comprehensively processes various information, obtains the airport scene heat map and future heat map trends, and presents the aircraft/vehicle operation situation through a table;

3) The "airport surface operation situation processing module" sends the operation situation analysis to the display module of the "operation management sub-system" for display.

Based on the above device, the present invention provides an airport surface target operation management and early warning system, as shown in FIG. 10 , which is characterized in that it includes a data storage sub-system for data transmission and connection through a system gateway, and the data processing sub-system adopts any of the above-mentioned systems. The device, data acquisition sub-system, airport scene wireless communication sub-system, vehicle-mounted mobile terminal and operation management sub-system;

The data storage subsystem includes a three-dimensional data model storage module, a vehicle health state data storage module, a scene target operation rule storage module, a GIS map information storage module, an aircraft/vehicle working status storage module, and an aircraft/vehicle position status storage module; Access to other subsystems for data storage or retrieval;

The data acquisition subsystem includes a monitoring data acquisition subsystem, an optical camera and a lidar connected to the vehicle-mounted mobile terminal; the monitoring data acquisition subsystem is used to locate aircraft/vehicles on the airport surface, and use the obtained positioning information to The form of IP network data is transmitted to the data processing subsystem; the optical camera and lidar are used for real-time detection of the surrounding environment of the vehicle and the detection data is sent to the vehicle terminal in the form of IP network data;

The in-vehicle terminal includes an edge cloud computing conflict early warning processing module and an alarm module; it is mainly used for data interaction between vehicles operating on the airport scene and the data processing subsystem and data storage system, detecting the surrounding environment of the vehicle, monitoring the working status of the vehicle, and calculating the collision of the vehicle. Likelihood, warns of possible collision events and avoids conflicts;

The operation management subsystem is used for human-computer interaction oriented to the use of the data processing system, and includes three parts: a display module, a data processing module and an alarm module.

Among them, the edge cloud computing conflict early warning processing module establishes the surrounding of the vehicle through the "vehicle sensor" data

At the same time, according to the data of "vehicle sensors", it detects planes, cars, people and buildings in the surrounding environment of the vehicle, calculates the possibility of collision of the vehicle, and issues warnings for possible collision events to avoid conflicts, that is, to realize the conflict of the vehicle itself. Early warning evaluation, the schematic implementation process is shown in Figure 11, and the steps are as follows:

1) The "Edge Cloud Computing Conflict Early Warning Processing Module" obtains optical camera data, uses the background color of the airport scene and the virtual and solid lines of the scene road to perform structured road detection, and establishes a model of the surrounding environment of the vehicle in combination with road sign recognition and other methods;

2) The "edge cloud computing conflict early warning processing module" uses optical camera data to judge the situation of aircraft, vehicles, people and buildings around the vehicle;

3) "Edge Cloud Computing Conflict Early Warning Processing Module" receives lidar data, confirms aircraft, vehicles, people and buildings, and locates the above targets in combination with optical data;

4) The "Edge Cloud Computing Conflict Early Warning Processing Module" uses the difference between optical and lidar data at different times to analyze the moving state of the above targets relative to its own vehicle, analyze the possibility of collision between the two, and predict the collision time;

5) When the time of possible collision is below a certain threshold, the "edge cloud computing conflict early warning module" sends an alarm instruction to the alarm module;

6) The "Edge Cloud Computing Conflict Early Warning Processing Module" keeps track. When the collision warning is eliminated, it stops sending instructions to the alarm module. If the collision warning is not eliminated, the alarm continues and changes (such as more urgent, etc.).

Finally it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope of the invention should be included in the scope of the claims and description of the present invention.

Claims (6)

