阅读说明：本技术 一种登机桥的控制方法及装置 (Control method and device for boarding bridge ) 是由 姜春阳 李旭 叶润 桂盛霖 张�成 于 2020-07-24 设计创作，主要内容包括：本发明的实施例提供一种登机桥的控制方法及装置,所述方法包括：在登机桥与飞机舱门对接的过程中,在登机桥距离飞机舱门一预设目标距离时,获取舱门的当前位置；确定登机桥移动的控制参数；根据所述控制参数,控制所述登机桥由所述当前位置向预设目标位置移动。本发明的方案可以实现登机桥与飞机舱门的自动对接。(The embodiment of the invention provides a control method and a device of a boarding bridge, wherein the method comprises the following steps: in the process of butting the boarding bridge and the airplane cabin door, when the boarding bridge is away from the airplane cabin door by a preset target distance, the current position of the cabin door is obtained; determining control parameters of the boarding bridge movement; and controlling the boarding bridge to move from the current position to a preset target position according to the control parameters. The scheme of the invention can realize the automatic butt joint of the boarding bridge and the airplane cabin door.)

1. A method for controlling a boarding bridge, characterized in that the method comprises:

in the process of butting the boarding bridge and the airplane cabin door, when the boarding bridge is away from the airplane cabin door by a preset target distance, the current position of the cabin door is obtained;

determining control parameters of the boarding bridge movement;

and controlling the boarding bridge to move from the current position to a preset target position according to the control parameters.

2. The method of claim 1, wherein the obtaining of the current position of the cabin door when the boarding bridge is spaced apart from the cabin door of the airplane by a preset target distance comprises:

acquiring images including an airplane cabin door through a camera device arranged at a preset position of a bridgehead of the boarding bridge;

and determining the current position of the cabin door when the boarding bridge is away from the airplane cabin door by the preset target distance according to the image.

3. The method of controlling a boarding bridge of claim 2, wherein the preset target distances include at least three groups of target distances that become larger or smaller in order of magnitude.

4. The method of claim 1, wherein determining the control parameters for the boarding bridge movement comprises:

determining a first control parameter, a second control parameter and/or a third control parameter of the boarding bridge movement; the first control parameter is a bridge head rotation direction control parameter of the boarding bridge, the second control parameter is a bridge head vertical movement control parameter of the boarding bridge, and the third control parameter is a bridge head horizontal movement control parameter of the boarding bridge.

5. The method of claim 4, wherein determining the first control parameter of the boarding bridge movement comprises:

acquiring a first distance between a first side of a bridgehead of the boarding bridge and an airplane body through a first distance measuring sensor arranged on the first side of the bridgehead of the boarding bridge;

acquiring a second distance between the second side of the bridgehead of the boarding bridge and the airplane body through a second distance measuring sensor arranged on the second side of the bridgehead of the boarding bridge;

and determining the first control parameter according to the first distance and the second distance.

6. The method of controlling a boarding bridge of claim 5, wherein determining the first control parameter based on the first distance and the second distance comprises:

if the first distance is greater than the second distance, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the second side by a first angle; otherwise, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the first side by a second angle.

7. The method of claim 6, wherein controlling the boarding bridge to move from the current position to a preset target position according to the control parameter comprises:

controlling the bridge head of the boarding bridge to rotate towards the second side according to the first angle so as to enable the first distance and the second distance to be equal;

and controlling the bridge head of the boarding bridge to rotate towards the first side according to the second angle so as to enable the first distance and the second distance to be equal.

8. The method of claim 4, wherein determining the second control parameter of the boarding bridge movement comprises:

and determining a second control parameter of the boarding bridge movement according to the difference value of the current position of the cabin door in the image and the preset target position in the vertical direction.

9. The method of claim 8, wherein controlling the boarding bridge to move from the current position to a preset target position according to the control parameter comprises:

and controlling the bridge head of the boarding bridge to move in the vertical direction according to the difference value in the vertical direction.

