阅读说明：本技术 一种agv车和无人机协同除冰系统 (AGV car and unmanned aerial vehicle deicing system in coordination ) 是由 邹雪丰 张洊闻 吴宇君 张校志 于 2021-10-29 设计创作，主要内容包括：本申请涉及飞机机翼除冰技术领域,提供了一种AGV车和无人机协同除冰系统,其中,包括AGV车和无人机,AGV车设置有第一水箱,无人机设置有第二水箱；第一水箱和第二水箱均用于存储除冰剂；AGV车用于获取目标飞机的第一位置信息,根据第一位置信息搭载无人机移动到目标飞机处,并发送第一控制指令信息至无人机,使无人机升空对目标飞机的机翼进行除冰；无人机在第二水箱中的除冰剂用完时返回AGV车处,并发送补液请求信息至AGV车；AGV车还用于根据补液请求信息用第一水箱中的除冰剂对第二水箱进行补液。本发明具有节省人力资源、提高机场运行效率和除冰彻底的技术效果。(The application relates to the technical field of airplane wing deicing, and provides an AGV and unmanned aerial vehicle cooperative deicing system, wherein the AGV and unmanned aerial vehicle cooperative deicing system comprises an AGV and an unmanned aerial vehicle, the AGV is provided with a first water tank, and the unmanned aerial vehicle is provided with a second water tank; the first water tank and the second water tank are used for storing deicing agents; the AGV vehicle is used for acquiring first position information of a target aircraft, carrying the unmanned aerial vehicle to move to the target aircraft according to the first position information, and sending first control instruction information to the unmanned aerial vehicle to enable the unmanned aerial vehicle to ascend to deice wings of the target aircraft; the unmanned aerial vehicle returns to the AGV when the deicing agent in the second water tank is used up, and sends liquid supplementing request information to the AGV; the AGV car is also used for supplementing liquid to the second water tank with the deicing agent in the first water tank according to the liquid supplementing request information. The invention has the technical effects of saving human resources, improving the operation efficiency of the airport and thoroughly deicing.)

1. An AGV and unmanned aerial vehicle cooperative deicing system is used for deicing wings of an airplane and is characterized by comprising an AGV (100) and an unmanned aerial vehicle (200), wherein the AGV (100) is provided with a first water tank, and the unmanned aerial vehicle (200) is provided with a second water tank; the first water tank and the second water tank are used for storing deicing agents;

the AGV comprises an AGV (100), an unmanned aerial vehicle (200) and a control system, wherein the AGV is used for acquiring first position information of a target aircraft, carrying the unmanned aerial vehicle (200) to move to the target aircraft according to the first position information, and sending first control instruction information to the unmanned aerial vehicle (200) to enable the unmanned aerial vehicle (200) to lift off to deice wings of the target aircraft;

the unmanned aerial vehicle (200) is used for deicing the wings of the target aircraft, returning to the AGV (100) when the deicing agent in the second water tank is used up, and sending a liquid supplementing request message to the AGV (100); the AGV car (100) is also used for supplementing liquid to the second water tank by using the deicing agent in the first water tank according to the liquid supplementing request information.

2. The AGV and unmanned aerial vehicle cooperative deicing system according to claim 1, wherein the unmanned aerial vehicle (200) comprises a Slam detection module (201), the Slam detection module (201) is used for acquiring thickness information of an ice layer, and the unmanned aerial vehicle (200) is used for deicing the wing of the target aircraft according to the thickness information of the ice layer when deicing the wing of the target aircraft.

3. The AGV and unmanned aerial vehicle cooperative deicing system according to claim 1, wherein the AGV (100) is provided with an inquiry module (101), and the inquiry module (101) is configured to send an inquiry message to the target aircraft to confirm whether the target aircraft is completely deiced when the unmanned aerial vehicle (200) returns to the AGV (100) after completing deicing work on the target aircraft.

4. AGV car and unmanned aerial vehicle cooperative deicing system according to claim 1, characterized in that the unmanned aerial vehicle (200) and the AGV car (100) are each provided with a WiFi positioning module (300), the WiFi positioning module (300) being used to determine the relative position between the unmanned aerial vehicle (200) and the AGV car (100).