1. a kind of airport scene target operation management method, it is characterized in that: comprise data acquisition, data processing; The data acquisition refers to Collect real-time data of management targets in the airport surface and real-time data of surface environment; and retrieve the data contained in the existing GIS map information storage module; The data processing includes: Integrate the collected real-time positioning data of management targets in the scene to obtain the unique real-time position information of each target in the scene; Update the data in the GIS map information storage module in real time according to the collected data of the surrounding environment of the vehicle; Generate work tasks and issue work tasks for the management targets in the scene, and monitor the working status of the management targets in real time; then judge whether each management target needs to be moved according to the work tasks, and according to the operation rules of the scene targets and the latest GIS map information in the storage module The data of the management target is carried out path planning, and the moving route is sent to the management target; The data processing further includes constructing a three-dimensional operation model of the aircraft/vehicle on the airport surface according to the aircraft/vehicle position state information, the GIS map information storage module data, the three-dimensional data model of the aircraft/vehicle, and the three-dimensional data model of the airport; The data processing further includes calculating and obtaining early warnings for conflicts between aircraft on the surface, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and surrounding buildings based on the three-dimensional operating model of aircraft/vehicles on the airport surface. plan and issue an early warning plan. 2. airport surface target operation management method according to claim 1, is characterized in that: The data acquisition includes collecting the vehicle's own health data and the vehicle's current work task data; The data processing includes one or more of the following: Determine whether the state of the vehicle is healthy; if it is healthy, send the corresponding vehicle health state data; otherwise, send an alarm instruction; Judging whether the current status of the vehicle is competent for the current work task; if it is competent, issue an execution instruction; otherwise, issue a vehicle replacement instruction; It is judged whether the vehicle complies with the airport scene operation rules; when not, a warning instruction is issued to the vehicle. 3. the airport surface target operation management method according to claim 1 or 2, is characterized in that: The data processing also includes comprehensively processing these data according to the collected data including the positioning data of aircraft and vehicles, working status data, health status data of each vehicle, GIS map information, airport scene operation rule data and airport three-dimensional data. The heat map of the airport scene and the prediction of future heat map trends. 4. An airport surface target operation management device, characterized in that it comprises Positioning data fusion processing module: It is used to fuse the real-time positioning data of management targets in the scene to obtain the unique real-time position information of each target on the scene; Artificial intelligence deep learning module: used to update the airport map model in real time according to the collected data of the surrounding environment of the vehicle; Work process data processing module: It is used to generate work tasks and issue work tasks for the management targets in the scene, and at the same time monitor the working status of the management targets in real time; The data in the latest GIS map information storage module carries out path planning for the management target, and sends the moving route to the management target; The cloud computing conflict early warning processing module is used to construct a three-dimensional operating model of the aircraft/vehicle on the airport surface based on the position status information of the aircraft/vehicle, GIS map information, the three-dimensional data model of the aircraft/vehicle, and the three-dimensional data model of the airport, and based on the The three-dimensional vehicle operation model calculates the conflicts between aircraft on the surface, between vehicles, between aircraft and vehicles, and between aircraft/vehicles and surrounding buildings, and obtains an early warning plan, and issues an early warning plan; The vehicle health status processing module is used to monitor the normal operation of the vehicle in real time according to the collected vehicle health status data and combined with the vehicle working status, and issue warning instructions for the work plan that cannot be completed or the abnormal health status data. 5. The device according to claim 4, wherein: It also includes an airport surface operation situation processing module, which is used to analyze the collected data including aircraft and vehicle positioning data, working status data, vehicle health state data, GIS map information, airport surface operation rule data and airport three-dimensional data. The data is comprehensively processed to obtain the heat map of the airport scene and the analysis of the future heat map trend. 6. An airport surface target operation management and early warning system, characterized in that it comprises a data storage sub-system connected by data transmission through a system gateway, and the data processing sub-system adopts the device and data acquisition sub-system of claim 4 or 5. , Airport scene wireless communication sub-system, vehicle-mounted mobile terminal and operation management sub-system; The data storage subsystem includes a three-dimensional data model storage module, a vehicle health state data storage module, a scene target operation rule storage module, a GIS map information storage module, an aircraft/vehicle working status storage module, and an aircraft/vehicle position status storage module; Access to other subsystems for data storage or retrieval; The data acquisition subsystem includes a monitoring data acquisition subsystem, an optical camera and a lidar connected to the vehicle-mounted mobile terminal; the monitoring data acquisition subsystem is used to locate aircraft/vehicles on the airport surface, and use the obtained positioning information to The form of IP network data is transmitted to the data processing subsystem; the optical camera and lidar are used for real-time detection of the surrounding environment of the vehicle and the detection data is sent to the vehicle terminal in the form of IP network data; The in-vehicle terminal includes an edge cloud computing conflict early warning processing module and an alarm module; it is mainly used for data interaction between vehicles operating on the airport scene and the data processing subsystem and data storage system, detecting the surrounding environment of the vehicle, monitoring the working status of the vehicle, and calculating the collision of the vehicle. Likelihood, warns of possible collision events and avoids conflicts; The operation management subsystem is used for human-computer interaction oriented to the use of the data processing system, and is composed of three parts: a display module, a data processing module and an alarm module.

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