CN115593649A - Airplane ground movable deicing operation mechanism, deicing method and computer equipment - Google Patents

Abstract

The invention belongs to the technical field of civil aviation ground support, and discloses an aircraft ground mobile deicing operation mechanism, a deicing method and computer equipment. The multiple movable intelligent deicing manipulators of the aircraft ground mobile deicing operation mechanism identify the ice type and thickness of the surface ice, and locate the ice accumulation, independently adjust the deicing trajectory and jet parameters, and plan the deicing trajectory to carry out Deicing: the mobile deicing robot is deployed in the blind area of multiple mobile intelligent deicing manipulators to perform residual ice detection and secondary deicing operations. The blind area of the deicing operation includes wings and engine compartments under the hood and rear wing. The use of the movable intelligent deicing manipulator array of the present invention prevents operators from entering the dangerous area of the engine, reduces labor costs, improves safety, greatly improves deicing efficiency, and is conducive to improving the punctuality rate of aircraft.

Description

Aircraft ground mobile deicing operation mechanism, deicing method and computer equipment

technical field

The invention belongs to the technical field of civil aviation ground support, and in particular relates to an aircraft ground mobile deicing operation mechanism, a deicing method and computer equipment.

Background technique

Every winter, when encountering icy and snowy weather, ice accumulation will occur on the surface of the aircraft, which will damage the aerodynamic performance of the aircraft, reduce lift, increase drag, and reduce thrust. As a result, it will be more difficult for the pilot to control the aircraft, affecting The safety and operability of the aircraft when taking off may even lead to the occurrence of flight accidents. Therefore, before the aircraft takes off, the ice and snow covering on the aircraft surface must be cleaned in time. However, because the complex structure of the aircraft and the huge size increase the difficulty of the deicing process, some special mechanical equipment must be used to complete the deicing task on the surface of the aircraft. At present, the deicing operation of the aircraft in the airport is mainly realized by the deicing vehicle. The deicing vehicle uses the mechanical arm to lift the operator and the nozzle into the air, and the deicing is performed manually. This method is highly dependent on manual work, and the deicing effect is affected by the operator. The technical level is limited, and at the same time, it is dangerous for operators to work at heights. Therefore, there is a need for a safer and more effective technology for deicing operations.

The existing technology, such as a fixed deicing fluid spraying device, can be remotely controlled for deicing operations. Although it is free from manual on-site participation, it actually still needs to rely on the remote control of the operator, and its deicing efficiency is difficult to guarantee. , depends on the technical level of the operator, and at the same time, due to the immovability of the device, it is also necessary to build a deicing pad separately. Another example is another track-type aircraft deicing manipulator system, which uses the track laid on the ground to complete the movement of the manipulator chassis. Although the degree of automation of the deicing operation is improved, it needs to be limited by the site, and a deicing pad needs to be built separately Laying the track increases the construction cost, reduces the mobility of the deicing response, and requires the aircraft to go to the deicing pad, which makes the deicing process more cumbersome and increases the time cost. Therefore, it is an urgent problem to study how to perform deicing operations quickly, efficiently and conveniently. It can save manpower and material resources, improve safety, and better ensure flight safety. It has extensive research significance and application prospects.

Through the above analysis, the problems and defects in the prior art are:

(1) The operation of the aircraft to be deiced by the existing technology is limited by a specific deicing place, which cannot meet the needs of deicing, and the deicing effect is poor;

(2) The deicing operation in the dangerous area of the engine in the prior art has poor safety and high labor cost.

Contents of the invention

In order to overcome the problems existing in the related technologies, the disclosed embodiments of the present invention provide an aircraft ground mobile deicing operation mechanism array, a deicing method and computer equipment.

The technical solution is as follows: a ground mobile deicing operation mechanism for an aircraft includes: a plurality of movable intelligent deicing machines, arms and a movable deicing robot;

The plurality of mobile intelligent deicing manipulators are respectively deployed in different positions of the aircraft, to identify the ice type and thickness of the surface ice, and to locate the ice accumulation, to independently adjust the deicing trajectory and jet parameters, to plan the deicing trajectory, and to use the Distributed multi-robot cooperative task assignment method cooperates with mobile deicing robots to deicing;

The mobile deicing robot is deployed in the blind area of the deicing operation of multiple mobile intelligent deicing manipulators, and uses a distributed multi-robot collaborative task assignment method to cooperate with multiple mobile intelligent deicing manipulators to perform residual ice detection and secondary deicing. A deicing operation, the blind area of the deicing operation includes the wing, the nacelle cover and the empennage below.

In one embodiment, the movable intelligent deicing robotic arm includes a movable chassis, a multi-degree-of-freedom deicing robotic arm, and an intelligent detection device;

An intelligent detection device is arranged around the movable chassis, and the movable chassis includes: a controller, a power unit and a deicing fluid storage system; wherein, the controller and the power unit provide steering for the movable intelligent deicing mechanical arm and mobility; the deicing fluid storage system can store a certain amount of deicing fluid so that the mobile intelligent deicing manipulator can work temporarily away from the liquid filling device; the multi-degree-of-freedom manipulator is used to increase the effective working range and deicing efficiency; The intelligent detection device determines the target position of deicing, and provides the guiding function for the work of the movable intelligent deicing robot arm;

The multi-degree-of-freedom deicing manipulator is fixed on a movable chassis; an intelligent detection device is fixed at the end of the multi-degree-of-freedom deicing manipulator, and the intelligent detection device includes an intelligent detection ice and snow self-perception unit, a distance measuring device and a wind speed sensor device. Among them, the ice and snow self-sensing unit is responsible for identifying the position, ice type and thickness of the surface ice; the ranging device is responsible for detecting the distance from nearby objects to avoid collisions when moving; the wind speed sensing device is responsible for detecting wind speed, so that when the wind speed is too high Reinforce the base of the robot arm.

