CN115830920A - Method and device for safely controlling operation of special vehicle by airplane at unmanned airport - Google Patents
Method and device for safely controlling operation of special vehicle by airplane at unmanned airport Download PDFInfo
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Abstract
The invention discloses a method for controlling safety of special vehicle operation by a vehicle in an unmanned airport and a vehicle-mounted central control electronic device. The method comprises the following steps: acquiring current position information of a vehicle, and judging whether the vehicle reaches a specified operation area according to the current position information; when the vehicle reaches a designated operation area, the communication connection between the operation system of the vehicle and the first intelligent driving system is disconnected or shielded, the vehicle is controlled by a second safety vehicle control system, then the vehicle is operated according to the standard operation corresponding to the designated operation area, and the second safety vehicle control system is used for controlling the vehicle to execute the operation. Therefore, the steps of shielding the first intelligent driving system of the special vehicle in the unmanned airport and starting the safe second safe vehicle control system are realized, so that the control requirement of safe operation such as airplane dependence is met, and the first intelligent driving system which is carried by the special vehicle in the unmanned airport or has lower safety is shielded.
Description
Technical Field
The invention relates to a technology for controlling the driving and guaranteeing operation of ground service vehicles in an airport, in particular to a method for safely controlling the operation of special vehicles on the ground in an unmanned airport and a vehicle-mounted central control electronic device.
Background
The isolation area of the civil airport is internally provided with a plurality of vehicles for ensuring the simultaneous operation of the vehicles to ensure the normal operation of the airport, including an airplane tractor, a passenger ladder vehicle, a passenger ferry vehicle, a luggage tractor, a luggage conveyor belt vehicle, a lifting platform vehicle, a clean water vehicle, a sewage vehicle, a food vehicle, a ground power supply vehicle, an air source vehicle, an air conditioner vehicle, a staff passenger vehicle and the like. Because the aircraft is expensive in manufacturing cost, after collision, in order to eliminate the hidden danger of flight, the aircraft needs to be comprehensively checked, and remedial measures such as maintenance and the like are also taken for tiny damage. Thus, there are strict requirements and standards for the travel of airport vehicles within the field.
At present, in the airport special vehicle operation and the airplane leaning process, a driver mainly controls the distance and the speed of the vehicle and an airplane cabin door in the butt joint process according to instructions of a ground leader, so that the vehicle and the airplane keep a proper safety distance, and accidents such as personnel injury, property loss and the like are easily caused by misoperation of the driver.
With the development of automation and intellectualization, the existing unmanned technology has taken a long-standing progress, and compared with a manned vehicle, the unmanned technology has the advantages of higher precision and stronger controllability, and a plurality of unmanned technologies are applied to airport tests.
However, according to the technical standards of civil airport flight area (MH 5001-2000), civil airport special vehicles, special equipment (MH/T5002-1996) standards and the like, the technical standards and driving operations of special vehicles at airports are limited. Generally, although the common intelligent driving technology has the advantage of higher precision, the safety of the technology is not in accordance with the standard when applied to the working environment of a civil airport, and higher safety guarantee cannot be provided. In summary, the safety of the intelligent driving technology of the vehicle cannot be ensured mainly by:
on one hand, the intelligent driving algorithm is uncontrollable, although the intelligent driving algorithm can realize the accurate control of the vehicle, the vehicle operation safety requirement in a civil airport is far greater than the accuracy of the algorithm;
on the other hand, intelligent driving depends on the internet, cloud computing and the like to realize data processing, network security is another insecure factor, and the risk that the intelligent driving is cracked and invaded exists.
Therefore, there is a need for a method for safely controlling the operation of a special vehicle at an unmanned airport by a vehicle and an on-board central control electronic device, which have higher safety and are combined with high-precision control.
Disclosure of Invention
The invention mainly aims to provide a novel method for controlling the safety of special vehicles at an unmanned airport by means of operation and a vehicle-mounted central control electronic device, so as to solve the technical problems.