5. The AGV and unmanned aerial vehicle cooperative deicing system according to claim 1, further comprising an airport dispatching center, wherein the airport dispatching center is configured to obtain deicing task information and send dispatching instructions to the AGV (100) according to the deicing task information, so that the AGV (100) carries the unmanned aerial vehicle (200) to move to the target aircraft according to the dispatching instructions.

6. The AGV car and unmanned aerial vehicle cooperative deicing system of claim 5, wherein said AGV car (100) is provided with a cabin, said cabin being capable of parking a plurality of unmanned aerial vehicles (200);

the deicing task information comprises model information of the target aircraft;

the airport dispatching center is used for sending a dispatching instruction to the AGV (100) according to the deicing task information, and executing the following steps when the AGV (100) carries the unmanned aerial vehicle (200) to move to the target aircraft according to the dispatching instruction:

acquiring first quantity information of the unmanned aerial vehicles (200) needing to move according to the model information;

and sending a scheduling instruction to the AGV vehicles (100) according to the first quantity information, so that the AGV vehicles (100) carry a corresponding quantity of the unmanned aerial vehicles (200) to move to the target aircraft.

7. The AGV car and unmanned aerial vehicle cooperative deicing system according to claim 1, wherein each of the AGV car (100) and the unmanned aerial vehicle (200) is provided with a power detection module (400), and the two power detection modules (400) are respectively used for detecting the power of the AGV car (100) and the power of the unmanned aerial vehicle (200).

8. The AGV and unmanned aerial vehicle cooperative deicing system according to claim 6, wherein the AGV (100) is further configured to send a detection instruction to one of the unmanned aerial vehicles (200) when reaching the target aircraft, so that the unmanned aerial vehicle (200) can comprehensively detect the target aircraft to obtain coverage area information of an ice layer and send the coverage area information to the AGV (100);

the AGV car (100) is further used for calculating second quantity information of the unmanned aerial vehicles (200) which need to work actually according to the coverage area information, and sending second control instruction information to the corresponding quantity of the unmanned aerial vehicles (200) according to the second quantity information.

9. The AGV car and unmanned aerial vehicle cooperative deicing system of claim 6, wherein the scheduling instructions comprise difference information of takeoff time and current time of the target aircraft;

the AGV (100) is further used for adjusting the deicing sequence according to the difference information when at least two scheduling instructions are obtained within a preset first time period.

10. The AGV and unmanned aerial vehicle cooperative deicing system according to claim 5, wherein the AGV (100) is configured to move to a corresponding target aircraft according to a new scheduling instruction if the new scheduling instruction is received within a preset second time period after completing a deicing task for the target aircraft; and if the new scheduling instruction is not received within the preset second time period, returning to the preset station for standby.

Technical Field

The application relates to the technical field of aircraft wing deicing, in particular to an AGV car and unmanned aerial vehicle deicing system in coordination.

Background

In cold weather, the wings of an airplane or other aircrafts can be iced due to snowfall on the ground and high-altitude supercooled water condensation, so that the aerodynamic model of the wings is changed, the lift force of the airplane is influenced, and the flight safety is seriously threatened. Therefore, in cold weather conditions, the ice layer remained on the wings needs to be cleaned by spraying the deicing agent before the aircraft takes off.

In the present stage, the main solution to this problem is that the aircraft slides into a specific deicing area before sliding into the takeoff runway, and ground personnel drive the aircraft deicing vehicle to clean the ice layer on the wings. However, this solution requires a lot of manpower, and in cold weather conditions, the working environment of ground workers is also hard, the working efficiency is reduced, and it is difficult to work for a long time. And the airplane needs to drive into a specific deicing area for deicing, so that the throughput of the airport is reduced, and the operation efficiency of the airport is reduced.

Therefore, in some conventional airports, an unmanned aerial vehicle is used for deicing, wherein the unmanned aerial vehicle is provided with a water tank for storing a deicing agent, the volume of the water tank is small, after the water tank is used up, the water tank needs to be fed to a fixed liquid feeding point for liquid feeding and then returns to an airplane for continuous deicing, a deicing task is performed once, the unmanned aerial vehicle may need to repeatedly come and go between the airplane and the fixed liquid feeding point, and the working efficiency is not ideal.

In view of the above problems, no effective technical solution exists at present.

Disclosure of Invention

An object of this application provides an AGV car and unmanned aerial vehicle deicing system in coordination, can use manpower sparingly the cost, improves the operating efficiency at airport.

