Patent ID: 11912436
Assignee: YANSHAN UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 6:
7. A fully automated towing, alignment and hangar system using the method of operating the fully automated towing, alignment and hangar system suitable for the offshore operation helicopter according to claim 1, wherein the fully automated towing, alignment and hangar system comprises a quick mooring device for a lateral alignment for a movement of the helicopter, a wide-angle camera for acquiring attitudes of steering wheel, a longitudinal towing device for longitudinally towing the movement of the helicopter, a control system and the helicopter, and a helicopter mooring bar, and the fully automated towing, alignment and hangar system has following characteristics:
the quick mooring device is equipped with a mechanical claw that is connected to the helicopter mooring bar installed on a belly of the helicopter via a cylindrical joint, during a process that the quick mooring device laterally aligns the movement of the helicopter, the mechanical claw remains perpendicular to the deck towing track and follows the movement of the helicopter;
the wide-angle camera is installed at a central position of the rear wall of the quick mooring device and moves along with the quick mooring device, during a process that the quick mooring device and the longitudinal towing device tow the movement of the helicopter, the wide-angel camera always captures the attitudes of the steering wheel;
during the process that the longitudinal towing device tows the movement of the helicopter, the quick mooring device always moves along with the movement of the helicopter along the deck towing track, and the longitudinal towing device comprises an encoder for recording a position of the quick mooring device on the deck towing track, and the deck towing track is divided into five segments including a first segment of the deck towing track, a second segment of the deck towing track, a third segment of the deck towing track, a fourth segment of the deck towing track and a fifth segment of the towing track;
the control system comprises a DSP control unit and an MCU control unit, wherein the DSP control unit is configured to process attitude images of the steering wheel, creates a helicopter coordinate system and a deck coordinate system, calculates a wheel position coordinate, judges a boundary of a towing indication line, stores and extracts a movement path of the helicopter; and the MCU control unit is configured to generate horizontal and vertical position control commands;
the helicopter comprises a steering wheel, a first wheel and a second wheel, wherein the steering wheel is installed at a tail of the helicopter and is a universal wheel with large eccentricity.