CN112340050A

CN112340050A - Remote control method, device, medium and electronic equipment for boarding bridge

Info

Publication number: CN112340050A
Application number: CN202011193377.5A
Authority: CN
Inventors: 雷安良; 林锐标; 杨娟; 李席明; 唐亮; 吴亮
Original assignee: China International Marine Containers Group Co Ltd; Shenzhen CIMC Tianda Airport Support Ltd
Current assignee: Shenzhen CIMC Tianda Airport Support Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-02-09

Abstract

The embodiment of the disclosure provides a remote control method, a device, a medium and electronic equipment of a boarding bridge, wherein the remote control method comprises the following steps: acquiring a cabin door position of a parked target airplane and a docking bridge position of the boarding bridge; planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position; acquiring human-computer interaction information, wherein the human-computer interaction information is generated after an operator carries out human-computer interaction operation according to video data, audio data and spatial data; and generating an operation instruction according to the first movement route and the man-machine interaction information so as to control the boarding bridge to abut against a cabin door of the target airplane. The technical scheme of the embodiment of the disclosure can improve the control convenience and control efficiency of the boarding bridge.

Description

Remote control method, device, medium and electronic equipment for boarding bridge

Technical Field

The disclosure relates to the technical field of control, and in particular relates to a remote control method and device for a boarding bridge, a computer-readable storage medium and electronic equipment.

Background

The boarding bridge is also called an airplane corridor bridge, is a facility in an airport terminal building, extends from a terminal building or corridor of an airport to a cabin door of an airplane, and is convenient for passengers to get in and out of the cabin. Under the poor weather condition, the boarding bridge can ensure that passengers can conveniently board and leave the airplane without being exposed to the sun and rain, and simultaneously, the operation efficiency of the airport can be improved.

The head end of a typical boarding bridge is fixed at the middle shaft position of a terminal building or a corridor, the bridge body can move left and right, and the head end and the tail end can be lifted and stretched, so that the boarding bridge is suitable for various airplanes. A control room is provided at the end of the bridge to control the movement of the bridge body, and a canopy is provided to extend outwardly to closely engage the cabin doors.

Before boarding and disembarking an airplane, the boarding bridge is moved from a docking position, i.e. a docking position, to a cabin door position of the airplane, and the awning is closely connected with the cabin door, and the action is called docking the boarding bridge. After the boarding and the alighting and other subsequent processes are finished, the boarding bridge is moved to the original bridge parking position, which is called as the boarding bridge parking.

At present, the boarding bridge docking and the bridge parking are mainly manually completed by a boarding bridge operator in a remote control room of the boarding bridge, the boarding bridge operator obtains environmental information visually and controls and operates through a handle, the process needs high operation skill, and the operation process is complicated. Moreover, the boarding bridge operator needs to walk to the position of the boarding bridge from a central control room or other positions and leave the boarding bridge after the operation is finished, so that the labor is wasted.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

An object of the embodiments of the present disclosure is to provide a method and an apparatus for remotely controlling a boarding bridge, a computer-readable storage medium, and an electronic device, so as to improve convenience of controlling the boarding bridge at least to a certain extent.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to a first aspect of the embodiments of the present disclosure, there is provided a remote control method of a boarding bridge, the remote control method including: acquiring a cabin door position of a parked target airplane and a docking bridge position of the boarding bridge; planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position; acquiring human-computer interaction information, wherein the human-computer interaction information is generated after an operator performs human-computer interaction operation according to video data, audio data and spatial data, the video data comprises video data inside and outside the boarding bridge, which are acquired by camera equipment on the boarding bridge, the audio data comprises audio data inside and outside the boarding bridge, which are acquired by the camera equipment on the boarding bridge, and the spatial data comprises spatial data obtained by measuring each part of the boarding bridge and the airplane by a spatial sensor on the boarding bridge; and generating an operation instruction according to the first movement route and the man-machine interaction information so as to control the boarding bridge to abut against a cabin door of the target airplane.

In some embodiments, the obtaining the first movement route of the boarding bridge according to the door position and the berthing bridge position includes: obtaining first aircraft model parameters in a first coordinate system, the first aircraft model parameters including the hatch door position; obtaining an airport pickup parameter of the boarding bridge in a first coordinate system, wherein the airport pickup parameter comprises a first position of the airport pickup when the boarding bridge is in a bridge parking state; according to the receiving port parameters and the airplane model parameters in the first coordinate system, a first movement route of a receiving port of a boarding bridge at a first position to a pre-leaning position is planned in the first coordinate system, wherein the pre-leaning position is a first distance right in front of the cabin door position.

In some embodiments, obtaining aircraft model parameters in a first coordinate system comprises: establishing a first coordinate system and a second coordinate system relative to the ground; obtaining ground identification parameters of ground identifications in the first coordinate system and the second coordinate system; acquiring a second aircraft model parameter in a second coordinate system; and performing coordinate conversion on the second airplane model parameter according to the ground identification parameter to obtain the first airplane model parameter in a first coordinate system.

In some embodiments, the boarding bridge docking mode with a hatch of the target aircraft comprises: an automatic abutment mode, a semi-automatic abutment mode, and a manual abutment mode.

In some embodiments, after the boarding bridge operates the interlock signal to be released after the boarding bridge finishes boarding, the remote control method further comprises the following steps: acquiring the current position of the boarding bridge and the position of a target parking bridge; and generating a bridge parking instruction according to the current position and the target bridge parking position so as to control the boarding bridge to withdraw from the current position to the target bridge parking position.

In some embodiments, the remote control method further comprises: and when the boarding bridge is determined to be in place for the approach connection, generating an approach connection completion indication instruction and sending the instruction to the boarding bridge so as to control an approach connection completion indication device on the boarding bridge to remind a worker on the airplane of the end of the approach connection when the approach connection is finished.

In some embodiments, the remote control method further comprises, including: identifying and positioning a cabin door of the airplane to obtain identification positioning data; carrying out laser ranging on the cabin door of the airplane to obtain laser ranging data; and judging whether the cabin door is in an open or closed state according to the identification positioning data and/or the laser ranging data.

In some embodiments, the remote control method further comprises: and generating a safety shoe throwing instruction and sending the safety shoe throwing instruction to the boarding bridge so as to control a safety shoe throwing device on the boarding bridge to throw safety shoes when the boarding bridge is in close contact and a cabin door is opened, wherein the cabin door is opened and judged according to the detection data.