The application provides an AGV and unmanned aerial vehicle cooperative deicing system which is used for deicing wings of an airplane, wherein the AGV and unmanned aerial vehicle cooperative deicing system comprises an AGV and an unmanned aerial vehicle, the AGV is provided with a first water tank, and the unmanned aerial vehicle is provided with a second water tank; the first water tank and the second water tank are used for storing deicing agents;

the AGV vehicle is used for acquiring first position information of a target aircraft, carrying the unmanned aerial vehicle to move to the target aircraft according to the first position information, and sending first control instruction information to the unmanned aerial vehicle to enable the unmanned aerial vehicle to lift off to deice wings of the target aircraft;

the unmanned aerial vehicle is used for deicing the wings of the target aircraft, returning to the AGV when the deicing agent in the second water tank is used up, and sending a liquid supplementing request message to the AGV; the AGV car is also used for supplementing liquid to the second water tank by using the deicing agent in the first water tank according to the liquid supplementing request information.

The application provides an AGV car and unmanned aerial vehicle deicing system in coordination can realize the deicing work to the aircraft wing, can improve the operating efficiency in airport, avoids the staff to operate under cold weather, reduces unmanned aerial vehicle's flight distance, improves deicing efficiency.

Optionally, in this application AGV car and unmanned aerial vehicle deicing system in coordination, unmanned aerial vehicle includes Slam detection module, Slam detection module is used for acquireing the thickness information on ice sheet, unmanned aerial vehicle is used for when the wing of target aircraft carries out the deicing, according to the thickness information on ice sheet is right the wing of target aircraft carries out deicing and handles.

Through setting up Slam detection module, can carry out three-dimensional modeling to the wing to confirm the thickness information on ice sheet, and then confirm the concrete position on the wing on ice sheet, make unmanned aerial vehicle can accurately carry out the deicing to the position that freezes on the wing, update the thickness information on ice sheet in real time moreover, thoroughly clear away freezing on the wing up to unmanned aerial vehicle, improve deicing effect.

Optionally, in the cooperative deicing system of an AGV vehicle and an unmanned aerial vehicle described in the present application, the AGV vehicle is provided with an inquiry module, and the inquiry module is configured to send inquiry information to the target aircraft to confirm whether to completely deice when the unmanned aerial vehicle completes deicing work on the target aircraft and returns to the AGV vehicle.

Through this kind of mode, can avoid the unmanned aerial vehicle deicing not thorough or the bad new ice sheet of formation of weather to lead to influencing the flight safety problem of follow-up aircraft, improve the security.

Optionally, in this application AGV car and unmanned aerial vehicle deicing system in coordination, unmanned aerial vehicle with the AGV car all is provided with wiFi orientation module, wiFi orientation module is used for confirming unmanned aerial vehicle with relative position between the AGV car.

Optionally, in the cooperative deicing system of the AGV and the unmanned aerial vehicle, the cooperative deicing system further comprises an airport dispatching center, wherein the airport dispatching center is used for acquiring deicing task information and sending dispatching instructions to the AGV according to the deicing task information, so that the AGV carries the unmanned aerial vehicle to the target aircraft according to the dispatching instructions.

Optionally, in the cooperative deicing system for the AGV and the unmanned aerial vehicle, a cabin is arranged on the AGV, and the cabin can park a plurality of unmanned aerial vehicles;

the deicing task information comprises model information of the target aircraft;

the airport dispatching center is used for sending a dispatching instruction to the AGV according to the deicing task information, and executing when the AGV carries the unmanned aerial vehicle to move to the target aircraft according to the dispatching instruction:

acquiring first quantity information of the unmanned aerial vehicles needing to be started according to the model information;

and sending a scheduling instruction to the AGV according to the first quantity information, so that the AGV carries a corresponding quantity of the unmanned aerial vehicles to move to the target aircraft.

Optionally, this application AGV car and unmanned aerial vehicle in coordination with deicing system in, the AGV car with unmanned aerial vehicle all is provided with electric quantity detection module, two electric quantity detection module is used for detecting respectively the electric quantity of AGV car with unmanned aerial vehicle's electric quantity.

