The invention provides a rodless aircraft traction over-steering monitoring method and device and a rodless aircraft tractor, and relates to the field of rodless aircraft traction over-steering protection. The monitoring method comprises the steps that two rear wheel areas of an airplane are scanned in real time through two radars which are arranged on a tractor and symmetrically arranged on the two sides of a clamping and lifting device; acquiring and processing point cloud data obtained by radar scanning to obtain barycentric coordinates of two rear wheels of the aircraft; calculating the steering angle of the aircraft relative to the tractor according to the barycentric coordinates of the two rear wheels of the aircraft; and judging whether the steering angle exceeds an angle threshold value or not, if so, turning the airplane and giving an alarm. According to the monitoring method, the protection effect on the over-steering of the airplane can be achieved, and the radar is adopted for scanning, so that the intelligent level of airplane traction operation is improved; the rear wheels of the airplane are scanned, and the application range is wide; two radars are adopted, the implementation is simple, and the scanning range is wide; the point cloud is taken as a processing object, the result is less influenced by the levelness deviation of radar installation, and the precision is high.

    本发明提供一种无杆飞机牵引过转向监测方法、装置及无杆飞机牵引车,涉及无杆飞机牵引过转向保护领域。该监测方法包括:通过设置于牵引车且对称设置于夹持举升装置两侧的两个雷达实时扫描飞机两后轮区域;获取并处理雷达扫描得到的点云数据,得到飞机两后轮的重心坐标;根据飞机两后轮的重心坐标,计算飞机相对于牵引车的转向角度;判断转向角度是否超过角度阈值,若是,则飞机过转向并进行警报。该监测方法,能够达到对飞机过转向的保护作用,而且,采用雷达进行扫描,提高了飞机牵引作业的智能化水平;对飞机后轮进行扫描,适用范围广;采用两个雷达,实施简单,且扫描范围广;以点云为处理对象,结果受雷达安装的水平度偏差影响较小,精度高。


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    Title :

    Rodless aircraft traction over-steering monitoring method and device and rodless aircraft tractor


    Additional title:

    无杆飞机牵引过转向监测方法、装置及无杆飞机牵引车


    Contributors:
    YAN HONGFENG (author) / CHEN JIAN (author) / DENG JIAMIN (author) / QI XIANGYANG (author) / CHEN WENKE (author) / WEN QI (author)

    Publication date :

    2024-09-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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