In some embodiments, the remote control method further comprises: controlling the boarding bridge to send sonar signals and receive echoes of the sonar signals; and acquiring audio data inside the channel of the boarding bridge and outside the boarding bridge according to the echo.

According to a second aspect of the embodiments of the present disclosure, there is provided a remote control apparatus of a boarding bridge, the remote control apparatus including: the position acquisition unit is used for acquiring the cabin door position of a parked target airplane and the docking bridge position of the boarding bridge; a route planning unit for planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position; the system comprises an interactive information acquisition unit, a data processing unit and a data processing unit, wherein the interactive information acquisition unit is used for acquiring human-computer interactive information, and the human-computer interactive information is generated after an operator performs human-computer interactive operation according to video data, audio data and spatial data, wherein the video data comprises video data inside and outside the boarding bridge, which are acquired by a camera device on the boarding bridge, the audio data comprises audio data inside and outside the boarding bridge, which are acquired by a camera device on the boarding bridge, and the spatial data comprises spatial data obtained by measuring each part of the boarding bridge and the airplane by a spatial sensor on the boarding bridge; and the generating unit is used for generating an operation instruction according to the first movement route and the man-machine interaction information so as to control the boarding bridge to abut against a cabin door of the target airplane.

According to a third aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of remote control of a boarding bridge as described in the first aspect of the embodiments above.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method for remotely controlling a boarding bridge as described in the first aspect of the embodiments above.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the technical scheme provided by some embodiments of the disclosure, the planned first movement route is obtained according to the cabin door position and the berthing bridge position, and the boarding bridge is controlled and operated by combining human-computer interaction information, so that the remote control operation of the boarding bridge can be simplified, and the labor waste is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty. In the drawings:

fig. 1 schematically illustrates a schematic view of a boarding bridge docking with an airplane according to one of the related art;

fig. 2 schematically illustrates a flowchart of a method of remotely controlling a boarding bridge according to an embodiment of the present disclosure;

FIG. 3 schematically illustrates a flow chart of a method of planning a first route according to one embodiment of the present disclosure;

FIG. 4 schematically shows a schematic view of a hatch feature point according to an embodiment of the disclosure;

FIG. 5 schematically illustrates a schematic diagram of a reclining point and a path of motion according to one embodiment of the present disclosure;

fig. 6a schematically illustrates a flow chart of a boarding bridge docking method according to an embodiment of the present disclosure;

fig. 6b schematically shows a flow chart of a boarding bridge docking method according to another embodiment of the present disclosure;

fig. 6c schematically shows a flow chart of a boarding bridge docking method according to yet another embodiment of the present disclosure;

fig. 7a schematically illustrates a flow chart of a boarding bridge docking method according to an embodiment of the present disclosure;

fig. 7b schematically illustrates a flow chart of a boarding bridge docking method according to another embodiment of the present disclosure;

fig. 7c schematically shows a flow chart of a boarding bridge docking method according to yet another embodiment of the present disclosure;

fig. 8 schematically shows a block diagram of a remote control apparatus of a boarding bridge according to an embodiment of the present disclosure;

FIG. 9 schematically illustrates a block diagram of a computer system suitable for use with an electronic device that implements an embodiment of the disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

In the prior art, as shown in fig. 1, a boarding bridge includes a support column (not shown), a rotating platform 101, a telescopic tunnel 102, an airport gate 103, a lifting mechanism, and a traveling mechanism. The rotary platform 101 may be installed on a terminal or on a corridor communicating with the terminal. The supporting columns are disposed at the bottom of the rotary platform 101 for supporting the rotary platform 101. The telescoping passage 102 is a telescoping passage, and the telescoping passage 102 is generally straight. One end of the telescopic passage 102 is installed on the rotary platform 101, and is rotatably connected with the terminal building or the corridor through the rotary platform 101. A connector port 103 is mounted on the other end of the telescoping passage 102. The interface port 103 may rotate relative to the telescoping passage 102. The running mechanism is arranged below the telescopic channel 102, the lifting mechanism is arranged between the running mechanism and the telescopic channel 102, and two ends of the lifting mechanism are respectively connected with the running mechanism and the telescopic channel 102. The elevator mechanism supports the telescopic passage 102 and drives the telescopic passage 102 to swing up and down to raise or lower the interface 103. The lifting mechanism may be a hydraulic lifting table. The running mechanism is provided with wheels and a power device for driving the wheels to roll. The walking mechanism can walk on the ground to drive the telescopic channel 102 to extend and retract in the horizontal direction, so as to drive the machine connecting port 103 to move in the horizontal direction.

When the boarding bridge is parked, as shown in fig. 1, a ground mark 200 is provided on the ground of the apron. The ground mark 200 is used to guide the aircraft 300 to stop at a predetermined berth. The ground mark 200 may be a pattern formed by a plurality of machine halt lines 202 intersecting a guide line 201, the machine halt lines 202 being perpendicular to the guide line 201. The guide line 201 is used to guide the aircraft 300 to walk on the apron along a predetermined route. The aircraft stop line 202 is used to indicate a stopping position of the aircraft 300. When the nose wheel 211 of the aircraft 210 is located at the intersection of the designated parking line and the guide line 201, the wings 213 of the aircraft are located on both sides of the guide line 201, and the longitudinal axis of the aircraft 210 is parallel to the guide line 201, the aircraft 210 has parked at a predetermined parking position.

In the related art, when the boarding bridge moves from the bridge position to the cabin door 212 position, the airport connecting feature point 104 of the airport connecting port 103 is in butt joint with the cabin door 212, and in the process that the boarding bridge moves from the bridge position to the cabin door 212 and withdraws, an operator needs to board the boarding bridge to control the boarding bridge to carry out docking and bridge parking, so that manpower is wasted in the process of going and going, and the control process is complex.

To solve the technical problem, as shown in fig. 2, an embodiment of the present invention provides a method for remotely controlling a boarding bridge, and the method provided by the embodiment of the present disclosure may be performed by any electronic device with computer processing capability, such as a terminal device and/or a server. Referring to fig. 2, the remote automatic control of the boarding bridge provided by the embodiment of the present disclosure may include the following steps:

step S1102, a cabin door position of the parked target aircraft and a boarding bridge position of the boarding bridge are obtained.

And step S1104, planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position.

Step S1106, acquiring human-computer interaction information, where the human-computer interaction information is generated after an operator performs human-computer interaction operation according to video data, audio data and spatial data, where the video data includes video data inside and outside the boarding bridge collected by a camera on the boarding bridge, the audio data includes audio data inside and outside the boarding bridge collected by the camera on the boarding bridge, and the spatial data includes spatial data obtained by measuring each part of the boarding bridge and the airplane by a spatial sensor on the boarding bridge.