In one embodiment, the multi-degree-of-freedom deicing manipulator includes a support arm, a telescopic arm and a deicing fluid nozzle;

There are a plurality of multi-degree-of-freedom deicing mechanical arms, which are distributed in four directions of the rear left, rear right, front left and front right of the aircraft, and are respectively the first deicing mechanical arm, the second deicing mechanical arm, the third deicing mechanical arm Deicing robotic arm, fourth deicing robotic arm.

The first deicing mechanical arm, the second deicing mechanical arm, the third deicing mechanical arm and the fourth deicing mechanical arm are all connected with a mobile liquid adding device.

In one embodiment, the mobile deicing robot is deployed under the aircraft, including a movable chassis, a deicing fluid injection device, and an autonomous snow and ice sensing unit for deicing fluid injection;

The movable chassis includes a power unit and a deicing fluid storage system, and distance measuring devices are arranged around the movable deicing robot;

The deicing liquid spraying device includes a rotating mechanism and a spray head for spraying deicing liquid in any direction above; a deicing liquid spraying ice and snow autonomous sensing unit is set near the deicing liquid spraying head for detecting and locating ice accumulation.

Another object of the present invention is to provide a deicing method for an aircraft ground mobile deicing operation mechanism comprising the following steps:

S1, according to the characteristics of the aircraft type, an intelligent deicing system is formed around the aircraft to be deiced, with the purpose of selecting the largest deicing operation range as possible, and automatically planning the optimal position of each deicing equipment near the aircraft to be deiced ;

S2, multiple robotic arms in the array are deployed at the rear left, rear right, front left, and front right of the aircraft, and the mobile deicing robot is located under the aircraft; and the distributed multi-robot collaborative task allocation method is used for multi-intelligent deicing. Synergy among ice agencies;

S3, deicing operation: quick deicing mode and subsequent residual ice detection and secondary deicing mode for deicing.

In one embodiment, in step S2, the distributed multi-robot collaborative task allocation method adopts a distributed multi-robot collaborative task allocation method combining a consensus-based bundle algorithm (CBBA) and an ant colony algorithm.

In one embodiment, in step S3, the deicing operation method includes the following steps:

1) When a deicing operation instruction is received, a distributed multi-robot collaborative task allocation method is adopted between the deicing operation agencies to allocate their respective deicing tasks; Quickly deployed at corresponding positions on both sides of the taxiway, the mobile deicing robot enters the taxiway and waits for the completion of the deicing task;

2) The aircraft enters the working range of the deicing operation mechanism, and the array enters the rapid deicing operation mode; the intelligent detection device at the end of the multi-degree-of-freedom deicing manipulator identifies the ice type and thickness of the surface ice, and locates the ice accumulation, and the controller Independently adjust the deicing trajectory and jet parameters, plan the deicing trajectory, and deicing in time;

3) The first deicing robotic arm and the second deicing robotic arm are responsible for detecting ice accumulation and deicing operations on the left and right sides of the rear of the aircraft, including the horizontal stability surface, empennage and fuselage; the third deicing robotic arm, The fourth deicing robot arm is responsible for detecting ice accumulation and deicing operations on the left and right sides of the front of the aircraft, including the nose, wing, wing box, engine compartment cover and spoiler; the mobile deicing robot is responsible for The blind area where the multi-degree-of-freedom de-icing manipulator is too high to perform de-icing operations includes the parts under the wing, engine compartment cover and tail for ice accumulation detection and de-icing operations;

4) After the rapid deicing is completed, the array enters the residual ice detection stage, and detects the residual ice on various parts of the aircraft. If there is no residual ice, the deicing operation ends and the aircraft leaves the deicing area; if there is residual ice, it will automatically adjust The spray flow and angle of the spray guns of each deicing operation mechanism are used for secondary deicing;

5) When the aircraft leaves the working range of the array, the deicing operation ends; if there is no subsequent deicing task, the mobile deicing mechanism on the ground of the aircraft will quickly evacuate from the deicing area and wait for the next deicing command.

In one embodiment, in step 2), when the multi-degree-of-freedom de-icing manipulator is performing de-icing operations, the mobile chassis enters the slow moving mode, and cooperates with the expansion and rotation of the multi-degree-of-freedom de-icing manipulator. On the premise of maintaining overall stability, expand the deicing range of a single multi-degree-of-freedom deicing manipulator; at the same time limit the movement area of each manipulator chassis;

The deicing fluid storage system in the mobile chassis is connected to the mobile liquid adding device through pipelines to replenish the deicing fluid at any time when the multi-degree-of-freedom deicing manipulator is performing deicing operations;

The multi-degree-of-freedom de-icing manipulator is equipped with a limit device to prevent the multi-degree-of-freedom de-icing manipulator from stretching or rotating too much to cause the center of gravity to lose stability and roll over;

The intelligent detection device is equipped with a wind speed sensing device to detect the wind speed during deicing operations. When the wind speed reaches the wind speed that causes the mechanical arm to become unstable due to excessive wind speed, an alarm will be issued to stop the operation. After the completion of the movable chassis, increase the load to reduce the center of gravity. Continue working after stabilization.