Optionally, in the cooperative deicing system of the AGV and the unmanned aerial vehicle, the AGV is further configured to send a detection instruction to one of the unmanned aerial vehicles when reaching the target aircraft, so that the unmanned aerial vehicle comprehensively detects the target aircraft to obtain coverage area information of an ice layer, and send the coverage area information to the AGV;

the AGV car is also used for calculating second quantity information of the unmanned aerial vehicles which need to work actually according to the coverage area information, and sending second control instruction information to the corresponding quantity of unmanned aerial vehicles according to the second quantity information.

Optionally, in the AGV and unmanned aerial vehicle cooperative deicing system according to the present application, the scheduling instruction includes difference information between a takeoff time of the target aircraft and a current time;

and the AGV is also used for adjusting the deicing sequence according to the difference information when at least two scheduling instructions are acquired within a preset first time period.

Optionally, in the cooperative deicing system of the AGV and the unmanned aerial vehicle, after completing the deicing task for the target aircraft, if a new scheduling instruction is received within a preset second time period, the AGV is moved to the corresponding target aircraft according to the new scheduling instruction; and if the new scheduling instruction is not received within the preset second time period, returning to the preset station for standby.

According to the AGV and unmanned aerial vehicle cooperative deicing system, workers in an airport do not need to deice wings in cold weather, and manpower resources are saved; the airplane does not need to drive into a specific area to deice, and only needs to wait at a landing position, so that the operation efficiency of an airport is improved; the mode that the AGV carries the unmanned aerial vehicle to move to the target aircraft is adopted, the situation that the unmanned aerial vehicle needs to go back and forth between the target aircraft and the fixed liquid supplementing point due to the fact that the deicing agent is used up in the deicing process can be avoided, and deicing efficiency is improved.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Fig. 1 is a schematic structural diagram of an AGV vehicle and unmanned aerial vehicle cooperative deicing system according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of an AGV vehicle and unmanned aerial vehicle cooperative deicing system provided in an embodiment of the present application.

Fig. 3 is a working schematic diagram of an AGV vehicle and unmanned aerial vehicle cooperative deicing system and an airport dispatching center provided in the embodiment of the present application.

Description of reference numerals:

100. an AGV car; 101. an interrogation module; 200. an unmanned aerial vehicle; 201. a Slam detection module; 300. a WiFi positioning module; 400. electric quantity detection module.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

The general deicing agent is prepared by using polyhydric alcohols such as ethylene glycol, propylene glycol and diethylene glycol as main raw materials and adding some surfactants, preservatives or thickeners capable of improving deicing efficiency. The ice point of the deicing agent is lowered after the deicing agent is mixed with water, and the basic principle is that the adhesion force of ice and the surface of an airplane is reduced or the freezing temperature of water on the anti-icing surface of the airplane is lowered by means of certain liquid.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an AGV vehicle and drone cooperative deicing system according to some embodiments of the present application. The cooperative deicing system for the AGV and the unmanned aerial vehicle is used for deicing wings of the aircraft and comprises the AGV 100 and the unmanned aerial vehicle 200, wherein the AGV 100 is provided with a first water tank, and the unmanned aerial vehicle 200 is provided with a second water tank; the first water tank and the second water tank are used for storing deicing agents;

the AGV car 100 is used for acquiring first position information of a target aircraft, carrying the unmanned aerial vehicle 200 to move to the target aircraft according to the first position information, and sending first control instruction information to the unmanned aerial vehicle 200 to enable the unmanned aerial vehicle 200 to lift off to deice wings of the target aircraft;

the unmanned aerial vehicle 200 is used for deicing the wings of the target aircraft, returning to the AGV 100 when the deicing agent in the second water tank is used up, and sending a liquid supplementing request message to the AGV 100; the AGV car 100 is also used to replenish the second tank with a deicing agent in the first tank according to the replenishment request message.

The AGV 100 may be provided with a Beidou satellite navigation system (BDS), a GLONASS satellite navigation system (GLONASS), a GALILEO satellite navigation system (GALILEO), or a Global Positioning System (GPS) to determine a real-time position of the AGV 100 and a position of the target aircraft, and provide a navigation function for the AGV 100, so that the AGV 100 can conveniently reach the target aircraft.