Step S1108, generating an operation instruction according to the first movement route and the man-machine interaction information so as to control the boarding bridge to abut against the cabin door of the target airplane.

According to the technical scheme of the embodiment of the invention, the first movement route is planned according to the cabin door position and the bridge-parking position, and then the first movement route is adjusted according to the man-machine interaction information to generate the operation instruction, so that the boarding bridge is remotely controlled, an operator can operate the boarding bridge without boarding the boarding bridge, the manpower waste is reduced, and the control of the boarding bridge is more convenient.

In an example of the present invention, the remote control method of the boarding bridge may be performed by a server of a remote console, which is correspondingly connected to at least one boarding bridge. If there are a plurality of boarding bridges, if the remote console needs to be changed from connecting one boarding bridge to another, a switching operation is performed.

In the process of executing motion control, the remote operation console can send out an instruction at any time to interrupt the motion of the boarding bridge.

In step S1104, in order to plan the first movement route, a first coordinate system and a second coordinate system with respect to the ground may be established, and the pre-rest position may be acquired according to the position of the gate, and the first position of the gate at the time of boarding the bridge may be acquired according to the boarding position of the boarding bridge. The pre-rest position is a first distance right in front of the cabin door position, for example, the pre-rest position may be a position 1.5 meters to 3 meters right in front of the cabin door position, that is, the first distance is 1.5 meters to 3 meters, and is not limited thereto.

As shown in fig. 3, planning the first movement route may include the steps of:

step S1111, establishing a first coordinate system and a second coordinate system.

Step S1112, obtaining the ground identification parameters of the ground identification in the first coordinate system and the second coordinate system.

And S1113, acquiring second airplane model parameters in a second coordinate system.

Step S1114, performing coordinate transformation on the second aircraft model parameter according to the ground identifier parameter to obtain a first aircraft model parameter in a first coordinate system, where the first aircraft model parameter includes a cabin door position.

Step S1115, obtaining the airport connecting parameters of the boarding bridge in the first coordinate system, wherein the airport connecting parameters comprise the first position of the airport connecting when the boarding bridge is in a bridge parking state.

Step S1116, according to the aircraft-in-flight port parameter and the airplane model parameter in the first coordinate system, a first movement route from the aircraft-in-flight port of the boarding bridge at the first position to the pre-leaning position is planned in the first coordinate system.

Specifically, in steps S1111 to S1116, a 3-dimensional coordinate system is established based on the apron, the positions of the doors of all airplane models to be parked and the aircraft-stopping lines thereof are modeled, and assuming that the airplane aligns with the aircraft-stopping lines to be parked in an ideal state, the position 1.5 to 3 meters ahead of the doors of the airplane is set as the pre-rest position. And recording the coordinates of the pre-leaning positions of various machine types in the system. The coordinates of the pre-rest position are set after weighing the safe distance between the airplane and the boarding bridge of various types. The system also records the position coordinates of the boarding bridge.

The first coordinate system and the second coordinate system in step S1104 may be rectangular coordinate systems or spherical coordinate systems. In the embodiments of the present disclosure, the first coordinate system and the second coordinate system are both rectangular coordinate systems. The first coordinate system includes an X-axis, a Y-axis, and a Z-axis, which may be parallel to the ground, the Z-axis being perpendicular to the ground with the positive direction facing upward. The Z-axis may be coaxial with the axis of the rotating platform. The origin may be set on the ground.

After the first coordinate system is established, the terrestrial identification parameters of the terrestrial identification 200 in the first coordinate system can be obtained through a direct measurement method. In this embodiment, the ground mark 200 may be characterized by a first mark feature point 203 and a second mark feature point 204, the first mark feature point 203 may be a midpoint of an intersection of the first shutdown line and the guide line 201, and the second mark feature point 204 may be an end point of an intersection of the last shutdown line and the guide line 201. The ground identification parameters include coordinates of the first identification feature point 203 and the second identification feature point 204 in a first coordinate system.

The ground identification parameters further include coordinates of the first identification feature point 203 and the second identification feature point 204 in a second coordinate system. The second coordinate system includes an x-axis, a y-axis, and a z-axis. The x-axis and the y-axis are both parallel to the ground. The positive direction of the z-axis is vertical to the ground. The x-axis of the second coordinate system may be perpendicular to the guideline 201 and the y-axis of the second coordinate system may be parallel to the guideline 201. The origin of the second coordinate system is set at the first identified feature point 203 of the guide line 201 and the shutdown line 202, and the second identified feature point 204 passes through the y-axis. The coordinates of the second identification feature point 204 in the second coordinate system can be obtained by measuring the distance between the first identification feature point 203 and the second identification feature point 204.

The ground identification parameters in the first coordinate system and the second coordinate system are obtained, and conditions can be provided for coordinate conversion of any point between the first coordinate system and the second coordinate system.

Different types of airplane models can be built by airplanes of different models. The parameters of the aircraft model simulating the aircraft parked at the predetermined berth can be obtained by using the ground identification as a reference when the aircraft model is established. Thus, the relative position relationship of the ground mark and the airplane model is determined.

The second aircraft model is represented by coordinates in a second coordinate system. And performing coordinate conversion on the airplane model parameters according to the ground identification parameters in the first coordinate system and the second coordinate system to obtain first airplane model parameters in the first coordinate system.

The coordinates of the hatch feature point 6 shown in fig. 4 can be obtained by obtaining the parameters of the ground marks in the first coordinate system and the second coordinate system in advance, that is, the coordinates of the first mark feature point in the first coordinate system and the second coordinate system and the coordinates of the second mark feature point in the first coordinate system and the second coordinate system, and the Z-axis of the first coordinate system and the Z-axis of the second coordinate system are parallel to each other.

According to the parameters of the airplane-receiving port in the first coordinate system and the parameters of the first airplane model, a path for connecting the pre-leaning position and the airplane-receiving port of the boarding bridge at the parking position can be planned in the first coordinate system.

As shown in FIG. 5, the reclining position is characterized by a reclining point 5. When the machine interface feature point 104 reaches the pre-leaning point 5, it indicates that the machine interface 103 reaches the pre-leaning position. The path 7 can be planned according to the shortest path principle. One end of path 7 is connected to the airport feature point 104 at the position where the boarding bridge is in the parking position, and the other end of path 7 is connected to the pre-rest point 5. The landing gear feature point 104 travels along this path 7 to reach the pre-rest point 5.

