阅读说明：本技术 一种智能拖车及使用其拖飞机的方法 (Intelligent trailer and method for towing airplane by using same ) 是由 申炳龙 于 2021-08-30 设计创作，主要内容包括：本发明公开了一种智能拖车及使用其拖飞机的方法。该智能拖车包括车轮、车身、转盘、踏板、信号采集模块和自动控制系统；转盘,与车身转动连接；踏板,与车身固定连接,从转盘的边缘倾斜延伸至地面；转盘上设置有挡板,挡板采用抱轮的方式实现飞机前轮在转盘上的固定；信号采集模块,包括：设置于转盘上的角度传感器以及设置于拖车任一位置的加速度传感器；角度传感器用于检测转盘的旋转角度,加速度传感器用于检测拖车的加速度；自动控制系统,用于根据角度传感器采集的角度信号控制拖车前行和转弯,根据加速度传感器采集的加速度信息控制拖车的停车。本发明通过智能拖车实现了飞机降落停靠廊桥和出场起飞前的托运,避免了飞机发动机燃油的消耗。(The invention discloses an intelligent trailer and a method for towing an airplane by using the same. The intelligent trailer comprises wheels, a vehicle body, a turntable, pedals, a signal acquisition module and an automatic control system; the turntable is rotationally connected with the vehicle body; the pedal is fixedly connected with the vehicle body and obliquely extends to the ground from the edge of the turntable; the turntable is provided with a baffle plate, and the baffle plate adopts a wheel holding mode to realize the fixation of the front wheel of the airplane on the turntable; a signal acquisition module comprising: the angle sensor is arranged on the turntable, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the rotary table, and the acceleration sensor is used for detecting the acceleration of the trailer; and the automatic control system is used for controlling the trailer to move forwards and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor. The intelligent trailer realizes the consignment of the airplane before landing, parking, landing, taking off and taking off, and avoids the fuel consumption of the airplane engine.)

1. The utility model provides an intelligence trailer, includes wheel and automobile body, its characterized in that still includes: the device comprises a turntable, a pedal, a signal acquisition module and an automatic control system;

the turntable is rotationally connected with the vehicle body;

the pedal is fixedly connected with the vehicle body and obliquely extends to the ground from the edge of the turntable;

the turntable is provided with a baffle, and the baffle realizes the fixation of the front wheel of the airplane on the turntable in a wheel holding mode;

the signal acquisition module comprises: the angle sensor is arranged on the rotary table, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the rotary table, and the acceleration sensor is used for detecting the acceleration of the trailer;

the automatic control system is electrically connected with the signal acquisition module and used for controlling the trailer to move forwards and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor.

2. The intelligent trailer according to claim 1, wherein the automatic control system comprises:

the starting control module is used for controlling the trailer to move forwards when the trailer is in a static state at present and the angle information from the angle sensor meets a preset condition; the preset conditions include: the angle information represents a first angle at which the front wheel of the airplane swings and is larger than a preset value;

the turning control module is used for controlling the trailer to turn towards a direction counteracting a second angle when the trailer is in a non-static state at present and the angle information from the angle sensor indicates that the trailer turns towards the left or the right by the second angle;

and the parking control module is used for controlling the trailer to park when the acceleration information from the acceleration sensor indicates that backward acceleration is generated.

3. The intelligent trailer of claim 2, further comprising a wireless communication module for wirelessly communicating with an aircraft.

4. The intelligent trailer of claim 3, wherein the start control module is further configured to control the trailer to move forward when the wireless signal received from the aircraft comprises a trailer start command.

5. The intelligent trailer of claim 3, wherein the parking control module is further configured to control the trailer to park when the received wireless signal from the aircraft includes a trailer parking command.

6. The intelligent trailer of claim 1, further comprising: and the push rod mechanism is fixedly connected with the vehicle body and used for pushing the front wheels of the airplane to enable the front wheels of the airplane to move to the rotary disc through the pedals.

7. The intelligent trailer of claim 1, wherein the barrier comprises a first bar and a second bar, the first bar and the second bar being configured to snap-fit an aircraft nose wheel to the turntable;

one end of the second rod piece is rotatably connected with the first rod piece, the other end of the second rod piece can rotate around a connecting point, and the connecting point is a rotating connecting point of one end of the second rod piece and the first rod piece.