In order to achieve the aim, the invention provides a method for controlling the safety of special vehicles in an unmanned airport by means of operation, which comprises the following steps:
the method comprises the following steps of S1, obtaining current position information of a vehicle, and judging whether the vehicle reaches a specified operation area or not according to the current position information;
s2, when the vehicle reaches a designated operation area, disconnecting or shielding the communication connection between the operation system of the vehicle and the first intelligent driving system, and enabling the vehicle to be under the control of a second safety vehicle control system;
s3, acquiring a standard operation corresponding to the designated operation area according to the designated operation area, and controlling the vehicle to advance according to the standard operation and controlling an operation executing mechanism on the vehicle to execute operation through the second safety vehicle control system;
wherein the second safety vehicle control system is a system operating on a vehicle under a stand-alone or airport internal network for controlling vehicle travel and controlling a work actuator on the vehicle to perform work operations.
Further, the step S2 further includes obtaining current control system information of the vehicle when the vehicle reaches a designated operation area, and disconnecting or shielding communication between the operation system of the vehicle and the first intelligent driving system and controlling the vehicle under the control of a second safety vehicle control system when the current control system of the vehicle is the first intelligent driving system.
Further, after the step of obtaining the current control system information of the vehicle, when the current control system of the vehicle is the first intelligent driving system, the disconnection or shielding relationship between the communication connection between the operating system of the vehicle and the first intelligent driving system is maintained.
Further, the current position information of the vehicle is acquired in one or more of the following manners: and acquiring GPS (global positioning system) positioning information or Beidou positioning information of the vehicle, and acquiring distance information between the sensor of the vehicle and the ground electronic fence sensor.
Furthermore, the designated operation area is set by matching a high-precision electronic map with an electronic fence technology, a fence area is arranged on the electronic map, and the position of the vehicle on the electronic map is determined by combining the 5G communication data and the Beidou positioning information of the vehicle, and whether the vehicle enters the designated operation area is judged.
Further, the step S2 of disconnecting or shielding the communication connection between the operating system of the vehicle and the first intelligent driving system includes one or more of the following ways;
turning off the first intelligent driving system;
and physically disconnecting or shielding the communication connection between the operating system of the vehicle and the first intelligent driving system.
Further, the step S1 is followed by a step of enabling the vehicle to travel and operate under the control of the first intelligent driving system when the vehicle does not reach the designated operation area.
The method further comprises the steps that when the vehicle receives an intervention signal, the communication connection between the operation system of the vehicle and the first intelligent driving system is disconnected or shielded, and the vehicle is controlled by the second safety vehicle control system; wherein the content of the first and second substances,
the intervention signal comprises a switching signal sent by a background or remote control terminal, or an alarm signal sent by a first intelligent driving system or a second safe vehicle control system of the vehicle. .
The invention also provides an on-board central control electronic device, which comprises a memory, a processor, a computer program stored in the memory and capable of running on the processor, and a controller for receiving the instructions of the processor, and is characterized in that the processor realizes the steps of the method for controlling the operation safety of the special vehicle at the unmanned airport by the machine when executing the computer program.
The invention also provides a vehicle-mounted central control electronic device which is characterized by comprising a memory, a processor, a first intelligent driving system, a second safe vehicle control system and an unmanned airport special vehicle operation safety control program, wherein the first intelligent driving system, the second safe vehicle control system and the unmanned airport special vehicle operation safety control program are stored in the memory and can run on the processor, and when the processor executes the unmanned airport special vehicle operation safety control program, the steps of the unmanned airport special vehicle operation safety control method are realized.