The distance between the pre-leaning point 5 and the cabin door characteristic point 6 is within the range of 1-2 m, and the distance between the pre-leaning point 5 and the cabin door characteristic point 6 is preferably 1.5 m. The connecting line between the pre-leaning point 5 and the door characteristic point 6 is vertical to the door.

When the interface 103 of the boarding bridge 100 runs to the pre-leaning point 5, the boarding bridge 100 can switch the visual positioning system to identify the door 212 and guide the interface 103 of the boarding bridge 100 to continue approaching the door 212, so that the alignment of the interface 103 and the door 212 is more accurate.

The set path 7 may be a travel path 7 of the airport 103 of the boarding bridge 100, and the boarding bridge 100 does not collide with the wing 213 when the airport 103 of the boarding bridge 100 travels along the path 7.

During the docking of the boarding bridge, the travelling mechanism and the lifting mechanism of the boarding bridge 100 cooperate with each other to move the interface port 103, so that the interface port feature point 104 on the interface port 103 can move along the path 7.

Here, the path 7 is the first movement route.

In the process that the boarding bridge moves according to the first movement route, the remote control station plays videos according to video signals of camera equipment on the boarding bridge, and simultaneously displays space data on a display according to the position and the posture of the boarding bridge detected by a space sensor on the boarding bridge and the distance between the boarding bridge and each part of the airplane. Through human-computer interaction with a remote control console, an operator can control the boarding bridge to work according to the played video and the displayed spatial data.

In addition, a sonar device is arranged on the boarding bridge, when the boarding bridge is remotely controlled, the sonar device on the boarding bridge can be controlled to send sonar signals and receive echoes of the sonar signals, and audio data in a channel of the boarding bridge and outside the boarding bridge are obtained according to the echoes.

The operator can remotely monitor the conditions of the boarding bridge, the parking apron and the airplane berth in a central control room. Specifically, the operator can estimate the spatial position of the cabin door by visual observation, and can pay attention to the gap between the boarding bridge and the airplane wing at any time, and the command is sent out by a central control console to control the boarding bridge to move towards a desired direction.

A plurality of cameras and sonar devices are installed on a boarding bridge, the conditions of the boarding bridge, an airplane and a standing platform can be observed from different angles respectively, video signals collected by the cameras and audio signals collected by the sonar devices are transmitted to a monitor on a remote operation platform far away from the boarding bridge through a network, in the moving process of the boarding bridge, the image of the monitor on the remote operation platform can be updated in real time, an operator positioned on the remote operation platform judges the spatial position deviation of a cabin door in real time according to the collected airplane image, whether the distance clearance between the boarding bridge and the wings and between the boarding bridge and the engine is safe or not is observed at any time, whether people or other obstacles exist in a channel or not is observed, and whether people or other obstacles exist around a boarding bridge wheel frame or not is observed. Meanwhile, spatial data such as the attitude of the boarding bridge are also transmitted to a human-computer interface of a remote operation console through a network for presentation, so that an operator is assisted to know the state of the boarding bridge in time. And after the comprehensive judgment of the signals is carried out by an operator positioned at the remote operation station, an operation instruction is sent out to control the boarding bridge to move towards the expected direction.

After the boarding bridge is butted with an airplane cabin door, a remote manual or automatic mode can be adopted to throw in a canopy, throw in leveling wheels and open an airport pickup port, and meanwhile, whether the boarding bridge is butted or not and whether the airplane cabin door can be opened or not are indicated to personnel on the airplane through traffic lights. The aircraft door identification system automatically identifies whether an aircraft door is open. After recognizing that the door of the airplane is opened, the safety boots can be automatically or manually thrown in.

In the embodiment of the present disclosure, an automatic control mode, a semi-automatic control mode, and a manual control mode may be adopted in the remote control of the boarding bridge. Remote control of a bridge typically includes bridge docking control and bridge docking control.

When the automatic control mode is adopted, the automatic docking mode can be adopted when the boarding bridge docking control is carried out, and the automatic docking mode can be adopted when the boarding bridge docking control is carried out.

When the semi-automatic control mode is adopted, the semi-automatic docking mode can be adopted when the boarding bridge docking control is carried out, and the semi-automatic docking mode can be adopted when the boarding bridge docking control is carried out.

When the manual control mode is adopted, the manual approach mode can be adopted when the boarding bridge approach control is carried out, and the manual bridge parking mode can be adopted when the boarding bridge parking control is carried out.

When the boarding bridge is controlled, the current position and the target boarding bridge position of the boarding bridge can be obtained, and a boarding bridge command is generated according to the current position and the target boarding bridge position so as to control the boarding bridge to withdraw from the current position to the target boarding bridge position.

In the remote control process of the boarding bridge, the proper docking mode and the proper bridge parking mode can be selected according to the configuration condition of equipment and the completeness of the equipment. The control modes of the two procedures of docking and docking are analyzed in detail below.

As shown in fig. 6a, when the fully automatic docking mode is selected, the following steps S1611 to S1618 are used to control the boarding bridge to dock the airplane.

Step S1611: the model of the airplane to be docked is acquired from a VDGS (Visual Docking Guidance System) or an upper flight information System, or the model of the airplane is manually input.

Step S1612: determining that the boarding bridge can be abutted. Specifically, after the airplane berth is finished and a signal for allowing the boarding bridge to be started is obtained, the system automatically starts the approach process, and an operator confirms that the airplane can be picked up after observing a video image of a remote operation console.

Step S1613: the abutment is initiated. Specifically, an operator activates the remote operation table to abut against the starting switch, and the receiving machine completion indicator lamp positioned at the interface lights a red light. This step may signal to the aircraft cabin crew that: when the boarding bridge is in the process of airport pickup, the door of the airplane cannot be opened.

Step S1614: the boarding bridge control system controls the boarding bridge to automatically move to the pre-leaning position and automatically identifies the airplane cabin door. Specifically, the boarding bridge remote control system automatically plans a path by taking the pre-leaning position as a target, and automatically drives the boarding bridge to move to the pre-leaning position. When the airplane door is close to the pre-leaning position, the system starts the airplane door identification and positioning system to start to identify and position the airplane door. And the operator keeps remotely observing whether an abnormal condition occurs or not through the video image and the human-computer interface, and presses the emergency stop button to block the automatic abutting process if necessary. The video images are captured by the camera device on the boarding bridge and transmitted to the server of the remote control station of the control system of the boarding bridge.