In one embodiment, in step 3), a distance measuring device is arranged around the movable chassis of the mobile deicing robot. In cooperation, the distance between the multi-degree-of-freedom de-icing manipulator and other surrounding objects is detected at all times, and an alarm is issued when the distance is less than the safety warning range, and the multi-degree-of-freedom de-icing manipulator and the mobile chassis change the moving direction.

Another object of the present invention is to provide a computer device, the computer device includes a memory and a processor, the memory stores a computer program, when the computer program is executed by the processor, the processor executes the The deicing method of the aircraft ground mobile deicing operation mechanism described above.

In combination with all the above-mentioned technical solutions, the advantages and positive effects of the present invention are:

First, in view of the technical problems existing in the above-mentioned prior art and the difficulty of solving the problems, closely combine the technical solution to be protected in the present invention and the results and data in the research and development process, etc., to analyze in detail and profoundly how to solve the technical solution of the present invention Technical problems, some creative technical effects after solving the problems: For the above-mentioned existing technologies, it is necessary to build a deicing pad separately. However, for small and medium-sized airports with limited land resources and airports with a small number of deicing tasks, there is no ability or no need to build a deicing pad separately, so the present invention proposes a rapidly deployable deicing pad for airports without deicing pads. Aircraft ground mobile deicing operation mechanism to meet the needs of deicing without deicing pad, and complete the deicing task quickly, efficiently and conveniently. The invention can quickly build an array of aircraft deicing manipulators, quickly respond to deicing commands, and immediately start the operation of the aircraft to be deiced without being restricted by a specific deicing place, so as to meet the needs of deicing without a deicing pad According to the needs of the airport; establish arrays with different positions according to the characteristics of the aircraft type, and automatically adjust the flow rate and angle of the nozzle to achieve the best deicing effect; perform secondary deicing on the residual ice on the aircraft through automatic detection to ensure deicing The completion of the task; finally, the use of the mobile intelligent deicing manipulator array will prevent the operator from entering the dangerous area of the engine and reduce labor costs, improve safety, greatly improve the deicing efficiency, and help improve the punctuality of the aircraft Rate.

Second, regarding the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows: it includes multiple movable intelligent deicing manipulators and movable deicing robots According to the characteristics of the aircraft type, an intelligent deicing system is formed around the aircraft to be deiced, and the optimal position of each deicing equipment near the aircraft to be deiced is automatically planned to achieve the purpose of the largest deicing range and the highest efficiency; the array A plurality of mechanical arms are respectively deployed in the rear left, rear right, front left and front right positions of the aircraft, and the mobile deicing robot is located under the aircraft. And a distributed multi-robot collaborative task assignment method is used to solve the problem of coordination between multiple intelligent deicing mechanisms. The main deicing methods are: fast deicing mode, subsequent residual ice detection and secondary deicing mode; when the deicing manipulator is in operation, the intelligent detection device at the end of the manipulator identifies the ice type and thickness of the surface ice, and plans to deice. Ice trajectory; at the same time, the chassis aims to maintain stability and expand the deicing range as much as possible, and moves in conjunction with the telescopic and rotating postures of the robotic arm. Aiming at the situation where there is no deicing pad in the flight area, the present invention quickly deploys the array of deicing manipulators to both sides of the taxiway to perform deicing operations on designated aircraft, and moves the liquid adding device to replenish the deicing liquid, which greatly improves the deicing efficiency; Reduce manual participation and improve safety; and provide residual ice detection to ensure that the ice and snow cover on the aircraft is completely removed, which is conducive to enhancing flight safety.

Third, as an auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in that the technical solution of the present invention is compared with the existing deicing scheme of the airport, neither needing to build a deicing pad specifically, reducing land and capital costs, and reducing Human participation to improve safety can improve the convenience, speed and efficiency of deicing operations, and better ensure flight safety.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is the flow chart of the deicing method of the aircraft ground mobile deicing operation mechanism provided by the embodiment of the present invention;

Fig. 2 is a schematic diagram of the on-site layout of an aircraft ground mobile deicing operation mechanism provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of an intelligent deicing robotic arm provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of a mobile deicing robot provided by an embodiment of the present invention;

Fig. 5 is a block diagram of a multi-degree-of-freedom deicing manipulator provided by an embodiment of the present invention;

Fig. 6 is a schematic diagram of the deicing process provided by the embodiment of the present invention;

In the figure: 1. Mobile chassis; 2. Multi-degree-of-freedom deicing mechanical arm; 2-1. The first deicing mechanical arm; 2-2. The second deicing mechanical arm; 2-3; The third deicing mechanical arm Arm; 2-4, the fourth deicing mechanical arm; 3, intelligent detection device; 4, movable chassis; 5, deicing fluid injection device; 6, autonomous ice and snow sensing unit; Intelligent deicing robot arm; 9. Mobile deicing robot; 10. Mobile liquid filling device.