The AGV 100 is further provided with a camera device, which can dynamically capture image information along the route, identify a path to be tracked through an image processing technology, and guide the AGV 100 to run. The AGV car 100 can also be provided with a laser scanner capable of emitting and receiving laser infrared rays, the laser reflection plates with enough quantity are arranged around the guide area or path, laser beams are emitted through the laser scanner, the laser beams reflected by the reflection plates are collected at the same time, and the position and the direction of the current AGV car 100 are determined through triangle geometric operation.

The AGV car 100 is further provided with an obstacle avoidance module, and the obstacle avoidance module can adopt an ultrasonic sensor to send an ultrasonic signal to an obstacle on the road for detection; or the laser radar device may be arranged on the AGV 100, and the laser may be used to measure the distance from the obstacle to the AGV 100 to determine the distance from the obstacle to the AGV 100, so that the AGV 100 walks around the obstacle.

In some embodiments, a Beidou positioning system or other positioning systems are arranged on the target aircraft, first position information of the target aircraft is acquired through the Beidou positioning system, the first position information is sent to the AGV car 100, then the AGV car 100 carries the unmanned aerial vehicle 200 to move to the target aircraft according to the first position information, a first control instruction is sent to the unmanned aerial vehicle 200 parked on the AGV car 100, the unmanned aerial vehicle 200 is lifted off immediately, and a deicing agent in a second water tank is sprayed through a spray gun to deice the wings of the target aircraft. When the deicing of the unmanned aerial vehicle 200 is finished or the deicing agent in the second water tank is used up, the AGV car 100 returns to the AGV car 100, and sends a liquid supplementing request message to the AGV car 100, so that the AGV car 100 supplies the deicing agent in the carried first water tank to the second water tank of the unmanned aerial vehicle 200 to replenish the deicing agent.

Specifically, a liquid level sensor and a water pump are arranged in the second water tank, and when the water pump automatically pumps the deicing agent in the first water tank until the deicing agent reaches a liquid level value preset by the liquid level sensor, the water pump stops pumping the deicing agent; the AGV car 100 can also be provided with a liquid level sensor in the second water tank, and an automatic switch valve in the first water tank, wherein the liquid level sensor is used for acquiring the residual amount of the deicing agent in the current second water tank, then calculating the difference value information of the maximum capacity and the residual amount, and sending the calculation result to the AGV car 100, so that the AGV car 100 controls the automatic switch valve in the first water tank to add the deicing agent with the corresponding capacity to the second water tank according to the calculation result.

Compared with the traditional manual deicing mode, by the scheme of the application, workers at an airport do not need to deice the wings in cold weather, so that manpower resources are saved; the airplane does not need to drive into a specific area to deice, and only needs to wait at a landing position, so that the operation efficiency of an airport is improved; by adopting the mode that the AGV car 100 carries the unmanned aerial vehicle 200 to move to the target aircraft, the situation that the unmanned aerial vehicle 200 needs to go back and forth between the target aircraft and the fixed liquid supplementing point due to the fact that the deicing agent is used up in the deicing process can be avoided, and deicing efficiency is improved.

In some embodiments, the drone 200 is provided with a camera, and the position of the icing layer on the wing is photographed by the camera, and then the icing layer is deiced.

Referring to fig. 2, in a further embodiment, the drone 200 includes a Slam detection module 201, where the Slam detection module 201 is configured to obtain thickness information of an ice layer, and the drone 200 is configured to perform deicing processing on a wing of a target aircraft according to the thickness information of the ice layer when the wing of the target aircraft is deicing. Wherein, slam (singular localization and mapping), immediate positioning and map construction, or simultaneous map construction and positioning. Specifically, Slam detects module 201 and includes multi-thread laser radar and camera, can carry out three-dimensional modeling to the wing to confirm the thickness information on ice sheet, and then confirm the concrete position on the wing on ice sheet, make unmanned aerial vehicle 200 can accurately carry out the deicing to the position of icing on the wing, update the thickness information on ice sheet in real time moreover, thoroughly clear away the icing on the wing up to unmanned aerial vehicle 200, improve deicing effect.