The invention provides a vehicle-mounted central control electronic device for special vehicles in an unmanned airport and a method for controlling the safety of the special vehicles in the unmanned airport by the aid of the vehicle operation, which comprise the following steps: the method comprises the following steps of S1, obtaining current position information of a vehicle, and judging whether the vehicle reaches a specified operation area or not according to the current position information; s2, when the vehicle reaches a designated operation area, disconnecting or shielding the communication connection between the operation system of the vehicle and the first intelligent driving system, and enabling the vehicle to be under the control of a second safety vehicle control system; s3, acquiring a standard operation corresponding to the designated operation area according to the designated operation area, and controlling the vehicle to advance according to the standard operation and controlling an operation execution mechanism on the vehicle to execute operation through the second safety vehicle control system; wherein the second safety vehicle control system is a system operating on a vehicle under a stand-alone or airport internal network for controlling vehicle travel and controlling a work actuator on the vehicle to perform work operations. Therefore, the steps of shielding the first intelligent driving system of the special vehicle in the unmanned airport and starting the safe second safe vehicle control system are realized, so that the control requirement of safe operation such as airplane dependence is met, and the first intelligent driving system which is carried by the special vehicle in the unmanned airport or has lower safety is shielded.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling security of special type vehicle operation by a vehicle in an unmanned airport according to an embodiment of the present invention;
fig. 2 is a schematic hardware configuration diagram of a vehicle-mounted central control electronic device with a method for controlling the safety of the special vehicle operation by the aircraft in the unmanned airport according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Referring to fig. 1, to achieve the above object, a first embodiment of the present invention provides a method 100 for controlling security of special vehicle operation by airplane at an unmanned airport, comprising the steps of:
the method comprises the following steps of S1, obtaining current position information of a vehicle, and judging whether the vehicle reaches a specified operation area or not according to the current position information;
s2, when the vehicle reaches a designated operation area, disconnecting or shielding the communication connection between the operation system of the vehicle and the first intelligent driving system, and enabling the vehicle to be under the control of a second safety vehicle control system;
s3, acquiring a standard operation corresponding to the designated operation area according to the designated operation area, and controlling the vehicle to advance according to the standard operation and controlling an operation execution mechanism on the vehicle to execute operation through the second safety vehicle control system;
wherein the second safety vehicle control system is a system operating on a vehicle under a stand-alone or airport internal network for controlling vehicle travel and controlling a work actuator on the vehicle to perform work operations.
Specifically, the special vehicle in the unmanned airport can be automatically driven through the first intelligent driving system in the normal driving process in the airport area. The first intelligent driving system can be various intelligent driving systems developed by various automobile manufacturers, computer software companies and internet companies, which meet the requirements of road safety laws or are qualified through airport tests. Generally speaking, a special vehicle in an unmanned airport can travel in a non-strict pipeline section, a normal section, a safe area far away from an airplane and the like in the airport under the control of a first intelligent driving system.
When the special vehicle at the unmanned airport travels to a position (designated operation area) requiring higher safe operation conditions, such as an apron area, an area close to an airplane operation area, an area close to a runway, a warehouse dangerous goods area and the like, in order to prevent sudden failure of automatic driving and the danger of being invaded and operated, the special vehicle needs to be switched to a manual operation mode or a safe operation mode, so the invention provides the safe operation control method for the special vehicle at the unmanned airport.
It should be noted that the second safety vehicle control system referred to herein includes both a driving system program for controlling the travel of the vehicle and a system program for controlling a work actuator on the vehicle to perform a work operation. If the special vehicle in the unmanned airport is only a transportation vehicle, the first intelligent driving system and the second safety vehicle control system can only have common vehicle driving functions of controlling the vehicle to advance, brake, open and close a door and the like, and when the special vehicle in the unmanned airport further comprises other operation functions of airplane traction, platform lifting butt joint, automatic loading and unloading, conveying and the like, the second safety vehicle control system further comprises an operation execution mechanism for controlling the vehicle to execute operation.
In particular, it is to be noted that the second safety vehicle control system includes an operation program for industrial-level precision control. The vehicle may be controlled by a second safety vehicle control system, wherein control includes both automatic and manual control, as will be appreciated. The automatic control is that under the condition of an internal network or a single machine, the network safety is higher, and the second safety vehicle control system can adopt an industrial control scheme to control the route to travel according to the operation requirement.
On the other hand, since airport special vehicles operating on the airport surface have standard specifications and procedures, for example, when the vehicles are operated by the airplane, the relevant standards stipulate that the vehicles travel at different speeds at different distances during the operation of the airplane. Therefore, a standard job operation corresponding to the designated job region can be acquired according to the designated job region. When a standard work flow is executed by means of industrial control, in theory, the work is 100% safe without the machine failing. A standard work program may be created in advance according to a standard work operation corresponding to the designated work area, and then the standard work program is entered into the second safety vehicle control system, so that the standard work operation is executed by the second safety vehicle control system.
For example, when the vehicle is a passenger ladder vehicle or a lifting platform vehicle and the like which needs to be close to a preset position, corresponding standard operation can be obtained according to a specified operation area where the vehicle arrives, and then a traveling path and a moving speed can be automatically planned by combining the standard operation and the current position and the target position of the vehicle.
In step S1, whether to switch the driving system is determined by determining whether the vehicle reaches a designated work area according to the current position information of the vehicle. The current position information of the vehicle is acquired in one or more of the following manners: and acquiring GPS (global positioning system) positioning information or Beidou positioning information of the vehicle, and acquiring distance information between the vehicle and a ground sensor, which is detected by a sensor of the vehicle.