detailed description

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

1. Example of explanation:

Example 1

As shown in Figure 1, the deicing method of the aircraft ground mobile deicing operation mechanism provided by the embodiment of the present invention includes the following steps:

S101, according to the characteristics of the aircraft type, deploy an intelligent deicing system around the aircraft to be deiced, and automatically plan the optimal position of each deicing equipment near the aircraft to be deiced, so as to achieve the purpose of the largest deicing range and the highest efficiency;

S102, multiple robotic arms in the array are respectively deployed in the rear left, rear right, front left, and front right positions of the aircraft, and the movable deicing robot 9 is located under the aircraft; and a distributed multi-robot collaborative task allocation method is used to Solve the coordination problem among multi-intelligent deicing mechanisms.

S103, deicing: deicing in the fast deicing mode and subsequent residual ice detection and secondary deicing mode.

In step S103, when the movable intelligent deicing manipulator 8 is working, the intelligent detection device 3 at the end of the multi-degree-of-freedom deicing manipulator 2 identifies the ice type and thickness of the surface ice, and plans the deicing trajectory; at the same time, the mobile chassis 1 Aiming at maintaining stability and enlarging the deicing range as much as possible, the multi-degree-of-freedom deicing manipulator 2 moves in telescopic and rotational postures.

The present invention aims at the situation where there is no deicing pad in the flight area, the array of deicing manipulators is quickly deployed to both sides of the taxiway to deicing the designated aircraft, and the liquid adding device 10 is moved to replenish the deicing liquid, which greatly improves the deicing efficiency ;Reduce manual participation and improve safety; and provide residual ice detection to ensure that the ice and snow cover on the aircraft is removed, which is conducive to strengthening the safety of flights.

In a preferred embodiment of the present invention, for better deicing efficiency and safety, the aircraft ground mobile deicing operation mechanism has the following settings:

A distributed multi-robot collaborative task assignment method combining consensus-based bundle algorithm (CBBA) and ant colony algorithm is adopted among the deicing operation agencies, that is, the multi-intelligent deicing equipment system is To achieve a deicing task, assign multiple tasks to each deicing equipment based on environmental knowledge and task completion requirements, and each deicing operation agency establishes a schedule for the tasks assigned to it, and completes them simultaneously according to the schedule respective tasks. The CBBA algorithm is divided into the task selection stage and the consensus stage. In the task selection stage, an algorithm similar to an auction-based algorithm is used. The deicing operation agencies use the ant colony Algorithms select tasks and then communicate information to other deicing operations to achieve consensus. The CBBA algorithm iteratively proceeds between two different phases to finally arrive at a conflict-free solution.

表示智能体i按照p_i中的任务顺序执行任务的出价(即完成所有任务花费的时间越短出价越高)，当包内插入了新的任务j时，

表示将任务j插入到任务路径p_i的第n个位置得到的总出价。c_ij[b_i]表示由于添加任务j到任务包而导致的出价增长量，每个智能体在当前路径p_i中的所有可能位置插入新任务j，从而确定使c_ij[b_i]最大的位置n。然后一次添加所有智能体可完成的任务至任务包内，从而确定出最大出价的完成路径p_i。The first stage: task selection stage. Each agent locally builds a task package containing all the tasks it plans to complete during the assignment, and then the agent keeps adding tasks to the package and ordering them reasonably, until it reaches the upper limit of the number of tasks it can complete. Each agent i task package contains two task-related vectors: b _i and p _i . Among them, _{bi is the sorting according to the order of adding the package, and p i is} the sorting according to the order in which the agent plans to complete the tasks.

Indicates that agent i executes the bid of tasks in the order of tasks in p _i (that is, the shorter the time it takes to complete all tasks, the higher the bid), when a new task j is inserted into the package,

Indicates the total bids obtained by inserting task j into the nth position of task path p _i . c _ij [ _bi ] represents the increase in bids due to adding task j to the task package, each agent inserts new task j at all possible positions in the current path p _i , so as to determine the maximum value of c _ij [ _bi ] The position n. Then add all tasks that can be completed by the agent to the task package at one time, so as to determine the completion path p _i with the maximum bid.

The second stage: the consensus stage. In order to avoid too many agents assigned to the same task, each agent i needs to know the task information of another agent k, where _si represents the update time, and y _i represents the highest bid among the current bids of each task Price, y _ij represents agent i’s bid for task j; z _i represents the agent with the highest bid, and z _ij = k represents agent i thinks task j is assigned to agent k. Agent i can take three possible actions on task j:

(1) Update: when y _ij < y _kj , y _ij = y _kj , z _ij = y _kj ;

(2) Reserved: when y _ij > y _kj , y _ij = y _ij , z _ij = y _ij ;

(3) Reset: When there are other changes in the path p _i ,

If the above rules change the agent's bid, each agent will check whether the updated or reset task is in its task package, and if so, delete the task and all subsequent tasks in the task package, and re-execute the task Select stage.

The algorithm iterates through these two stages until they converge to a conflict-free solution.

