Aircraft tractor automatic docking navigation device and method based on laser radar

• Main Authors: LU GUANGXU, WANG BEILE, TANG CHANGZHENG, LIU TONG, CHEN GUOQIANG, CHENG CHAO, ZHANG HAO, LIU MING, XU WENJING
• Format: Patent
• Language: Chinese; English
• Published: 01.03.2022
• Subjects: AIRCRAFT; ANALOGOUS ARRANGEMENTS USING OTHER WAVES; AVIATION; CONTROLLING; COSMONAUTICS; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING ORREPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLYADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFTCOMPONENTS, NOT OTHERWISE PROVIDED FOR; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PERFORMING OPERATIONS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING; TRANSPORTING

The invention discloses an aircraft tractor automatic docking navigation device and method based on a laser radar, and belongs to the field of autonomous positioning and navigation control of intelligent robots. The device comprises an aircraft tractor body platform, a laser radar, a data acquisition and calculation platform, an electronic control unit, a walking wheel electric proportional valve, a steering wheel electric proportional valve, a steering angle encoder, a photoelectric alarm module, a voice alarm module and a controller handle. The laser radar serves as a main sensor, and point cloud data are obtained through scanning; the data acquisition and calculation platform is used for extracting position information of an aircraft landing gear and generating an automatic navigation route; the electronic control unit controls the opening degrees of electric proportional valves of the walking wheels and the steering wheels, and a double-closed-loop control loop is formed through aircraft landing gear posi