In the embodiment of the invention, the cabin door of the airplane can be identified and positioned to obtain the identification positioning data; carrying out laser ranging on a cabin door of the airplane to obtain laser ranging data; and judging whether the cabin door is in an open or closed state according to the identification positioning data and/or the laser ranging data.

Step S1615: and the boarding bridge control system replans the approach path and controls the boarding bridge to move. Specifically, after the airplane door recognition and positioning system detects the airplane cabin door, the relative deviation 3-dimensional coordinate between the airplane cabin door and the boarding bridge is given, and the system calculates the coordinate of the final approach position of the boarding bridge by combining the posture of the boarding bridge. The boarding bridge replans the approach path, and the boarding bridge control system automatically drives the boarding bridge to automatically move towards the cabin door of the airplane. The operator can remotely observe whether abnormal conditions occur or not through the video images and the human-computer interface, and press the emergency stop button to block the automatic abutting process if necessary.

Step S1616: the boarding bridge control system controls the boarding bridge to be abutted to the airplane. Specifically, in the process that the boarding bridge is automatically driven to gradually approach an airplane cabin door, the detection of the position of the airplane cabin door is continuously kept, the path is adjusted in real time and gradually approaches the airplane cabin door, the front edge of a machine-receiving port is parallel to the airplane body, the machine-receiving port is aligned with reference objects in the up-down and left-right directions of the airplane cabin door, and the machine-receiving is finished until the front edge of the machine-receiving port touches the machine. An operator keeps remotely observing whether abnormal conditions occur or not through the video images and the human-computer interface, and if necessary, the automatic butting process can be blocked by releasing the starting button of the butting machine.

Step S1617: the boarding bridge control system automatically switches to an automatic leveling mode. After the airplane touch is completed, the system automatically stretches out the awning, the system is switched to an automatic leveling mode, the leveling wheels are automatically put in, the front door is automatically opened, a remote operator observes through video images, confirms that the leveling wheels are normally put in, the awning is normally put in and the front door is normally opened, sends an instruction at the remote control console, enables the airplane connecting indicator lamp at the interface to be changed from a red lamp to a green lamp, and enables the airplane connecting completion indicator lamp at the interface to be turned on to form a green lamp so as to give a signal indication to workers in an airplane cabin: the boarding bridge is completed at the airport pickup, and the door of the airplane can be opened.

In particular, after the abutment against the aircraft door is completed, the door of the aircraft can be detected using a laser detector. For example, 3 laser detectors may be installed at the airport gate to illuminate the aircraft fuselage or aircraft door, respectively. When the cabin door is opened, the door plate of the cabin door of the airplane moves, and the point on the airplane body, which is initially irradiated by the laser emitted by the laser detector, is changed. Thus, the distance measurements of the 3 laser detectors will vary significantly. According to the change situation of the distance measurement value, whether the cabin door is in an open state or a closed state can be judged.

Step S1618: and the boarding bridge control system automatically identifies that the opening of the airplane cabin door is finished and then sends a safety shoe input instruction. After the operator waits for the airplane crew to open the airplane cabin door, the system automatically identifies the opening completion of the airplane cabin door, the system sends a safety shoe input instruction, and the boarding bridge control system automatically inputs the safety shoes. And after the remote operator observes and confirms the states of the safety boots and the airplane cabin door through video images, the approach connection is completed.

Thus, in a remote operation console, after selecting a boarding bridge to be controlled and selecting a full-automatic docking mode, an operator manually inputs or acquires the information of a machine type and a machine door to be docked from other systems, the operator only needs to press an operation handle or a button to start a docking process, the handle or the button can be released, the boarding bridge is in an unmanned state, a boarding bridge control system automatically identifies a door of the airplane and positions the door of the airplane, the system automatically plans a path and automatically completes docking, the operator only monitors the docking process through the remote operation console, and if the docking process is judged to be abnormal, the docking process can be blocked by shooting an emergency stop button.

When a semi-automatic approach mode is selected, after a boarding bridge to be controlled is selected and a full-automatic approach mode is selected, an operator manually inputs or acquires the information of a machine type and a machine door to be approached from other systems, the operator only needs to press and hold an operating handle or a button, a boarding bridge control system automatically identifies a machine door and positions the machine door, the system automatically plans a path and automatically completes approach connection of the airplane, the operator monitors the approach connection process through a remote operating platform, and if the approach connection process is judged to be abnormal, the handle or the button is released, and the boarding bridge stops running.

As shown in fig. 6b, when the auto pre-lean + manual docking mode is selected, the boarding bridge is controlled to dock the airplane using the following steps S1631 to S1638.

Step S1631: the model of the airplane to be docked is acquired from a VDGS (Visual Docking Guidance System) or an upper flight information System, or the model of the airplane is manually input.

Step S1632: determining that the boarding bridge can be abutted. Specifically, after the airplane berth is finished and a signal for allowing the boarding bridge to be started is obtained, the system automatically starts the docking process, and an operator confirms that the docking can be performed by observing a video image of the remote operation console.

Step S1633: the abutment is initiated. Specifically, an operator activates an aircraft connecting start switch of the remote operation console, and an aircraft connecting completion indicator lamp at the interface lights a red light. The red light of the aircraft-receiving completion indicator light can signal and indicate workers in the aircraft cabin: when the boarding bridge is in the process of airport pickup, the door of the airplane cannot be opened.

Step S1634: the boarding bridge control system controls the boarding bridge to automatically move to the pre-leaning position and switches to a manual mode after the boarding bridge reaches the pre-leaning position. Specifically, the boarding bridge remote control system automatically plans a path by taking the pre-leaning position as a target, and automatically drives the boarding bridge to move to the pre-leaning position. And after the boarding bridge reaches the automatic pre-leaning position, automatically switching to a manual mode. An operator remotely observes whether abnormal conditions occur or not through the video images and the human-computer interface, releases the abutting starting button if necessary, and can block the abutting process.

Step S1635: and manually controlling the boarding bridge to move towards the airplane. An operator observes the position deviation of the boarding bridge airplane entrance and the airplane cabin door through a video image of a remote operation console, manually operates to enable the front edge of the boarding bridge airplane entrance to be parallel to the airplane cabin body by means of a laser scanner and a laser detector used for measuring the distance between the front edge of the boarding bridge airplane entrance and the airplane cabin door, enables the boarding bridge entrance to be aligned with reference objects in the up-down direction, the left-right direction and the up-down direction of the airplane cabin door, enables the distance between the front edge of the boarding bridge entrance and the airplane cabin door to be about 0.5 m, slightly stops, and confirms that the preparation for approaching.