For example, when the mobile intelligent deicing robot arm 8 selects the position in the rapid deployment stage, it selects the position with the shortest time consumption according to the distance from itself to the target point and the distance to the subsequent target point, and the time spent is the bid price of the robot arm. , the shorter the time-consuming, the higher the bid. If in the consensus stage, it is found that there is a task selected by other organizations that conflicts with itself and the bid is higher, that is, the time is shorter, then the task will be abandoned and re-enter the task selection stage until the final result. Find a solution that is completely conflict-free and takes the shortest total time.

Example 2

As shown in FIG. 2 , the aircraft ground mobile deicing operation mechanism provided by the embodiment of the present invention is composed of a plurality of movable intelligent deicing manipulators 8 and a movable deicing robot 9 .

The plurality of movable intelligent deicing manipulators 8 are respectively deployed in different positions of the aircraft, to identify the ice type and thickness of the surface ice, and to locate the ice accumulation, to independently adjust the deicing trajectory and jet parameters, plan the deicing trajectory, and Using a distributed multi-robot collaborative task assignment method to cooperate with the movable deicing robot 9 to deicing;

The mobile deicing robot 9 is deployed in the blind area of multiple mobile intelligent deicing manipulators 8 in the deicing operation, and uses a distributed multi-robot collaborative task assignment method to cooperate with multiple mobile intelligent deicing manipulators 8 to carry out residual ice removal. Detection and secondary deicing operation, the blind area of the deicing operation includes the wing, engine nacelle and under the empennage.

In a preferred embodiment of the present invention, the movable intelligent deicing manipulator 8 in the aircraft ground mobile deicing mechanism, as shown in Figure 3, the movable intelligent deicing manipulator 8 includes a mobile Chassis 1, multi-degree-of-freedom deicing mechanical arm 2, intelligent detection device 3; intelligent distance measuring device 7 is arranged around the movable chassis 1, and the movable chassis 1 includes a controller (not shown), a power unit and a deicing device. Ice liquid storage system; wherein the controller and power device in the movable chassis 1 provide the function of directional movement for the movable intelligent deicing manipulator 8; the deicing liquid storage system can enable the mobile intelligent deicing manipulator 8 to temporarily Work away from the liquid filling device; the multi-degree-of-freedom mechanical arm 2 is used to increase the effective working range and deicing efficiency; the intelligent detection device 3 determines the target position of deicing, and provides a guiding function for the work of the movable intelligent deicing mechanical arm 8;

The multi-degree-of-freedom deicing manipulator 2 includes a support arm, a telescopic arm and a deicing fluid nozzle; the multi-degree-of-freedom deicing manipulator 2 is fixed on the movable chassis 1; An intelligent detection device 3 is provided, and the intelligent detection device 3 includes an autonomous detection unit 6 for intelligent detection of ice and snow, a distance measuring device 7 and a wind speed sensing device (not shown). Wherein the ice and snow self-sensing unit 6 is responsible for the identification of surface ice position, ice type and thickness; the distance measuring device 7 is responsible for detecting the distance with nearby objects to avoid collisions when moving; the wind speed sensing device is responsible for detecting wind speed and is used to Reinforce the base of the manipulator at this time.

In a preferred embodiment of the present invention, the mobile deicing robot 9 in the aircraft ground mobile deicing operation mechanism is shown in Figure 4, including a movable chassis 4, a deicing liquid spraying device 5 and an autonomous sensing of ice and snow. Unit 6;

The movable chassis 4 includes a power unit and a deicing fluid storage system, and a distance measuring device 7 is arranged around the robot; the deicing fluid spraying device 5 includes a rotating mechanism and a nozzle, and can spray deicing fluid in any direction above; The deicing fluid spraying ice and snow autonomous sensing unit 6 is set near the deicing fluid nozzle to realize the detection and positioning of ice accumulation.

Example 3

Based on the aircraft ground mobile deicing operation mechanism described in Embodiment 2, preferably, the layout of the aircraft ground mobile deicing operation mechanism is: a plurality of movable intelligent deicing mechanical arms 8 and a movable deicing robot 9 , to form an intelligent deicing system around the aircraft to be deiced, and automatically plan the optimal position of a single intelligent deicing manipulator near the aircraft to be deiced according to the overall length, wingspan, height and aspect ratio of the aircraft, In order to achieve the purpose of the largest deicing range and the highest efficiency; the multi-degree-of-freedom deicing manipulators 2 in the array are distributed in the four positions of the rear left, rear right, front left and front right of the aircraft, respectively numbered as areas 1-4 ;The numbers of the multi-degree-of-freedom deicing manipulator 2 in the area are the first deicing manipulator 2-1; the second deicing manipulator 2-2; the third deicing manipulator 2-3, and the fourth deicing manipulator 2-4, etc.; wherein, the first deicing mechanical arm 2-1; the second deicing mechanical arm 2-2; the third deicing mechanical arm 2-3, and the fourth deicing mechanical arm 2-4 are at least two indivual. As shown in Figure 5.

The first deicing manipulator 2-1 and the second deicing manipulator 2-2 respectively located in No. 1 and No. 2 areas are deployed at the forefront of the deicing operation area; The deicing robotic arm 2-3 and the fourth deicing robotic arm 2-4 are deployed in the second row; the movable deicing robot 9 is deployed under the aircraft.

The first deicing manipulator 2-1, the second deicing manipulator 2-2, the third deicing manipulator 2-3, and the fourth deicing manipulator 2-4 are all connected with a mobile liquid adding device 10.