8. A method of towing an aircraft using an intelligent trailer, the method being applied to the intelligent trailer of any one of claims 1 to 7, the method comprising:

when the intelligent trailer is in a static state at present and angle information from the angle sensor meets a preset condition, controlling the trailer to move forwards; the preset conditions include: the angle information represents a first angle of the front wheel of the airplane, wherein the swing angle of the front wheel is larger than a preset value;

when the intelligent trailer is in a non-static state at present and the angle information from the angle sensor indicates that the intelligent trailer rotates leftwards or rightwards by a second angle, controlling the intelligent trailer to turn towards a direction for counteracting the second angle;

when the acceleration information from the received sensor indicates that the backward acceleration is generated, the trailer is controlled to stop.

9. The method of towing an aircraft as in claim 8, further comprising:

and when the received wireless signal of the airplane comprises a trailer starting command, controlling the trailer to move forwards.

10. The method of towing an aircraft as in claim 8, further comprising:

and controlling the trailer to stop when the wireless signal of the airplane is received and comprises the trailer stopping command.

Technical Field

The invention relates to the field of airplane ground motion, in particular to an intelligent trailer and a method for towing an airplane by using the same.

Background

At present, an engine is required to be used as power to slide the airplane to a specified position before landing, stopping, landing and taking off, but fuel oil is consumed by the operation of the engine, and the requirement of energy conservation and emission reduction is not met. In order to save energy and reduce emission, a trailer can be adopted to drag the airplane before landing, parking, landing and taking off, but how to enable the trailer to operate according to the intention of a driver is not involved in the prior art.

Disclosure of Invention

The invention aims to provide an intelligent trailer and a method for towing an airplane by using the same so as to avoid oil consumption of an airplane engine.

In order to achieve the purpose, the invention provides the following scheme:

an intelligent trailer comprises wheels, a body, a turntable, pedals, a signal acquisition module and an automatic control system;

the turntable is rotationally connected with the vehicle body;

the pedal is fixedly connected with the vehicle body and obliquely extends to the ground from the edge of the turntable;

the turntable is provided with a baffle, and the baffle realizes the fixation of the front wheel of the airplane on the turntable in a wheel holding mode;

the signal acquisition module comprises: the angle sensor is arranged on the rotary table, and the acceleration sensor is arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the rotary table, and the acceleration sensor is used for detecting the acceleration of the trailer;

the automatic control system is electrically connected with the signal acquisition module and used for controlling the trailer to move forwards and turn according to the angle signals acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor.

Optionally, the automatic control system specifically includes:

the starting control module is used for controlling the trailer to move forwards when the trailer is in a static state at present and the angle information from the angle sensor meets a preset condition; the preset conditions include: the angle information represents a first angle at which the front wheel of the airplane swings and is larger than a preset value;

the turning control module is used for controlling the trailer to turn towards a direction counteracting a second angle when the trailer is in a non-static state at present and the angle information from the angle sensor indicates that the trailer turns towards the left or the right by the second angle;

and the parking control module is used for controlling the trailer to park when the acceleration information from the acceleration sensor indicates that backward acceleration is generated.

Optionally, the intelligent trailer further comprises a wireless communication module for performing wireless communication with the aircraft.

Optionally, the start control module is further configured to control the trailer to move forward when the received wireless signal of the aircraft includes a trailer start instruction.

Optionally, the parking control module is further configured to control the trailer to park when the received wireless signal of the aircraft includes a trailer parking instruction.

Optionally, the intelligent trailer further comprises: and the push rod mechanism is fixedly connected with the vehicle body and used for pushing the front wheels of the airplane to enable the front wheels of the airplane to move to the rotary disc through the pedals.

Optionally, the baffle includes a first rod and a second rod, and the first rod and the second rod are used for clamping and fixing the aircraft front wheel on the turntable;

one end of the second rod piece is rotatably connected with the first rod piece, the other end of the second rod piece can rotate around a connecting point, and the connecting point is a rotating connecting point of one end of the second rod piece and the first rod piece.