Specifically, in step S1635, the boarding bridge is manually operated and driven, the airport pickup is made to approach to about 0.5 m right ahead of the airplane door, the parallelism between the front edge of the airport pickup and the airplane body is finely adjusted, and the height of the bridge head is adjusted by pressing a lifting operation button until the front edge of the interface is aligned with the 15CM position below the airplane door; the wheel carrier is driven by operating the handle, so that the front edge of the aircraft port is aligned with or offset from the left door seam of the aircraft door by a specified distance.

Step S1636: and manually controlling the boarding bridge to be abutted against the airplane. The operator pushes the operating handle on the remote operating platform forwards until the front edge of the airport pick-up is finished, and then the situation that the position of the cross star of the laser scanner is aligned with the reference line of the airplane cabin door is observed through a video image. If the position deviation of the cross-shaped star of the laser scanner and the position deviation of the reference line of the airplane door are within an error range, the abutting joint is successful, otherwise, the abutting joint is not successful. When the butting is unsuccessful, the device needs to be withdrawn by 0.5 meter and then realigned, and the previous butting step is repeated again.

Step S1637: and manually switching to an automatic leveling mode. The operator presses the canopy button of remote operation platform and stretches out the canopy, switches to the automatic leveling mode, and the leveling wheel drops into automatically, and remote operator observes through the video image, confirms that leveling wheel and canopy drop into normally, the airport terminal is normally opened, and the airport terminal that is located the airport terminal accomplishes the pilot lamp and shines green light to the staff signalling instruction in the aircraft cabin: the boarding bridge is completed at the airport pickup, and the door of the airplane can be opened.

Step S1638: and sending a safety boot throwing instruction manually. After the operator waits for the airplane crew to open the airplane cabin door, the operator sends a safety boot inputting instruction through the remote operation platform, and the boarding bridge control system automatically inputs the safety boots. And the remote operator observes and confirms the safety boots and the airplane cabin door through video images, and then the airport pickup is completed.

As shown in fig. 6c, when the manual docking mode is selected, the following steps S1641 to S1648 are employed to control the boarding bridge to dock the airplane.

In step S1641, the manual abutment mode is selected.

Step S1642: determining that the boarding bridge can be abutted. After the airplane berth is finished and a signal that the boarding bridge is allowed to start is obtained, an operator can confirm that the connection can be achieved through video image observation at a remote operation station.

Step S1643: the abutment is initiated. An operator activates an aircraft connecting start switch of the remote operation console, and an aircraft connecting completion indicator lamp positioned at the interface lights a red light. The airport arrival completion indicator light is lighted the red light and signals and instructs personnel in the aircraft cabin: when the boarding bridge is in the process of airport pickup, the door of the airplane cannot be opened.

Step S1644: the manually controlled boarding bridge automatically moves to the pre-leaning position. The operator keeps observing the position deviation of the aerobridge gate and the airplane cabin door through the video image of the remote operation console, and drives the aerobridge manually to move towards the airplane cabin door until the position is about 1.5 meters in front of the airplane cabin door.

Step S1645: and manually controlling the boarding bridge to move towards the airplane. An operator observes the position deviation of the boarding bridge airplane entrance and the airplane cabin door through a video image of a remote operation console, manually operates to enable the front edge of the boarding bridge airplane entrance to be parallel to the airplane cabin body by means of a laser scanner and a laser detector used for measuring the distance between the front edge of the boarding bridge airplane entrance and the airplane cabin door, enables the boarding bridge entrance to be aligned with reference objects in the up-down direction, the left-right direction and the up-down direction of the airplane cabin door, enables the distance between the front edge of the boarding bridge entrance and the airplane cabin door to be about 0.5 m, slightly stops, and confirms that the preparation for the final approach.

Step S1646: and manually controlling the boarding bridge to be abutted against the airplane. The operator pushes the operating handle on the remote operating platform forwards until the front edge of the airport pick-up is finished, and then the situation that the position of the cross star of the laser scanner is aligned with the reference line of the airplane cabin door is observed through a video image. If the position deviation of the cross-shaped star of the laser scanner and the position deviation of the reference line of the airplane door are within an error range, the abutting joint is successful, otherwise, the abutting joint is not successful. When the butting is unsuccessful, the device needs to be withdrawn by 0.5 meter and then realigned, and the previous butting step is repeated again.

Step S1647: and manually switching to an automatic leveling mode. The operator presses the canopy button of remote operation platform and stretches out the canopy, switches to the automatic leveling mode, and the leveling wheel drops into automatically, and remote operator observes through the video image, confirms that leveling wheel and canopy drop into normally, the airport terminal is normally opened, and the airport terminal that is located the airport terminal accomplishes the pilot lamp and shines green light to the staff signalling instruction in the aircraft cabin: the boarding bridge is completed at the airport pickup, and the door of the airplane can be opened.

Step S1648: and sending a safety boot throwing instruction manually. After the operator waits for the airplane crew to open the airplane cabin door, the operator sends a safety boot inputting instruction through the remote operation platform, and the boarding bridge control system automatically inputs the safety boots. And the remote operator observes and confirms the safety boots and the airplane cabin door through video images, and then the airport pickup is completed.

When the automatic pre-leaning and manual leaning mode is adopted, an operator only needs to press and hold an operating handle or a button, the system automatically plans a path from a bridge parking position to a pre-leaning position, drives the boarding bridge to move the pre-leaning position along the planned path, and then switches to be manual, so that the boarding bridge is manually operated until the boarding bridge completely leans against the cabin door.

When a manual approach mode is adopted, the boarding bridge is manually operated until the boarding bridge completely approaches a gate in the whole approach process;

when the full-automatic bridge parking mode is selected, the following steps S1711 to S1713 are adopted to control the boarding bridge to evacuate the airplane, as shown in fig. 7 a.

Step S1711: confirming that the boarding bridge can be evacuated. And after the closing of the airplane cabin door is completed, the interlocking signal of the boarding bridge operation is released, and the boarding bridge is allowed to be started. The operator can evacuate the airplane by observing and confirming the boarding bridge through the video image. And sending an instruction from the remote operation console to enable the airport pickup completion indicator lamp to light a red light so as to prohibit the crew members on the airplane from opening the cabin door of the airplane.

Step S1712: and releasing after pressing a mooring bridge starting button.