In this embodiment, the designated operation area is set by matching a high-precision electronic map with an electronic fence technology, a fence area is set on the electronic map, and the position of the vehicle on the electronic map is determined by combining the 5G communication data and the beidou positioning information of the vehicle, and whether the vehicle enters the designated operation area is judged.
In an optional embodiment, an electronic fence is disposed in the designated operation area, and information about a distance between the sensor of the vehicle and a ground sensor of the electronic fence is obtained, so that whether the vehicle reaches the designated operation area can be identified by using an electronic fence technology.
Wherein the step S2 of disconnecting or shielding the communication connection between the operating system of the vehicle and the first smart driving system includes one or more of the following manners;
turning off the first intelligent driving system;
physically disconnecting or shielding the communication connection of the vehicle's operating system with the first intelligent driving system.
In order to improve safety, when the relation between the operation system of the vehicle and the first intelligent driving system needs to be isolated, the first intelligent driving system is preferably directly turned off, and another vehicle control system on the vehicle, namely the two safe driving systems, is operated. This dual control system approach may achieve the highest level of security isolation.
In addition, the communication connection between the operating system of the vehicle and the first intelligent driving system can be physically disconnected or shielded through a physical mode, such as an electric control switch, and an electronic switch is arranged on a communication line.
It will be appreciated that both of the above-described modes of disconnection may be used simultaneously.
The step S2 further includes, when the vehicle reaches the designated operation area, acquiring current control system information of the vehicle, and determining whether switching is required according to a current control system of the vehicle. Specifically, when the current control system of the vehicle is the first intelligent driving system, disconnecting or shielding the communication connection between the operation system of the vehicle and the first intelligent driving system, and enabling the vehicle to be under the control of a second safety vehicle control system; and when the current control system of the vehicle is the second safe vehicle control system, maintaining the disconnection or shielding relationship between the communication connection of the operating system of the vehicle and the first intelligent driving system. If the vehicle is in a safe driving state, when the second safe vehicle control system is used, the disconnection or shielding relation between the communication connection of the operating system of the vehicle and the first intelligent driving system is maintained, and the safety factor is further prevented from being influenced by the access of the first intelligent driving system.
In this embodiment, the step S1 is followed by a step of, when the vehicle does not reach the designated operation area, causing the vehicle to travel and operate under the control of the first intelligent driving system. In this way, the vehicle can freely travel under the automatic driving system in the ordinary unspecified work area link.
Preferably, the method further comprises the steps that when the vehicle receives the intervention signal, the communication connection between the operation system of the vehicle and the first intelligent driving system is disconnected or shielded, and the vehicle is controlled by the second safety vehicle control system; the intervention signal comprises a switching signal sent by a background or remote control terminal, or an alarm signal sent by a first intelligent driving system or a second safe vehicle control system of the vehicle. The step is mainly used for adding the remote control function of the vehicle, and in an emergency state, the vehicle can be directly switched with the controller through the background, so that the safety is further improved.
Referring to fig. 2, in an embodiment of the present invention, an in-vehicle central control electronic device 10 or may also be referred to as a computer system is further provided, including a memory 51, a processor 52, and a computer program 53 stored in the memory 51 and operable on the processor 52, where when the processor 52 executes the computer program 53, the steps of the above-mentioned method 100 for controlling the operation safety of special vehicles at an airport are implemented.
The embodiment of the invention also provides an on-board central control electronic device 10, which comprises a memory 51, a processor 52, and a first intelligent driving system, a second safe vehicle control system and an unmanned airport special vehicle operation safety control program which are stored in the memory 51 and can be operated on the processor 52, wherein the processor implements the steps of the unmanned airport special vehicle operation safety control method 100 when executing the unmanned airport special vehicle operation safety control program.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program that, when being executed by a processor, implements the steps of the above-mentioned method 100 for controlling the operation safety of special vehicles by an aircraft at an unmanned airport.
That is, in the embodiment of the present invention, when the computer program of the computer readable storage medium is executed by the processor, the steps of the above-mentioned method 100 for controlling security of the airplane-dependent work of the special vehicle at the unmanned airport can be realized, and the steps of shielding the first intelligent driving system of the special vehicle at the unmanned airport and enabling the second safe vehicle control system can be realized to meet the control requirement of the security work such as airplane-dependent work and shielding the first intelligent driving system of the special vehicle at the unmanned airport which is self-contained or has low security can be realized.