10. The method of claim 4, wherein determining a third control parameter for the boarding bridge movement comprises:

determining a bridge nose angle of the boarding bridge, wherein the bridge nose angle is an included angle between the orientation of a rotary platform of the bridge nose of the boarding bridge and a bridge body;

acquiring a target wheel frame angle of the boarding bridge according to the bridge nose angle, wherein the wheel frame angle of the boarding bridge is an included angle between the direction of a wheel frame and a bridge body;

determining the second control parameter according to the target wheel frame angle and the axle head angle, wherein the target wheel frame angle is 90 ° - | the axle head angle | and | the axle head angle | represents an absolute value of the axle head angle.

11. The method of claim 10, wherein controlling the boarding bridge to move from the current position to a preset target position according to the control parameter comprises:

when the bridge head angle is positive, controlling a wheel carrier of the boarding bridge to advance along the direction of the target wheel carrier angle so as to enable the bridge head to move to the second side, or controlling the wheel carrier to retreat along the direction of the target wheel carrier angle so as to enable the bridge head to move to the first side;

and when the bridge head angle is negative, controlling the wheel carrier of the boarding bridge to advance along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the first side, or controlling the wheel carrier to retreat along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the second side.

12. A control device for a boarding bridge, characterized by comprising:

the acquisition module is used for acquiring the current position of the cabin door when the boarding bridge is away from the airplane cabin door by a preset target distance in the process of butting the boarding bridge and the airplane cabin door;

the processing module is used for determining the control parameters of the boarding bridge movement;

and the control module is used for controlling the boarding bridge to move from the current position to a preset target position according to the control parameters.

Technical Field

The invention relates to the technical field of docking of boarding bridges, in particular to a control method and a control device for a boarding bridge.

Background

The boarding bridge is a movable lifting channel used for connecting a waiting hall and an airplane in an airport, namely a channel bridge for connecting a waiting building and an airplane cabin door, and passengers enter the airplane through the boarding bridge through corresponding boarding ports.

At present, the boarding bridge stopping and withdrawing are mainly completed manually by boarding bridge operators in a control room, the boarding bridge operators are combined with visual and handle operations, high operation skills are needed, and the operation process is troublesome. And the improper operation during the operation causes more or less problems, besides which the training and management of the boarding bridge operator is costly. It is therefore necessary to achieve an automatic docking of the boarding bridge.

If the boarding bridge can realize automatic docking, the efficiency is higher than that of manual docking, and the safety is higher. In the intellectualization of automatic docking of a boarding bridge, people have explored in many ways how to realize automatic docking of the boarding bridge, but until now, no practical application has been found.

With the continuous development of computer vision technology and automation control technology, the possibility is provided for the automation of boarding bridge parking. Through the discovery of inquiring a large amount of existing automatic docking data of the boarding bridge, no specific analysis is made on the walking strategy of automatic docking of the boarding bridge in the previous automatic docking research of the boarding bridge.

Disclosure of Invention

The invention aims to provide a control method and a control device of a boarding bridge, so that automatic butt joint of the boarding bridge and an airplane cabin door can be realized.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a method for controlling a boarding bridge, comprising:

in the process of butting the boarding bridge and the airplane cabin door, when the boarding bridge is away from the airplane cabin door by a preset target distance, the current position of the cabin door is obtained;

determining control parameters of the boarding bridge movement;

and controlling the boarding bridge to move from the current position to a preset target position according to the control parameters.

Optionally, when the boarding bridge is a preset target distance away from the airplane cabin door, acquiring the current position of the cabin door includes:

acquiring images including an airplane cabin door through a camera device arranged at a preset position of a bridgehead of the boarding bridge;

and determining the current position of the cabin door when the boarding bridge is away from the airplane cabin door by the preset target distance according to the image.

Optionally, the preset target distance includes at least three groups of target distances that become larger or smaller in sequence according to the size order.

Optionally, determining a control parameter of the boarding bridge movement includes:

determining a first control parameter, a second control parameter and/or a third control parameter of the boarding bridge movement; the first control parameter is a bridge head rotation direction control parameter of the boarding bridge, the second control parameter is a bridge head vertical movement control parameter of the boarding bridge, and the third control parameter is a bridge head horizontal movement control parameter of the boarding bridge.