Step S1713: the boarding bridge control system automatically parks the bridge in place. Specifically, the boarding bridge control system takes a bridge parking position as a target, the system automatically plans a path, and the system automatically drives the boarding bridge to move to the bridge parking position until the boarding bridge is within a preset allowable target range. An operator remotely observes whether an abnormal condition occurs or not through a video image and a human-computer interface, and presses an emergency stop button to block the automatic bridge parking process if necessary.

After the remote console selects the boarding bridge to be handled, a bridge parking mode may be selected.

After the full-automatic bridge-parking mode is selected, an operator only needs to press an operation handle or a button to start an airport pickup process, the handle or the button can be released, the boarding bridge is in an unmanned state, the awning and the leveling wheels are automatically retracted by the boarding bridge, an airport pickup port is closed, meanwhile, the system automatically plans a path, the boarding bridge is automatically driven to be separated from an airplane, and the airplane is automatically stopped after the boarding bridge is moved to a bridge-parking position. The operator only monitors the bridge-connecting process through the remote operation console, and if the bridge-parking process is judged to be abnormal, the emergency stop button can be used for blocking the bridge-parking process.

And selecting a semi-automatic bridge parking mode, wherein an operator only needs to press an operating handle or a button to start and maintain a bridge parking process, the boarding bridge automatically retracts the awning and the leveling wheels, the access port is closed, the system automatically plans a path, automatically drives the boarding bridge to be separated from the airplane, and the boarding bridge is automatically stopped after moving to a bridge parking position. The operator only monitors the airport pick-up process through the remote operation console, and if the airport pick-up process is judged to be abnormal, the handle or the button is released, and the boarding bridge can stop running.

When the manual + semi-automatic bridge parking mode is selected, the following steps S1731 to S1733 are adopted to control the boarding bridge to evacuate the airplane, as shown in fig. 7 b.

Step S1731: confirming that the boarding bridge can be evacuated. And after the closing of the airplane cabin door is completed, the interlocking signal of the boarding bridge operation is released, and the boarding bridge is allowed to be started. The operator confirms that the boarding bridge can be evacuated from the airplane through video image observation. And sending an instruction from the remote operation console to enable the airport pickup completion indicator lamp to light a red light so as to prohibit the crew members on the airplane from opening the cabin door of the airplane.

Step S1732: and manually withdrawing the airplane for a third distance and then pressing a parking bridge button. Specifically, the third distance may be 0.5 meters, and is not limited thereto.

Step S1733: the boarding bridge control system automatically parks the bridge in place. The boarding bridge control system takes the position of a parked bridge as a target, automatically plans a path, and automatically drives the boarding bridge to move to the position of the parked bridge until the parked bridge reaches a preset allowable target range. And the operator keeps remotely observing whether abnormal conditions occur or not through the video images and the human-computer interface, and the automatic bridge parking process is blocked by releasing the bridge parking button if necessary.

As shown in fig. 7c, when the manual bridge parking mode is selected, the following steps S1741 to S1742 are used to control the boarding bridge to evacuate the airplane.

Step S1741: confirming that the boarding bridge can be evacuated. And after the closing of the airplane cabin door is completed, the interlocking signal of the boarding bridge operation is released, and the boarding bridge is allowed to be started. The operator confirms that the boarding bridge can be evacuated from the airplane through video image observation. And sending an instruction from the remote operation console to enable the airport pickup completion indicator lamp to light a red light so as to prohibit the crew members on the airplane from opening the cabin door of the airplane.

Step S1742: and (5) manually mooring the bridge in place. After the airplane is manually operated and evacuated for more than 0.5 m, an operator keeps remotely observing the distance of a bridge berth through a video image and a human-computer interface, and the boarding bridge is manually operated to gradually reach the position of the bridge berth.

When the boarding bridge is determined to be in the proper position, an airport-receiving completion indicating instruction can be generated and sent to the boarding bridge, so that an airport-receiving completion indicating device on the boarding bridge is controlled to remind workers on an airplane of airport-receiving completion when the airport-receiving is completed.

In addition, when the boarding bridge is in place and the cabin door is opened, a safety shoe throwing-in instruction can be generated and sent to the boarding bridge, so that a safety shoe throwing-in device on the boarding bridge is controlled to throw in the safety shoe when the boarding bridge is in place and the cabin door is opened.

According to the remote control method of the boarding bridge, the planned first movement route is obtained according to the cabin door position and the berthing bridge position, and the boarding bridge is controlled and operated by combining human-computer interaction information, so that the remote control operation of the boarding bridge can be simplified, and the labor waste is reduced.

The following describes embodiments of the apparatus of the present invention, which can be used to perform the above-mentioned method for remotely controlling a boarding bridge of the present invention. Referring to fig. 8, a remote control apparatus for a boarding bridge according to an embodiment of the present invention includes:

a position obtaining unit 802, configured to obtain a cabin door position of the parked target aircraft and a boarding bridge position of the boarding bridge.

And the route planning unit 804 is used for planning a first movement route of the boarding bridge according to the cabin door position and the bridge parking position.

The interactive information obtaining unit 806 is configured to obtain human-computer interactive information, where the human-computer interactive information is generated after an operator performs a human-computer interactive operation according to video data, audio data, and spatial data, where the video data includes video data inside and outside the boarding bridge collected by a camera on the boarding bridge, the audio data includes audio data inside and outside the boarding bridge collected by the camera on the boarding bridge, and the spatial data includes spatial data obtained by measuring each part of the boarding bridge and an airplane by a spatial sensor on the boarding bridge.

And the generating unit 808 is configured to generate an operation instruction according to the first motion route and the human-computer interaction information so as to control the boarding bridge to abut against a cabin door of the target aircraft.

For details that are not disclosed in the embodiments of the apparatus of the present invention, please refer to the above-described embodiments of the remote control method of the boarding bridge of the present invention for the details that are not disclosed in the embodiments of the apparatus of the present invention.

In the remote control device of the boarding bridge of the embodiment of the disclosure, the planned first movement route is obtained according to the cabin door position and the berthing bridge position, and the boarding bridge is controlled and operated by combining the human-computer interaction information, so that the remote control operation of the boarding bridge can be simplified, and the manpower waste is reduced.

Referring now to FIG. 9, shown is a block diagram of a computer system 900 suitable for use in implementing the electronic devices of embodiments of the present disclosure. The computer system 900 of the electronic device shown in fig. 9 is only an example, and should not bring any limitations to the function and scope of use of the embodiments of the present disclosure.