Illustratively, the computer program of the computer-readable storage medium comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
In the description of the present specification, reference to the description of "an embodiment", "another embodiment", "other embodiments", or "first embodiment-xth embodiment", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, method steps, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A safety control method for special vehicle operation by a machine in an unmanned airport is characterized by comprising the following steps:
s1, acquiring current position information of a vehicle, and judging whether the vehicle reaches a specified operation area according to the current position information;
s2, when the vehicle reaches a designated operation area, disconnecting or shielding the communication connection between the operation system of the vehicle and the first intelligent driving system, and enabling the vehicle to be under the control of a second safety vehicle control system;
s3, acquiring a standard operation corresponding to the designated operation area according to the designated operation area, and controlling the vehicle to advance according to the standard operation and controlling an operation execution mechanism on the vehicle to execute operation through the second safety vehicle control system;
wherein the second safety vehicle control system is a system operating on a vehicle under a stand-alone or airport internal network for controlling vehicle travel and controlling a work actuator on the vehicle to perform work operations.
2. The method according to claim 1, wherein the step S2 further comprises obtaining current control system information of the vehicle when the vehicle arrives at a designated working area, disconnecting or shielding the communication connection between the working system of the vehicle and the first intelligent driving system when the current control system of the vehicle is the first intelligent driving system, and enabling the vehicle to be under the control of a second safety vehicle control system.
3. The method of claim 2, wherein after the step of obtaining current control system information of the vehicle, maintaining a disconnected or shielded relationship between the communication connection of the vehicle's operating system and the first smart driving system when the current control system of the vehicle is the second safety vehicle control system.
4. The method of claim 1, wherein the obtaining of the current location information of the vehicle comprises one or more of: and acquiring GPS (global positioning system) positioning information or Beidou positioning information of the vehicle, and acquiring distance information between the vehicle and a ground electronic fence sensor, which is detected by a sensor of the vehicle.
5. The method of claim 4, wherein the designated working area is set by matching a high-precision electronic map with an electronic fence technology, a fence area is arranged on the electronic map, and the position of the vehicle on the electronic map is determined by combining 5G communication data and Beidou positioning information of the vehicle, and whether the vehicle enters the designated working area is judged.
6. The method of claim 1, wherein the step S2 of disconnecting or shielding the communication connection of the vehicle' S operating system with the first smart driving system comprises one or more of the following;
turning off the first intelligent driving system;
and physically disconnecting or shielding the communication connection between the operating system of the vehicle and the first intelligent driving system.
7. The method according to claim 1, wherein the step S1 is followed by a step of causing the vehicle to travel and work under the control of the first intelligent driving system when the vehicle does not reach a designated work area.
8. The method of claim 1, further comprising the step of the vehicle, upon receipt of an intervention signal, disconnecting or shielding the vehicle's operating system from communication with the first intelligent driving system and placing the vehicle under control of the second safety vehicle control system; wherein the content of the first and second substances,
the intervention signal comprises a switching signal sent by a background or remote control terminal, or an alarm signal sent by a first intelligent driving system or a second safe vehicle control system of the vehicle.
9. An on-board central control electronics device comprising a memory, a processor, a computer program stored in the memory and executable on the processor, and a controller receiving instructions from the processor, wherein the processor when executing the computer program implements the steps of the method for operation safety control of an unmanned airport special vehicle according to any one of claims 1 to 8.
10. An on-board central control electronic device, comprising a memory, a processor, a first intelligent driving system, a second safe vehicle control system and an unmanned airport special vehicle operation safety control program, wherein the first intelligent driving system, the second safe vehicle control system and the unmanned airport special vehicle operation safety control program are stored in the memory and can run on the processor, and the processor realizes the steps of the unmanned airport special vehicle operation safety control method according to any one of claims 1 to 8 when executing the unmanned airport special vehicle operation safety control program.
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| JP2021085186A (en) * | 2019-11-26 | 2021-06-03 | 清水建設株式会社 | Safety control system |
| JP2021193514A (en) * | 2020-06-08 | 2021-12-23 | 井関農機株式会社 | Control system for work vehicle |
| CN114120626A (en) * | 2020-08-11 | 2022-03-01 | 丰田自动车株式会社 | Information processing system, information processing apparatus, and computer-readable storage medium |
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