In some embodiments, the AGV 100 is provided with an inquiry module 101, and the inquiry module 101 is configured to send an inquiry message to the target aircraft to confirm whether the target aircraft is completely deiced when the drone 200 completes the deicing work on the target aircraft and returns to the AGV 100. In practical application, a plane microwave resonator device is arranged on the wing of an airplane and can detect whether an ice layer exists on the wing. After the unmanned aerial vehicle 200 confirms that the unmanned aerial vehicle 200 completely clears the ice on the wings through the Slam detection module 201, it is determined that the deicing operation on the target aircraft is finished and the target aircraft returns to the AGV 100, but an error may exist when the Slam detection module 201 detects the target aircraft, so that a residual ice layer exists; in addition, in some severe weather, a new ice layer may be formed on the target aircraft quickly, so that after the unmanned aerial vehicle 200 completes deicing work on the target aircraft, the target aircraft detects wings to judge whether the ice layer exists or not, and sends a detection result to the AGV vehicle 100, the AGV vehicle 100 judges whether deicing continues or not according to the detection result, and if deicing does not need to continue, the AGV vehicle 100 judges that the deicing task on the target aircraft is completed. Through this kind of mode, can avoid unmanned aerial vehicle 200 deicing incomplete or the bad new ice sheet of formation of weather to lead to influencing the flight safety problem of follow-up aircraft, improve the security.

In some embodiments, both the drone 200 and the AGV vehicle 100 are provided with WiFi positioning modules 300, the WiFi positioning modules 300 being used to determine the relative position between the drone 200 and the AGV vehicle 100. The WiFi locating module 300 is a prior art that uses the existing wireless network, cooperates with the WiFi tag and the related unmanned aerial vehicle 200 and AGV vehicle 100, and then combines with the corresponding locating algorithm to determine the positions of the related unmanned aerial vehicle 200 and AGV vehicle 100. In this way, the relative position between the drone 200 and the AGV 100 can be obtained in real time, so that the drone 200 can accurately land on the AGV 100.

Referring to fig. 3, in some preferred embodiments, the cooperative deicing system for AGVs and drones further includes an airport scheduling center, where the airport scheduling center is configured to obtain deicing task information and send a scheduling instruction to the AGVs 100 according to the deicing task information, so that the AGVs 100 carry the drones 200 to move to the target aircraft according to the scheduling instruction. In practical application, in some large airports, due to the fact that multiple airplanes exist, timely and accurate judgment can be difficult to be made by only using the AGV 100 to acquire the first position information of the target airplane, and the airport dispatching center can intensively acquire the deicing task information of the multiple airplanes and distribute the deicing tasks to different AGV 100, so that unified dispatching is achieved, and the operation efficiency of the airports is improved.

In a further embodiment, the AGV 100 is provided with a cabin, and the cabin can park a plurality of drones 200;

the deicing task information comprises model information of the target aircraft;

the airport dispatching center is used for sending a dispatching instruction to the AGV car 100 according to the deicing task information, and executing the following steps when the AGV car 100 carries the unmanned aerial vehicle 200 according to the dispatching instruction and moves to the target airplane:

acquiring first quantity information of the unmanned aerial vehicles 200 needing to move according to the model information;

and sending a scheduling instruction to the AGV 100 according to the first quantity information, so that the AGV 100 carries a corresponding quantity of the unmanned aerial vehicles 200 and moves to the target aircraft.

In practical application, the model information of the target aircraft corresponds to the size of the aircraft one by one, and corresponding size information can be obtained by querying according to the model information of the target aircraft, for example, the larger the size of the aircraft is, the more the number of unmanned aerial vehicles 200 is required; the airport dispatching center acquires the first quantity information of the unmanned aerial vehicles 200 which need to move according to the model information of the target aircraft, so that the aircrafts of different models can be matched with the unmanned aerial vehicles 200 of proper quantity according to actual needs, and the deicing efficiency of the unmanned aerial vehicles 200 is further improved.

In some embodiments, the AGV vehicle 100 and the drone 200 are each provided with a power detection module 400, and the two power detection modules 400 are used to detect the power of the AGV vehicle 100 and the power of the drone 200, respectively. In practical application, the power detection module 400 can detect the power of the AGV 100 and the power of the drone 200 in real time, and prevent the AGV 100 and the drone 200 from affecting work due to insufficient power.