As shown in fig. 9, the computer system 900 includes a Central Processing Unit (CPU)901 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data necessary for system operation are also stored. The CPU 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

The following components are connected to the I/O interface 905: an input portion 906 including a keyboard, a mouse, and the like; an output section 907 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as necessary. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 910 as necessary, so that a computer program read out therefrom is mounted into the storage section 908 as necessary.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 909, and/or installed from the removable medium 911. The above-described functions defined in the system of the present application are executed when the computer program is executed by a Central Processing Unit (CPU) 901.

It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

As another aspect, the present application also provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The above-mentioned computer-readable storage medium carries one or more programs which, when executed by one of the electronic devices, cause the electronic device to implement the method for remotely controlling a boarding bridge as described in the above-mentioned embodiments.

For example, the electronic device may implement the following as shown in fig. 2: step S1102, a cabin door position of the parked target aircraft and a boarding bridge position of the boarding bridge are obtained. And step S1104, planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position. Step S1106, obtaining human-computer interaction information, where the human-computer interaction information is generated after an operator performs human-computer interaction operation according to video data and spatial data, where the video data includes video data inside and outside the boarding bridge collected by a camera on the boarding bridge, and the spatial data includes spatial data obtained by measuring, by a spatial sensor on the boarding bridge, each part of the boarding bridge and the aircraft. Step S1108, an operation instruction is generated according to the first movement route and the human-computer interaction information, so as to control the boarding bridge to abut against a cabin door of the target aircraft.

As another example, the electronic device may implement the steps shown in fig. 3, and some of the steps in fig. 6a, 6b, 7a, and 7 b.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A remote control method of a boarding bridge is characterized by comprising the following steps:

acquiring a cabin door position of a parked target airplane and a docking bridge position of the boarding bridge;

planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position;

acquiring human-computer interaction information, wherein the human-computer interaction information is generated after an operator performs human-computer interaction operation according to video data, audio data and spatial data, the video data comprises video data inside and outside the boarding bridge, which are acquired by camera equipment on the boarding bridge, the audio data comprises audio data inside and outside the boarding bridge, which are acquired by the camera equipment on the boarding bridge, and the spatial data comprises spatial data obtained by measuring each part of the boarding bridge and the airplane by a spatial sensor on the boarding bridge;

and generating an operation instruction according to the first movement route and the man-machine interaction information so as to control the boarding bridge to abut against a cabin door of the target airplane.

2. The remote control method according to claim 1, wherein the obtaining of the first movement route of the boarding bridge according to the door position and the dock location comprises:

obtaining first aircraft model parameters in a first coordinate system, the first aircraft model parameters including the hatch door position;

obtaining an airport pickup parameter of the boarding bridge in a first coordinate system, wherein the airport pickup parameter comprises a first position of the airport pickup when the boarding bridge is in a bridge parking state;

according to the receiving port parameters and the airplane model parameters in the first coordinate system, a first movement route of a receiving port of a boarding bridge at a first position to a pre-leaning position is planned in the first coordinate system, wherein the pre-leaning position is a first distance right in front of the cabin door position.

3. The remote control method of claim 2, wherein obtaining aircraft model parameters in the first coordinate system comprises:

establishing a first coordinate system and a second coordinate system relative to the ground;

obtaining ground identification parameters of ground identifications in the first coordinate system and the second coordinate system;

acquiring a second aircraft model parameter in a second coordinate system;

and performing coordinate conversion on the second airplane model parameter according to the ground identification parameter to obtain the first airplane model parameter in a first coordinate system.

4. The remote control method according to claim 1, wherein the boarding bridge is in abutment with a hatch of the target aircraft in a mode including:

an automatic abutment mode, a semi-automatic abutment mode, and a manual abutment mode.

5. The remote control method according to claim 1, wherein after the boarding bridge operation interlock signal is released after boarding of the airplane is completed, the remote control method further comprises:

acquiring the current position of the boarding bridge and the position of a target parking bridge;

and generating a bridge parking instruction according to the current position and the target bridge parking position so as to control the boarding bridge to withdraw from the current position to the target bridge parking position.

6. The remote control method according to claim 1, further comprising:

and when the boarding bridge is determined to be in place for the approach connection, generating an approach connection completion indication instruction and sending the instruction to the boarding bridge so as to control an approach connection completion indication device on the boarding bridge to remind a worker on the airplane of the end of the approach connection when the approach connection is finished.

7. The remote control method according to claim 1, further comprising:

identifying and positioning a cabin door of the airplane to obtain identification positioning data;

carrying out laser ranging on the cabin door of the airplane to obtain laser ranging data;

and judging whether the cabin door is in an open or closed state according to the identification positioning data and/or the laser ranging data.

8. The remote control method according to claim 7, further comprising: and generating a safety shoe throwing instruction and sending the safety shoe throwing instruction to the boarding bridge so as to control a safety shoe throwing device on the boarding bridge to throw safety shoes when the boarding bridge is abutted in place and a cabin door is opened.

9. The remote control method according to claim 1, further comprising:

controlling the boarding bridge to send sonar signals and receive echoes of the sonar signals;

and acquiring audio data inside the channel of the boarding bridge and outside the boarding bridge according to the echo.

10. A remote control apparatus for a boarding bridge, characterized in that the remote control apparatus comprises:

the position acquisition unit is used for acquiring the cabin door position of a parked target airplane and the docking bridge position of the boarding bridge;

a route planning unit for planning a first movement route of the boarding bridge according to the cabin door position and the berthing bridge position;

the system comprises an interactive information acquisition unit, a data processing unit and a data processing unit, wherein the interactive information acquisition unit is used for acquiring human-computer interactive information, and the human-computer interactive information is generated after an operator performs human-computer interactive operation according to video data, audio data and spatial data, wherein the video data comprises video data inside and outside the boarding bridge, which are acquired by a camera device on the boarding bridge, the audio data comprises audio data inside and outside the boarding bridge, which are acquired by a camera device on the boarding bridge, and the spatial data comprises spatial data obtained by measuring each part of the boarding bridge and the airplane by a spatial sensor on the boarding bridge;

and the generating unit is used for generating an operation instruction according to the first movement route and the man-machine interaction information so as to control the boarding bridge to abut against a cabin door of the target airplane.

11. A computer-readable storage medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method for remotely controlling a boarding bridge of any one of claims 1 to 9.

12. An electronic device, comprising:

one or more processors;

a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method for remote control of a boarding bridge of any one of claims 1 to 9.