Optionally, determining a first control parameter of the boarding bridge movement includes:

acquiring a first distance between a first side of a bridgehead of the boarding bridge and an airplane body through a first distance measuring sensor arranged on the first side of the bridgehead of the boarding bridge;

acquiring a second distance between the second side of the bridgehead of the boarding bridge and the airplane body through a second distance measuring sensor arranged on the second side of the bridgehead of the boarding bridge;

and determining the first control parameter according to the first distance and the second distance.

Optionally, determining the first control parameter according to the first distance and the second distance includes:

if the first distance is greater than the second distance, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the second side by a first angle; otherwise, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the first side by a second angle.

Optionally, controlling the boarding bridge to move from the current position to a preset target position according to the control parameter includes:

controlling the bridge head of the boarding bridge to rotate towards the second side according to the first angle so as to enable the first distance and the second distance to be equal;

and controlling the bridge head of the boarding bridge to rotate towards the first side according to the second angle so as to enable the first distance and the second distance to be equal.

Optionally, determining a second control parameter of the boarding bridge movement includes:

and determining a second control parameter of the boarding bridge movement according to the difference value of the current position of the cabin door in the image and the preset target position in the vertical direction.

Optionally, controlling the boarding bridge to move from the current position to a preset target position according to the control parameter includes:

and controlling the bridge head of the boarding bridge to move in the vertical direction according to the difference value in the vertical direction.

Optionally, determining a third control parameter of the boarding bridge movement includes:

determining a bridge nose angle of the boarding bridge, wherein the bridge nose angle is an included angle between the orientation of a rotary platform of the bridge nose of the boarding bridge and a bridge body;

acquiring a target wheel frame angle of the boarding bridge according to the bridge nose angle, wherein the wheel frame angle of the boarding bridge is an included angle between the direction of a wheel frame and a bridge body;

determining the second control parameter according to the target wheel frame angle and the axle head angle, wherein the target wheel frame angle is 90 ° - | the axle head angle | and | the axle head angle | represents an absolute value of the axle head angle.

Optionally, controlling the boarding bridge to move from the current position to a preset target position according to the control parameter includes:

when the bridge head angle is positive, controlling a wheel carrier of the boarding bridge to advance along the direction of the target wheel carrier angle so as to enable the bridge head to move to the second side, or controlling the wheel carrier to retreat along the direction of the target wheel carrier angle so as to enable the bridge head to move to the first side;

and when the bridge head angle is negative, controlling the wheel carrier of the boarding bridge to advance along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the first side, or controlling the wheel carrier to retreat along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the second side.

An embodiment of the present invention further provides a control apparatus for a boarding bridge, including:

the acquisition module is used for acquiring the current position of the cabin door when the boarding bridge is away from the airplane cabin door by a preset target distance in the process of butting the boarding bridge and the airplane cabin door;

the processing module is used for determining the control parameters of the boarding bridge movement;

and the control module is used for controlling the boarding bridge to move from the current position to a preset target position according to the control parameters.

The scheme of the invention at least comprises the following beneficial effects:

according to the scheme, in the process of butting the boarding bridge and the airplane cabin door, when the boarding bridge is away from the airplane cabin door by a preset target distance, the current position of the cabin door is obtained; determining control parameters of the boarding bridge movement; and controlling the boarding bridge to move from the current position to a preset target position according to the control parameters. Therefore, the automatic butt joint of the boarding bridge and the airplane cabin door can be realized, different action instructions of the boarding bridge are given according to the visual information condition in the process of butt joint of the boarding bridge and the cabin door, and the boarding bridge is finally driven to butt joint the cabin door according to the standard.

Drawings

Fig. 1 is a flow chart illustrating a control method of a boarding bridge according to the present invention;

FIG. 2 is a view of a field of view of the camera device;

FIG. 3 is a left-right model diagram of the boarding bridge with the correct bridge nose angle;

FIG. 4 is a diagram of a model for left and right adjustment of a boarding bridge when the bridgehead angle is negative;

FIG. 5 is a diagram of a model for forward adjustment of a boarding bridge;

FIG. 6 is a top view of the interface and a diagram of the recommended mounting location of the sensor;

fig. 7 is a front view of the interface and a diagram of the recommended mounting location of the sensor.