Example 4

Based on the deicing method of the aircraft ground mobile deicing operation mechanism described in Embodiment 1, as shown in Figure 6, further, in step S103, the embodiment of the present invention provides an aircraft ground mobile deicing operation mechanism. The method specifically includes the following steps:

1) When a deicing operation instruction is received, a distributed multi-robot collaborative task allocation method is adopted between the deicing operation agencies to allocate their respective deicing tasks; Quickly deployed at corresponding positions on both sides of the taxiway, the movable deicing robot 9 enters the taxiway and waits for the completion of the deicing task;

2) The aircraft enters the working range of the deicing operation mechanism, and the array enters the fast deicing operation mode; the intelligent detection device 3 at the end of the multi-degree-of-freedom deicing manipulator 2 identifies the ice type and thickness of the surface ice, and locates the ice accumulation, The controller independently adjusts the deicing trajectory and jet parameters, plans the deicing trajectory, and performs deicing in time;

3) The first deicing manipulator 2-1 and the second deicing manipulator 2-2 in areas 1 and 2 are mainly responsible for accumulating ice on the left and right sides of the rear of the aircraft, including the horizontal stable surface, empennage and fuselage Detection and deicing operations; the third deicing robotic arm 2-3 and the fourth deicing robotic arm 2-4 in areas 3 and 4 are mainly responsible for the left and right sides of the front of the aircraft, including the nose, wings, and wing boxes. , the engine compartment cover and spoiler and other parts for ice accumulation detection and deicing operations; the movable deicing robot 9 is mainly responsible for the blind areas where the deicing operation cannot be performed due to the high multi-degree-of-freedom deicing manipulator 2, including wings, Carry out ice accretion detection and deicing operations on the engine compartment cover and under the tail;

4) After the rapid deicing is completed, the array enters the residual ice detection stage, and detects the residual ice on various parts of the aircraft. If there is no residual ice, the deicing operation ends and the aircraft leaves the deicing area; if there is residual ice, it will automatically adjust The spray flow and angle of the spray guns of each deicing operation mechanism are used for secondary deicing;

5) When the aircraft leaves the working range of the array, the deicing operation is over; if there is no subsequent deicing task, the mobile deicing mechanism on the ground of the aircraft will quickly evacuate from the deicing area and wait for the next deicing command.

Example 5

Based on the operating method of the aircraft ground mobile deicing operation mechanism described in Embodiment 4, further, in step 2), when the multi-degree-of-freedom deicing manipulator 2 is performing deicing operations, the mobile chassis 1 enters slow movement mode, in conjunction with the expansion and rotation of the multi-degree-of-freedom deicing manipulator 2, on the premise of maintaining the overall stability, the deicing range of a single multi-degree-of-freedom deicing manipulator 2 is expanded to improve the deicing efficiency; at the same time, each The moving area of the chassis of the robotic arm cannot be moved beyond the boundary during operation to prevent collisions and accidents.

Example 6

Based on the operating method of the aircraft ground mobile deicing operation mechanism described in Embodiment 4, further, in step 2), the deicing fluid storage system in the mobile chassis 1 is deiced on the multi-degree-of-freedom deicing manipulator 2 During operation, it is connected with the mobile liquid adding device 10 through the pipeline, and the deicing liquid is replenished at any time to ensure the continuity of the deicing process.

The multi-degree-of-freedom deicing manipulator 2 is provided with a limit device (not shown) to prevent the multi-degree-of-freedom deicing manipulator 2 from stretching or rotating too much to cause the center of gravity to be unstable, resulting in the multi-degree-of-freedom deicing manipulator 2 turn.

In a preferred embodiment of the present invention, the intelligent detection device 3 is provided with a wind speed sensing device (not shown) to detect the wind speed during the deicing operation, and when it reaches the wind speed that may cause the mechanical arm to lose stability due to excessive wind speed, an alarm is issued , stop operation, continue operation after completing movable chassis 4 to increase load to reduce center of gravity and maintain stability.

Example 7

Based on the working method of the aircraft ground mobile deicing operation mechanism described in Embodiment 4, further, in step 3), a distance measuring device 7 is arranged around the movable chassis 4 of the movable deicing robot 9, and during deicing During operation, distance measuring device 7 cooperates with multi-degree-of-freedom deicing manipulator 2 end intelligent detection device 3, detects multi-degree-of-freedom deicing manipulator 2 and surrounding other objects (for example aircraft wing, fuselage, landing gear, The distance between the small movable intelligent de-icing robot 9 and objects such as the multi-degree-of-freedom de-icing manipulator 2), when the distance is less than the safety warning range, an alarm is issued, and the multi-degree-of-freedom de-icing manipulator 2 and the mobile chassis 1 change the movement immediately direction.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

The information interaction and execution process between the above-mentioned devices/units are based on the same idea as the method embodiment of the present invention, and its specific functions and technical effects can be found in the method embodiment section, and will not be repeated here.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present invention. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

2. Application examples:

An embodiment of the present invention also provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and operable on the at least one processor, and the processor executes The computer program implements the steps in any of the above method embodiments.