Optionally, the method is applied to the intelligent trailer provided by the invention, and the method comprises the following steps:

when the intelligent trailer is in a static state at present and angle information from the angle sensor meets a preset condition, controlling the trailer to move forwards; the preset conditions include: the angle information represents a first angle of the front wheel of the airplane, wherein the swing angle of the front wheel is larger than a preset value;

when the intelligent trailer is in a non-static state at present and the angle information from the angle sensor indicates that the intelligent trailer rotates leftwards or rightwards by a second angle, controlling the intelligent trailer to turn towards a direction for counteracting the second angle;

when the acceleration information from the received sensor indicates that the backward acceleration is generated, the trailer is controlled to stop.

Optionally, the method further includes:

and when the received wireless signal of the airplane comprises a trailer starting command, controlling the trailer to move forwards.

Optionally, the method further includes:

and controlling the trailer to stop when the wireless signal of the airplane is received and comprises the trailer stopping command.

According to the specific embodiment provided by the invention, the following technical effects are disclosed: this application has set up on the trailer with the trailer automobile body rotate the carousel of being connected to set up angle sensor on the carousel, simultaneously, this application has still set up acceleration sensor on the trailer. When the aircraft is dragged, the front wheel of the aircraft is fixed on the turntable, a pilot transmits the movement intention of the aircraft by controlling the rotation of the front wheel of the aircraft and braking the aircraft, and the automatic control system of the trailer determines the movement intention according to the angle information acquired by the angle sensor and the acceleration information acquired by the acceleration sensor and controls the forward movement, the turning and the parking of the trailer based on the movement intention. This application can realize the aircraft through the trailer promptly and docks the corridor bridge and go out the motion before taking off, need not to start aircraft engine, has avoided aircraft engine's oil consumption.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an intelligent trailer according to an embodiment of the present invention.

Detailed Description

In the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same or similar items having substantially the same function and action. For example, the first wireless communication module and the second wireless communication module are only used for distinguishing different wireless communication modules, and the sequence order thereof is not limited. Those skilled in the art will appreciate that the words "first," "second," and the like do not limit the number or order of execution.

It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to reduce fuel consumption and waste emission, the aircraft is dragged to a specified position by adopting the trailer after landing and before sliding out, and an aircraft engine does not need to be started.

The invention aims to provide an intelligent trailer and a method for towing an airplane by using the same.

Referring to fig. 1, the intelligent trailer comprises wheels 9, a body 8, a turntable 4, pedals 1, a signal acquisition module and an automatic control system. The rotary table 4 is rotatably connected with the vehicle body 8, and the pedal 1 is fixedly connected with the vehicle body 8. The footplate 1 extends obliquely from part of the edge of the turntable 4 to the ground.

The rotary table is provided with a baffle plate, and the baffle plate adopts a wheel-holding mode to realize the fixation of the front wheel of the airplane on the rotary table.

A signal acquisition module comprising: an angle sensor arranged on the turntable 4 and an acceleration sensor arranged at any position of the trailer; the angle sensor is used for detecting the rotation angle of the turntable 4, and the acceleration sensor is used for detecting the acceleration of the trailer.

And the automatic control system is electrically connected with the signal acquisition module and used for controlling the trailer to move forwards and turn according to the angle signal acquired by the angle sensor and controlling the trailer to stop according to the acceleration information acquired by the acceleration sensor.

In some embodiments, the above-mentioned intelligent trailer further comprises: and the push rod mechanism 2 is fixedly connected with the vehicle body 8, and the push rod mechanism 2 is used for pushing the front wheel of the airplane to move the front wheel of the airplane to the rotary table 4 through the pedal 1.

The pusher mechanism 2 includes a piston pusher. A pusher mechanism housing space 3 is also provided in the vehicle body 8, and the pusher mechanism 2 can be housed in the pusher mechanism housing space 3. When the push rod mechanism 2 is required to push the front wheel of the airplane, the push rod mechanism 2 extends out of the push rod mechanism accommodating space 3 to complete pushing work.

In some embodiments, the aforementioned barrier comprises a first bar 5 and a second bar 6, the first bar 5 and the second bar 6 being used to snap-fix the aircraft nose wheel to the turntable 4.