Description of reference numerals:

20: the current position of the hatch door; 21: a preset target position of the cabin door; 22: the bridge head inner box side wall;

23: a movable pedal of the bridge head inner box; 24: an aircraft fuselage; 25: a camera view;

26: a flying head; 27: an aircraft wing;

31: a camera mounting location; 32: a bridge nose corner; 33: a bridgehead center point; 34: a target wheelset angle;

35: a wheel carrier center point; 36: a target position of a desired hatch door; 37: a desired camera mounting location;

38: a desired bridgehead center point; 39: a desired wheel carrier center point;

61: a channel; 62: a bridgehead; 63: a side wall roller shutter; 64: a manual console; 65: a raised floor;

66: a first ranging sensor; 67: a connecting platform; 68: a second ranging sensor; 69: covering the awning;

70: a camera device; 71: a roller shutter door; 72: leveling wheels; 73: a first touch sensor;

74: working lamp: 75: a front window; 76: a door protector; 77: a second touch sensor.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

As shown in fig. 1, an embodiment of the present invention provides a method for controlling a boarding bridge, including:

step 11, in the process of butting the boarding bridge and the airplane cabin door, when the boarding bridge is away from the airplane cabin door by a preset target distance, the current position of the cabin door is obtained;

step 12, determining control parameters of boarding bridge movement;

and step 13, controlling the boarding bridge to move from the current position to a preset target position according to the control parameters.

In the embodiment of the invention, in the process of butting the boarding bridge and the airplane cabin door, when the boarding bridge is away from the airplane cabin door by a preset target distance, the current position of the cabin door is obtained; determining control parameters of the boarding bridge movement; and controlling the boarding bridge to move from the current position to a preset target position according to the control parameters. Therefore, the automatic butt joint of the boarding bridge and the airplane cabin door can be realized, different action instructions of the boarding bridge are given according to the visual information condition in the process of butt joint of the boarding bridge and the cabin door, and the boarding bridge is finally driven to butt joint the cabin door according to the standard.

In an alternative embodiment of the present invention, step 11 may include:

step 111, acquiring images including an airplane cabin door through a camera device arranged at a preset position of a bridgehead of the boarding bridge;

and 112, determining the current position of the cabin door when the boarding bridge is away from the airplane cabin door by the preset target distance according to the image.

Here, it is necessary to install a visual sensor such as a camera or a camera device in the bridgehead inner box of the boarding bridge, and the door of the airplane should be present in the field of view of the camera device, which may be a position between the manual console and the raised floor as shown in fig. 6. The aircraft door can be detected from the visual range of the camera, and the edge position and the center position of the aircraft door can be determined. Specifically, the precise position of the center or edge of the door can be located in the frame using machine learning, image processing, and the like.

In an optional embodiment of the present invention, the preset target distances include at least three groups of target distances that become larger or smaller in sequence according to a size order. For example, the boarding bridge is 5 meters, 2 meters, 0.5 meter, etc. away from the airplane door.

Here, under different distances of forward impact of the bridge head of the boarding bridge on the cabin door, multiple groups of standard positions of the cabin door in a camera picture are recorded when the bridge head is over against the cabin door, so that accurate control of the boarding bridge is achieved.

In an alternative embodiment of the present invention, step 12 may include:

step 121, determining a first control parameter, a second control parameter and/or a third control parameter of the boarding bridge movement; the first control parameter is a bridge head rotation direction control parameter of the boarding bridge, the second control parameter is a bridge head vertical movement control parameter of the boarding bridge, and the third control parameter is a bridge head horizontal movement control parameter of the boarding bridge.