An embodiment of the present invention also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

The embodiment of the present invention also provides an information data processing terminal, the information data processing terminal is used to provide a user input interface to implement the steps in the above-mentioned method embodiments when the information data processing terminal is implemented on an electronic device, the information data Processing terminals are not limited to mobile phones, computers, and switches.

An embodiment of the present invention also provides a server, which is configured to provide a user input interface to implement the steps in the foregoing method embodiments when executed on an electronic device.

An embodiment of the present invention provides a computer program product. When the computer program product is run on an electronic device, the electronic device can realize the steps in the foregoing method embodiments when executed.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above-mentioned embodiments, which can be completed by instructing related hardware through computer programs. The computer program can be stored in a computer-readable storage medium. The computer program When executed by a processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program codes to a photographing device/terminal device, a recording medium, a computer memory, a read-only memory (Read-Only Memory, ROM), a random access memory ( RandomAccessMemory, RAM), electrical carrier signals, telecommunication signals, and software distribution media. Such as U disk, mobile hard disk, magnetic disk or optical disk, etc.

3. Evidence of the relevant effects of the embodiment:

The deicing method described in the present invention is compared with the existing deicing scheme of the current airport. It does not need to build a special deicing platform, reduces land and capital costs, and reduces manual participation to improve safety, which can improve the deicing work. Convenience, speed and efficiency, better guarantee flight safety.

The above is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field is within the technical scope disclosed in the present invention Any modifications, equivalent replacements and improvements made within the spirit and principles shall fall within the protection scope of the present invention.

Claims (10)