One end of the second rod 6 is rotatably connected with the first rod 5, the other end of the second rod 6 can rotate around a connection point 7, and the connection point 7 is a rotating connection point of one end of the second rod and the first rod 5.

The automatic control system specifically includes:

the starting control module is used for controlling the trailer to move forwards when the trailer is in a static state at present and the angle information from the angle sensor meets a preset condition; the preset conditions include: the angle information represents a first angle of the front wheel of the airplane, wherein the swing angle of the front wheel is larger than a preset value;

the turning control module is used for controlling the trailer to turn towards a direction for counteracting a second angle when the trailer is in a non-static state at present and the angle information from the angle sensor indicates that the trailer turns towards the left or the right by the second angle;

and the parking control module is used for controlling the trailer to park when the acceleration information from the acceleration sensor indicates that backward acceleration is generated.

Above-mentioned intelligent trailer still includes wireless communication module, and this wireless communication module is used for carrying out wireless communication with the aircraft. The start control module is also used for controlling the intelligent trailer to move ahead when the wireless signal received by the airplane comprises a trailer start instruction. The parking control module is also used for controlling the intelligent trailer to park when the wireless signals received by the airplane comprise trailer parking instructions.

When the intelligent trailer is adopted to tow the airplane, the control method of the intelligent trailer is as follows:

when the intelligent trailer is in a static state at present and the angle information from the angle sensor meets a preset condition, controlling the intelligent trailer to move forwards; the preset conditions include: the angle information indicates a first angle at which the front wheel of the aircraft swings greater than a preset value.

And when the intelligent trailer is in a non-static state currently and the angle information from the angle sensor indicates that the intelligent trailer turns to the left or the right by a second angle, controlling the intelligent trailer to turn towards a direction counteracting the second angle.

And controlling the intelligent trailer to stop when the acceleration information from the received sensor indicates that backward acceleration is generated.

In addition, the control instruction can also be transmitted in a wireless transmission mode, and after the trailer receives the control instruction, the trailer is controlled based on the control instruction. For example, when the received wireless signal of the airplane comprises a trailer starting command, the intelligent trailer is controlled to move forwards. And when the received wireless signal of the airplane comprises a trailer parking instruction, controlling the intelligent trailer to park.

It should be noted that if the pilot's intention (such as traveling, turning, or stopping) determined based on the sensed information conflicts with the received control command, the pilot's intention determined based on the sensed information takes precedence over the control command.

The following describes the specific control method in detail:

the aircraft breaks away from the runway after falling to the ground, gives intelligent trailer through 5G remote control signal, and intelligent trailer reachs the aircraft that needs to drag, adopts push rod mechanism to push away the aircraft front wheel to on the carousel, and baffle on the carousel is fixed the aircraft front wheel on the carousel with the mode of embracing the wheel afterwards.

During the dragging of an aircraft, there are three situations: forward, turn, and stop.

(1) When the airplane needs to change from a stop state to a forward state, the airplane can be controlled in two ways: one is that control commands can be transmitted to the trailer through 5G signals. Secondly, the pilot continuously turns the front wheel to the left and the right for more than 3 degrees and then turns back to the center, and the trailer starts to advance from static starting after sensing the movement.

But pilot operation (i.e., based on the pilot's intent as perceived by the signal acquisition module) has priority when the trailer receives the 5G signal while the pilot's intent is perceived by the signal acquisition module.

(2) When the aircraft need turn, the pilot turns the front wheel left or right through control aircraft turning system hand wheel or pedal, and the aircraft front wheel can make corresponding turn action, drives the carousel and rotates together, and angle sensor on the carousel, such as RVDT, gives trailer turn servo with angle signal, and the trailer rotates according to the direction of offsetting angle signal, when angle signal is well fixed position, the trailer stall to reach the purpose of turning.

(3) When the airplane needs to stop, two ways are available: one is that control commands can be transmitted to the trailer through 5G signals. And secondly, when the pilot steps on the airplane brake and the acceleration sensor of the trailer senses that the resistance is suddenly increased, the control of stopping is carried out.

But pilot operation (i.e., based on the pilot's intent as perceived by the signal acquisition module) has priority when the trailer receives the 5G signal while the pilot's intent is perceived by the signal acquisition module.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.