The method comprises the steps that distance measuring sensors are mounted on two sides of a bridge head of a boarding bridge to obtain first control parameters, and second control parameters are determined through images collected by a vision sensor or a camera device mounted on the bridge head; and analyzing the image and the bridge head angle and the wheel carrier angle of the boarding bridge to determine a third control parameter, and utilizing at least one of the three control parameters to realize accurate control of the boarding bridge in the moving process of the boarding bridge so as to realize automatic preparation butt joint of the boarding bridge and an airplane cabin door.

In an optional embodiment of the present invention, in step 121, determining a first control parameter of the boarding bridge movement includes:

a step 1211 of acquiring a first distance between a first side of a bridgehead of the boarding bridge and an airplane body through a first ranging sensor installed at the first side of the bridgehead of the boarding bridge;

step 1212, acquiring a second distance between the second side of the bridgehead of the boarding bridge and the airplane body through a second ranging sensor installed at the second side of the bridgehead of the boarding bridge;

step 1213, determining the first control parameter according to the first distance and the second distance.

Specifically, if the first distance is greater than the second distance, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the second side by a first angle; otherwise, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the first side by a second angle.

Accordingly, step 13 may comprise:

step 131, controlling the bridge head of the boarding bridge to rotate towards the second side according to the first angle so as to enable the first distance and the second distance to be equal;

and 132, controlling the bridge head of the boarding bridge to rotate towards the first side according to the second angle so as to enable the first distance and the second distance to be equal.

In this embodiment, the bridge head needs to be parallel to the fuselage of the aircraft all the time in real time during the entire docking process. Specifically, distance measuring sensors, such as the first distance measuring sensor and the second distance measuring sensor described above, are installed on both sides of the bridge head of the boarding bridge, where the distance measuring sensors may be ultrasonic distance measuring sensors and may acquire distance information in real time, and recommended installation positions of the distance measuring sensors are respectively located on both sides of the bridge head as shown in fig. 6 and 7.

Collecting the distance measurement information of the sensors, and judging that the bridgehead rotates towards the direction to enable the bridgehead to be opposite to the plane airplane body according to the fact that the difference value of the distances detected by the two sensors is within an allowable range; and if the left side distance is greater than the right side distance, the bridgehead turns right, and if the left side distance is less than the right side distance, the bridgehead turns left.

In an optional embodiment of the present invention, in step 121, determining a second control parameter of the boarding bridge movement includes:

step 1213, determining a second control parameter of the boarding bridge movement according to the difference value of the current position of the cabin door in the image and the preset target position in the vertical direction.

Accordingly, step 13 may comprise: and controlling the bridge head of the boarding bridge to move in the vertical direction according to the difference value in the vertical direction.

In this embodiment, the difference between the current position of the cabin door in the image and the preset target position in the vertical direction may be a pixel difference between the current position and the preset target position in the vertical direction, the vertical direction may directly control the lifting mechanism of the boarding bridge to perform height adjustment, and the pixel difference between the current position and the preset target position in the vertical direction is calculated in real time in the adjustment process until the vertical error is within an allowable range, for example, the height difference between the bottom frame of the dashed cabin door and the bottom frame of the solid cabin door in fig. 2.

In an optional embodiment of the present invention, in step 121, determining a third control parameter of the boarding bridge movement includes:

step 1214, determining a bridge nose angle of the boarding bridge, wherein the bridge nose angle is an included angle between the orientation of a rotating platform of the bridge nose of the boarding bridge and a bridge body;

step 1215 of obtaining a target wheel carrier angle of the boarding bridge according to the bridge nose angle, wherein the wheel carrier angle of the boarding bridge is an included angle between the wheel carrier direction and the bridge body;

step 1216, determining the second control parameter according to the target wheel frame angle and the axle head angle, where the target wheel frame angle is 90 ° - | and the axle head angle |. Here, | the bridge head angle | represents an absolute value of the bridge head angle, as shown in fig. 3 and 4, where point P is a position of a bridge upright, M and M ' are wheel carrier center positions of a bridge, H and H ' are bridge head centers, C and C ' are bridge head installation camera positions, and D is an actual position of a cabin door. An auxiliary triangle Δ MNH can be constructed to simply calculate the wheel carriage angle for moving the boarding bridge left and right.