In a further embodiment, the AGV 100 is further configured to send a detection instruction to one of the drones 200 when reaching the target aircraft, so that the drone 200 performs comprehensive detection on the target aircraft to obtain coverage area information of an ice layer (specifically, detection may be performed by using the Slam detection module 201 or shooting may be performed by using a binocular camera), and send the coverage area information to the AGV 100;

the AGV 100 is further configured to calculate second quantity information of the unmanned aerial vehicles 200 that actually need to work according to the coverage area information, and send second control instruction information to the corresponding number of unmanned aerial vehicles 200 according to the second quantity information. In practical application, because the area of the wings covered by the ice layer is possibly small, the deicing operation on the wings of the target aircraft can be quickly finished only by dispatching one unmanned aerial vehicle 200, and the purposes of saving the electric quantity of the unmanned aerial vehicle 200 and saving the cost of the deicing agent are achieved.

In some embodiments, the scheduling instruction includes information of a difference between a takeoff time of the target aircraft and a current time; the AGV 100 is further configured to adjust the deicing sequence according to the size of the difference information when at least two scheduling instructions are obtained within a preset first time period.

The preset first time period may be 1 minute, or may be other time periods. Assuming that the AGV 100 acquires two scheduling instructions within a preset first time period, where the takeoff time of the target aircraft in the first scheduling instruction is 19:30, the takeoff time of the target aircraft in the second scheduling instruction is 20:00, and the current time is 19:15, the difference information between the takeoff time of the target aircraft in the first scheduling instruction and the current time is 15 minutes, and the difference information between the takeoff time of the target aircraft in the second scheduling instruction and the current time is 45 minutes, it can be seen that the AGV 100 executes the first scheduling instruction first. By the method, the scheduling instruction can be reasonably planned, and the problem of airplane takeoff delay caused by icing is avoided.

In some embodiments, the AGV 100 is configured to, after completing the deicing task for the target aircraft, move to the corresponding target aircraft according to a new scheduling instruction if the new scheduling instruction is received within a preset second time period; and if the new scheduling instruction is not received within the preset second time period, returning to the preset station for standby.

The preset second time period may be any time period.

In practical application, the airport dispatching center may obtain new deicing task information sent by other airplanes when the AGV 100 performs deicing, a target airplane in the new deicing task information may be right near the AGV 100, and the airport dispatching center may send a new dispatching instruction to the AGV 100 which has completed deicing and is ready in a preset second time period in time, so that deicing efficiency of an airport is further improved, and movement cost of other AGV 100 is saved.

In a further embodiment, the scheduling instruction includes model information of the target aircraft;

the AGV 100 is configured to, after completing a deicing task for a target aircraft, determine whether a current residual amount of a deicing agent is sufficient according to model information of the target aircraft when a new scheduling instruction is received within a preset second time period, send a rejection signal indicating that the task is rejected to an airport scheduling center if the residual amount of the deicing agent is insufficient, and move to a corresponding target aircraft according to the new scheduling instruction if the residual amount of the deicing agent is sufficient.

The corresponding deicing agent usage reference value can be set in advance according to each type of target aircraft, a deicing agent usage reference value query table is generated and stored in a local database of the AGV car 100, if the current deicing agent remaining amount is not less than the deicing agent usage reference value corresponding to the target aircraft in the new deicing task information, the current deicing agent remaining amount is judged to be sufficient, and if not, the current deicing agent remaining amount is judged to be insufficient.

From the above, the cooperative deicing system for the AGV and the unmanned aerial vehicle comprises the AGV 100 and the unmanned aerial vehicle 200, wherein the AGV 100 is provided with a first water tank, and the unmanned aerial vehicle 200 is provided with a second water tank; acquiring first position information of a target aircraft through the AGV 100, carrying the unmanned aerial vehicle 200 to move to the target aircraft according to the first position information, and sending first control instruction information to the unmanned aerial vehicle 200 to enable the unmanned aerial vehicle 200 to lift off to deice wings of the target aircraft; when the deicing agent in the second water tank is used up, the deicing agent returns to the AGV car 100, and liquid supplementing request information is sent to the AGV car 100; the AGV car 100 uses the deicing agent in the first water tank to replenish the liquid to the second water tank according to the liquid replenishing request information; therefore, deicing of the wings of the airplane is achieved, labor cost is saved, meanwhile, the mode that the AGV car 100 carries the unmanned aerial vehicle 200 to move to the target airplane is adopted, the situation that the unmanned aerial vehicle 200 needs to go back and forth between the target airplane and the fixed liquid supplementing point due to the fact that the deicing agent is used up in the deicing process can be avoided, and deicing efficiency is improved.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.