1. An aircraft ground mobile deicing operation mechanism is characterized in that, the aircraft ground mobile deicing operation mechanism comprises: a plurality of movable intelligent deicing mechanical arms (8) and movable deicing robots (9) ; The plurality of movable intelligent deicing manipulators (8) are respectively deployed in different positions of the aircraft to identify the ice type and thickness of the ice on the surface of the aircraft, and to locate the ice accretion, to independently adjust the deicing trajectory and jet parameters, and to plan the deicing track, using the distributed multi-robot collaborative task assignment method to cooperate with the movable deicing robot (9) to deicing; The movable deicing robot (9) is deployed under the wing, the engine compartment cover and the empennage, and uses a distributed multi-robot collaborative task assignment method to cooperate with multiple movable intelligent deicing manipulators (8) to perform residual ice detection and secondary deicing. A deicing operation, the blind area of the deicing operation includes the wing, the nacelle cover and the empennage below. 2. The aircraft ground mobile deicing operation mechanism according to claim 1, characterized in that, the movable intelligent deicing manipulator (8) comprises: a mobile chassis (1), a multi-degree-of-freedom deicing manipulator (2), intelligent detection device (3); An intelligent detection device (3) is arranged around the movable chassis (1), and the movable chassis (1) includes: a controller, a power unit and a deicing fluid storage system; wherein, the controller and the power unit are The movable intelligent deicing manipulator (8) provides turning and moving capabilities; the deicing fluid storage system can store deicing fluid so that the mobile intelligent deicing manipulator (8) can temporarily leave the liquid filling device to work; the multi-degree-of-freedom mechanical The arm (2) is used to increase the effective working range and deicing efficiency; the intelligent detection device (3) determines the target position of deicing, and provides a guiding function for the work of the movable intelligent deicing mechanical arm (8); The multi-degree-of-freedom deicing mechanical arm (2) is fixed on the movable chassis (1); an intelligent detection device (3) is fixed at the end of the multi-degree-of-freedom deicing mechanical arm (2), and the intelligent detection device (3 ) includes an intelligent detection ice and snow self-sensing unit (6), a distance measuring device (7) and a wind speed sensing device; wherein the ice and snow self-sensing unit (6) is used to identify the surface ice position, ice type and thickness; the distance measuring device (7 ) is used to detect the distance from nearby objects to avoid collisions when moving; the wind speed sensing device is used to detect wind speed and is used to reinforce the base of the robotic arm when the wind speed is too high. 3. The aircraft ground mobile deicing operation mechanism according to claim 2, characterized in that, the multi-degree-of-freedom deicing mechanical arm (2) comprises a support arm, a telescopic arm and a deicing fluid nozzle; The multi-degree-of-freedom deicing mechanical arm (2) is multiple, distributed in four directions of the rear left, rear right, front left and front right of the aircraft, respectively the first deicing mechanical arm (2-1), the first deicing mechanical arm Two deicing mechanical arms (2-2), the third deicing mechanical arm (2-3), the fourth deicing mechanical arm (2-4); The first deicing mechanical arm (2-1), the second deicing mechanical arm (2-2), the third deicing mechanical arm (2-3), and the fourth deicing mechanical arm (2-4) are all Connected with mobile liquid adding device (10). 4. The aircraft ground mobile deicing operation mechanism according to claim 1, characterized in that, the movable deicing robot (9) is deployed under the aircraft, including a movable chassis (4), a deicing liquid injection device (5) and the self-sensing unit (6) for spraying ice and snow with deicing fluid; The movable chassis (4) includes a power unit and a deicing fluid storage system, and a distance measuring device (7) is arranged around the movable deicing robot (9); The deicing liquid spraying device (5) comprises a rotating mechanism and a spray head, which is used to spray deicing liquid in any direction above; the deicing liquid spraying ice and snow self-sensing unit (6) is set near the deicing liquid spraying head, which is used for detecting ice accumulation detection and localization. 5. A deicing method according to any one of claims 1-4, characterized in that the deicing method of the aircraft ground mobile deicing mechanism comprises the following steps: S1. According to the characteristics of the aircraft type, deploy an intelligent deicing system around the aircraft to be deiced, select the largest deicing operation range, and automatically plan the optimal position of each deicing equipment near the aircraft to be deiced; S2, multiple robotic arms in the array are respectively deployed in the rear left, rear right, front left and front right positions of the aircraft, and the movable de-icing robot (9) is located under the aircraft; and the distributed multi-robot collaborative task allocation method is used to carry out Collaboration between multiple intelligent deicing mechanisms; S3, deicing operation: quick deicing mode and subsequent residual ice detection and secondary deicing mode for deicing. 6. The deicing method of the aircraft ground mobile deicing operation mechanism according to claim 5, characterized in that, in step S2, the distributed multi-robot collaborative task assignment method adopts consensus-based bundle algorithm and ant colony algorithm Combined distributed multi-robot collaborative task assignment method. 7. The deicing method of the aircraft ground mobile deicing operation mechanism according to claim 5, characterized in that, in step S3, the deicing operation comprises the following steps: 1) When a deicing operation instruction is received, a distributed multi-robot collaborative task allocation method is adopted between the deicing operation agencies to allocate their respective deicing tasks; Quickly deployed at corresponding positions on both sides of the taxiway, the movable deicing robot (9) enters the taxiway and waits for the completion of the deicing task; 2) The aircraft enters the working range of the deicing operation mechanism, and the array enters the rapid deicing operation mode; the intelligent detection device (3) at the end of the multi-degree-of-freedom deicing manipulator (2) identifies the ice type and thickness of the surface ice, and detects the accumulated ice. Ice positioning, the controller independently adjusts the deicing trajectory and jet parameters, plans the deicing trajectory, and performs deicing in time; 3) The first deicing robotic arm (2-1) and the second deicing robotic arm (2-2) are responsible for detecting and removing ice accumulation on the left and right sides of the rear of the aircraft, including the horizontal stable surface, empennage and fuselage. Ice operations; the third deicing mechanical arm (2-3) and the fourth deicing mechanical arm (2-4) are responsible for the left and right sides of the front of the aircraft including the nose, wing, wing box, engine hood and damper. Icing detection and deicing operations are performed on the flow plate and other parts; the mobile deicing robot (9) is responsible for the blind areas where the deicing operation cannot be performed due to the high multi-degree-of-freedom deicing manipulator (2), including wings and engine compartment covers Carry out ice accretion detection and deicing operations on parts such as the tail and the lower part of the aircraft; 4) After the rapid deicing is completed, the array enters the residual ice detection stage, and detects the residual ice on various parts of the aircraft. If there is no residual ice, the deicing operation ends and the aircraft leaves the deicing area; if there is residual ice, it will automatically adjust The spray flow and angle of the spray guns of each deicing operation mechanism are used for secondary deicing; 5) When the aircraft leaves the working range of the array, the deicing operation ends; if there is no subsequent deicing task, the mobile deicing mechanism on the ground of the aircraft will quickly evacuate from the deicing area and wait for the next deicing command. 8. The deicing method of the aircraft ground mobile deicing operation mechanism according to claim 7, characterized in that, in step 2), the multi-degree-of-freedom deicing mechanical arm (2) moves The chassis (1) enters the slow moving mode, cooperates with the expansion and rotation of the multi-degree-of-freedom de-icing manipulator (2), and on the premise of maintaining the overall stability, the single multi-degree-of-freedom de-icing manipulator (2) is expanded. Deicing range; while limiting the movement area of each robot arm chassis; The deicing fluid storage system in the mobile chassis (1) is connected to the mobile liquid adding device (10) through pipelines to replenish the deicing fluid at any time when the multi-degree-of-freedom deicing manipulator (2) performs deicing operations; The multi-degree-of-freedom de-icing manipulator (2) is provided with a limit device, which is used to prevent the multi-degree-of-freedom de-icing manipulator (2) from telescoping or excessive rotation angles, resulting in instability of the center of gravity and rollover; The intelligent detection device (3) is equipped with a wind speed sensing device to detect the wind speed during the deicing operation. When the wind speed reaches the wind speed that causes the mechanical arm to become unstable due to excessive wind speed, an alarm is issued to stop the operation. After the movable chassis (4) is completed Increase the weight to lower the center of gravity to maintain stability and continue working. 9. The deicing method of the aircraft ground mobile deicing operation mechanism according to claim 7, characterized in that, in step 3), the movable chassis (4) of the movable deicing robot (9) is arranged with The distance measuring device (7), during the deicing operation, the distance measuring device (7) cooperates with the intelligent detection device (3) at the end of the multi-degree-of-freedom de-icing manipulator (2), and detects the multi-degree-of-freedom de-icing manipulator at all times (2) The distance from other surrounding objects. When the distance is less than the safety warning range, an alarm is issued, and the multi-degree-of-freedom deicing mechanical arm (2) and the mobile chassis (1) change the moving direction. 10. A computer device, characterized in that, the computer device comprises a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor performs claim 6 - The deicing method of the aircraft ground mobile deicing operation mechanism described in any one of 9.

Images