The specific calculation process is as follows: because of the inherent characteristics of the aerobridge, the aerobridge defines the bridgehead angle as the included angle between the orientation of the rotary platform of the bridgehead and the bridgebody, and the included angle between the orientation of the wheel carrier and the bridgebody is the wheel carrier angle; the angle when the orientation is coincident with the bridge body is zero, the orientation is positive when the orientation is towards the left, the orientation is negative when the orientation is towards the right, and the maximum value of the left and right opening angles is about 90 degrees generally. The bridge nose angle of the current position can be obtained according to a sensor of the boarding bridge (provided by the third condition). In the right angle delta MNH, the angle MHN is the bridge head angle, the angle MNH is a right angle, and the angle NMH is 90 degrees-MHN obtained by the sum of the internal angles of the triangle and 180 degrees. If the actual positive and negative conditions of the bridge head angle wheel frame angle are considered, the value of the target wheel frame angle is 90 degrees to I bridge head angle I; the angle sign is opposite to the bridge head angle, i.e. the sign of the wheel carrier angle is different from the bridge head angle sign. When the angle of the bridge head is 0 degree, the angle of the wheel frame can be plus or minus 90 degrees from left to right.

Accordingly, step 13 may comprise:

step 131, when the bridge head angle is positive, controlling the wheel carrier of the boarding bridge to move forward along the direction of the target wheel carrier angle so as to enable the bridge head to move to the second side, or controlling the wheel carrier to move backward along the direction of the target wheel carrier angle so as to enable the bridge head to move to the first side;

and 132, when the bridge head angle is negative, controlling the wheel carrier of the boarding bridge to move forward along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the first side, or controlling the wheel carrier to move backward along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the second side.

In the embodiment, the moving direction and the moving amplitude of the bridge head in the horizontal direction are obtained from the information of the camera, when the angle of the bridge head is positive (namely the bridge head faces to the left side in the direction of the bridge body), the wheel frame moves forward, the bridge head moves rightwards, and the wheel frame moves backwards, the bridge head moves leftwards; conversely, when the bridgehead angle is negative (i.e. the bridgehead is towards the right in the direction of the bridgehead), the bridgehead moves to the left as the wheel carrier moves forward, and the wheel carrier moves to the right as the wheel carrier moves backward.

And controlling the speed of left and right movement according to the difference value between the actual cabin door position and the ideal cabin door position, and repeatedly making the difference value between the actual cabin door position and the ideal cabin door position in the image within an allowable range.

When the angle of the bridge head is 0 degree, the driving direction is matched with the positive value and the negative value of the angle of the wheel carrier. When the bridge head is rushing towards the cabin door, the boarding bridge is expected to move towards the cabin door in a straight line, and the advancing model of the boarding bridge is just shown in figure 5. It can be seen in the figure that an auxiliary right-angled triangle Δ MNH is constructed, and a line segment NH is perpendicular to a bridgehead direction HH', so that a bridgehead angle can be known in Δ MNH, and the angle sign is the same, that is, the size and the coincidence of the wheel frame angle can be the same as the bridgehead angle by making the bridgehead move straight forward.

Through careful analysis of the calculation process, it can be found that the completely standard horizontal and vertical movement of the bridgehead along the self direction cannot be guaranteed when the wheel carrier angle calculated by the method moves, and some errors are generated due to the inconsistency between the walking mechanism and the center of the bridgehead. However, in practical situations, the distance between the center of the wheel frame and the center of the bridgehead is much smaller than the length of the bridgebody, so the error generated by adopting the method is also within an acceptable range, and the method is simple and convenient to calculate and is easier to use.

The following describes a specific implementation process of the boarding bridge control method with reference to fig. 2 to 7:

the method comprises the following steps: a camera is mounted at the bridgehead to locate the door and calculate the difference between the actual door and the desired door position. The method comprises the following specific steps:

and a vision module (such as a vision sensor or a camera device) is installed at the bridge head, the installation position is such that the center of the cabin door and the picture of the camera head are horizontally and vertically arranged and cannot be obliquely arranged after the butt joint is completed, and the recommended installation position is as shown in fig. 6 and 7. The cabin door is ensured to appear in the visual field of the camera, and the content of the camera is collected and analyzed. And positioning the accurate position of the center or the edge of the cabin door in the picture by using a machine learning method, an image processing method and the like.

Step two: the bridge head is always parallel to the body of the airplane in real time in the whole butt joint process. The method comprises the following specific steps: distance measuring sensors (such as ultrasonic distance measuring sensors) are installed on two sides of the bridge head of the boarding bridge and can acquire distance information in real time, and recommended installation positions of the distance measuring sensors are shown in fig. 6 and 7.

Collecting the distance measurement information of the sensors, and judging that the bridgehead rotates towards the direction according to the difference of the distances detected by the two sensors so as to enable the bridgehead to be aligned with the airplane body; and if the left side distance is greater than the right side distance, the bridge head turns right, and if the left side distance is less than the right side distance, the bridge head turns left.

Whether the bridgehead is parallel to the fuselage is judged by comparing the difference value of the measured values of the two distance measuring sensors within an allowable range, and the standards shown in figures 3 and 4 are required to be met.

Step three: the device can acquire the wheel carrier angle and the bridgehead angle of the boarding bridge in real time, and record a plurality of groups of standard positions of the cabin door in the camera picture when the bridgehead is over against the cabin door when the boarding bridge is in different distances from the bridgehead forward impact cabin door in advance. And setting a plurality of groups of different distances to record the standard positions of the cabin door at the distance in the picture, and suggesting that the preset distance is not less than three groups and the group with the shortest distance is set to be 0.5 meter away from the cabin door. The specific distance and the number of groups are adjusted according to the actual test condition.

Step four: and (4) the driving boarding bridge is positioned at the position with the farthest distance set in the step three, and the calculation of the butt joint of the cabin doors is started.

Step five: and adjusting the lifting mechanism according to the difference between the actual cabin door position and the ideal cabin door position in the camera picture in the vertical direction, so that the difference between the actual cabin door position and the ideal cabin door position in the vertical direction is within an allowable range.

Step six: and calculating the control angle of the wheel frame angle according to the difference of the actual cabin door position and the ideal cabin door position in the camera picture in the horizontal direction and the positive and negative of the bridge head angle.

The specific calculation process is as follows:

the value of the target wheel frame angle is 90 degrees to the bridge head angle, and the symbol of the wheel frame angle is different from the symbol of the bridge head angle;

and after the target wheel frame angle is obtained, adjusting the wheel frame angle to be the same as the calculated angle.

Step seven: and determining the left and right movement direction of the bridgehead according to the information of the image. When the angle of the bridge head is positive, the bridge head moves rightwards when the wheel frame moves forwards, and the bridge head moves leftwards when the wheel frame moves backwards; when the angle of the bridge head is negative, the bridge head moves leftwards when the wheel frame moves forwards, and moves rightwards when the wheel frame moves backwards. And repeatedly adjusting the left and right positions of the bridgehead until the difference between the actual cabin door position and the ideal cabin door position in the horizontal direction in the picture is within an allowable range.

Step eight: when the bridge head of the boarding bridge positively impacts the cabin door, the boarding bridge can be driven to move forward to approach the cabin door. At this time, the angle of the wheel carrier should be adjusted to be the same as the angle of the bridge head (the signs are the same), and the traveling mechanism is driven to move forward to the next group of preset distance.

Step nine: and (4) carrying out the processes from the fourth step to the seventh step again at a new preset distance, continuously adjusting in the docking process of the boarding bridge, and finally judging whether the docking is finished according to the detection value of the distance detector at the bridge head.

The scheme of the invention is mainly applied to the situation of automatically driving the docking door of the boarding bridge based on vision, and the control strategy of the walking mechanism is calculated according to the feedback information of the vision and the properties of the bridge body under a certain condition. The calculation method is simple, convenient and easy to implement, if the detection of the cabin door and the acquisition information of the sensor are accurate, the method can better realize the butt joint process of the cabin door, and the generated error is within an acceptable range. If the real-time acquisition and calculation can be carried out in a faster way in the whole movement process, the error generated by the algorithm can be reduced, and the effect of docking the cabin door is better.

An embodiment of the present invention further provides a control apparatus for a boarding bridge, including:

the acquisition module is used for acquiring the current position of the cabin door when the boarding bridge is away from the airplane cabin door by a preset target distance in the process of butting the boarding bridge and the airplane cabin door;

the processing module is used for determining the control parameters of the boarding bridge movement;

and the control module is used for controlling the boarding bridge to move from the current position to a preset target position according to the control parameters.

Optionally, the obtaining module is specifically configured to collect an image including an airplane cabin door through a camera device installed at a preset position of a bridgehead of the boarding bridge; and determining the current position of the cabin door when the boarding bridge is away from the airplane cabin door by the preset target distance according to the image.

Optionally, the preset target distance includes at least three groups of target distances that become larger or smaller in sequence according to the size order.

Optionally, determining a control parameter of the boarding bridge movement includes:

determining a first control parameter, a second control parameter and/or a third control parameter of the boarding bridge movement; the first control parameter is a bridge head rotation direction control parameter of the boarding bridge, the second control parameter is a bridge head vertical movement control parameter of the boarding bridge, and the third control parameter is a bridge head horizontal movement control parameter of the boarding bridge.

Optionally, determining a first control parameter of the boarding bridge movement includes:

acquiring a first distance between a first side of a bridgehead of the boarding bridge and an airplane body through a first distance measuring sensor arranged on the first side of the bridgehead of the boarding bridge;

acquiring a second distance between the second side of the bridgehead of the boarding bridge and the airplane body through a second distance measuring sensor arranged on the second side of the bridgehead of the boarding bridge;

and determining the first control parameter according to the first distance and the second distance.

Optionally, determining the first control parameter according to the first distance and the second distance includes:

if the first distance is greater than the second distance, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the second side by a first angle; otherwise, determining that the first control parameter is that the bridge head of the boarding bridge rotates to the first side by a second angle.

Optionally, the control module is specifically configured to: controlling the bridge head of the boarding bridge to rotate towards the second side according to the first angle so as to enable the first distance and the second distance to be equal;

and controlling the bridge head of the boarding bridge to rotate towards the first side according to the second angle so as to enable the first distance and the second distance to be equal.

Optionally, determining a second control parameter of the boarding bridge movement includes:

and determining a second control parameter of the boarding bridge movement according to the difference value of the current position of the cabin door in the image and the preset target position in the vertical direction.

Optionally, the control module is specifically configured to: and controlling the bridge head of the boarding bridge to move in the vertical direction according to the difference value in the vertical direction.

Optionally, determining a third control parameter of the boarding bridge movement includes:

determining a bridge nose angle of the boarding bridge, wherein the bridge nose angle is an included angle between the orientation of a rotary platform of the bridge nose of the boarding bridge and a bridge body;

acquiring a target wheel frame angle of the boarding bridge according to the bridge nose angle, wherein the wheel frame angle of the boarding bridge is an included angle between the direction of a wheel frame and a bridge body;

determining the second control parameter according to the target wheel frame angle and the axle head angle, wherein the target wheel frame angle is 90 ° - | the axle head angle |.

Optionally, the control module is specifically configured to: when the bridge head angle is positive, controlling a wheel carrier of the boarding bridge to advance along the direction of the target wheel carrier angle so as to enable the bridge head to move to the second side, or controlling the wheel carrier to retreat along the direction of the target wheel carrier angle so as to enable the bridge head to move to the first side;

and when the bridge head angle is negative, controlling the wheel carrier of the boarding bridge to advance along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the first side, or controlling the wheel carrier to retreat along the direction of the target wheel carrier angle so as to enable the bridge head to move towards the second side.

It should be noted that the apparatus is an apparatus corresponding to the above method embodiment, and all the implementations in the above method embodiment are applicable to the embodiment of the apparatus, and the same technical effects can be achieved.

Embodiments of the present invention also provide a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the method as described above.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.