CN103419944B - Air bridge and automatic abutting method therefor - Google Patents
Air bridge and automatic abutting method therefor Download PDFInfo
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- CN103419944B CN103419944B CN201210164965.5A CN201210164965A CN103419944B CN 103419944 B CN103419944 B CN 103419944B CN 201210164965 A CN201210164965 A CN 201210164965A CN 103419944 B CN103419944 B CN 103419944B
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- 230000002708 enhancing effect Effects 0.000 claims description 6
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Abstract
The invention relates to an air bridge and an automatic abutting method therefor. The air bridge comprises an airplane connector, a lifting mechanism, a travelling mechanism and an automatic abutting device. The automatic abutting device comprises an image data acquisition unit, a preprocessing unit, a database, a visual identification and positioning unit, a motion control unit and a bridge control system. When an airplane parks at a parking position and the air bridge automatically abuts at an initial position, the automatic abutting device is started; image data of a hatch door of the airplane, included in the image data acquisition unit, is preprocessed; an image meeting the features of the hatch door of the airplane is recognized from the processed image data; information about the position of the airplane connector relative to the hatch door is calculated; travel control information is generated according to the information about the relative position; the relative position information and the travel control information are encoded and transmitted to the bridge control system; finally, the received information is decoded, the travel control information is executed, and the air bridge is driven to move until automatically abutting to the hatch door.
Description
Technical field
The present invention relates to and a kind ofly possess the connecting bridge that automatically connects aircraft door device and inarching method automatically thereof.
Background technology
Connecting bridge is that airport connects terminal and aircraft so that the instrument that goes on or off the plane of passenger and passage.For different aircraft models, the type of connecting bridge also should have many types mutually, but is at present substantially all operate connecting bridge by professional, realizes docking of connecting bridge and aircraft door.But the guidance panel of connecting bridge can have very big difference because airport requirements is different with mode.Therefore, in order to realize safety, reliably and accurately dock, the stringent technical training of connecting bridge operator need be carried out.Meanwhile, professional operation person affected by its professional technique, operating habit and the factor such as physiology and condition in the mind the operation that connecting bridge docks with aircraft door.
At present, part connecting bridge has had automatically pre-by function, only needing operator to perform some actions can allow connecting bridge automatically run to certain position of setting in advance, this position is generally 1.5 meters of distances of the position that normally picks, and there is error in the actual stop position of aircraft and this stop position set in advance, thus finally these 1.5 meters still need operating personal M/C to complete.Given this, the development of full automaticity connecting bridge seems more and more important.The basic function demand of full automaticity connecting bridge is: when aircraft be docked in a stop position and connecting bridge automatically in advance by after a position, as long as simple operations button, connecting bridge just can be made to follow the trail of the stop position of aircraft, automatically drive towards aircraft direction, realize docking with the full automaticity of aircraft door, intellectuality.
Existing way is below aircraft door, install several special reflective devices, camera and infrared light supply are installed below connecting bridge, Infrared is launched by infrared light supply, again by camera scanning presumptive area, when camera scanning is to the signal reflected by reflective devices below aircraft door, the relative distance of connecting bridge and aircraft door can be gone out according to calculation of parameter known in advance, according to this distance, connecting bridge can be controlled run from trend target location, until complete being abutted against of aircraft door.
But being made with significant limitation like this, the operability that first will install infrared reflective device below the hatch door of each airplane additional is little, and safeguards that monitoring difficulty is also very high; Moreover under airport environment, have and much the equipment of reflected infrared can may cause interference to system; Third, camera imaging system is easily subject to the interference of climatic conditions, and infrared ray is also easily subject to the interference of sleet greasy weather gas.
Summary of the invention
In order to solve the problem of above-mentioned prior art, the object of the present invention is to provide a kind of connecting bridge and automatic inarching method thereof, by installing automatic abutment means on connecting bridge, realizing connecting bridge intellectuality, the full automatic function that picks.
To achieve these goals, the invention provides a kind of connecting bridge, there is front edge of airport pickup port, lifting mechanism and traveling gear, its feature is, described connecting bridge also includes automatic abutment means, for berth when an aircraft to a stop position and this connecting bridge automatically in advance by a reference position time, start automatically be abutted against, described front edge of airport pickup port is abutted against aircraft door to this aircraft automatically by this reference position, and described automatic abutment means at least comprises:
Image data acquiring unit, for gathering the view data comprising aircraft door;
Pretreatment unit, for carrying out pretreatment to the described view data collected, obtains processing rear view data;
Data bank, is stored with the supplemental characteristic of the aircraft door of multiple type;
Visual identification and positioning unit, for in conjunction with the supplemental characteristic of aircraft door corresponding to this aircraft model in described data bank, after described process, view data, identify the figure of the aircraft door of this aircraft, and calculate the relative position information of described front edge of airport pickup port at current location and described aircraft door by vision positioning method;
Motion control unit, for generating Stroke Control information according to described relative position information, and sends to Aerobridge control system after described relative position information and described Stroke Control information being encoded;
Described Aerobridge control system, for decoding to the relative position information after received coding and Stroke Control information, and perform described Stroke Control information, drive this connecting bridge to move until the aircraft door of its front edge of airport pickup port and this aircraft completes automatically is abutted against.
In an embodiment of the present invention, described image data acquiring unit comprises: monocular formula camera, is installed on described front edge of airport pickup port, for comprising the view data of aircraft door described in capturing; Image pick-up card, for gather described monocular formula camera the view data that captures; Secondary light source, for providing secondary light source for described monocular formula camera captures described view data.
In an embodiment of the present invention, described pretreatment unit at least comprises with lower module: filtration module, for carrying out filtering process to collected described view data; Leveling Block, for the collected smoothing process of described view data; Strengthen module, for carrying out enhancing process to collected described view data.
In an embodiment of the present invention, described pretreatment unit at least has following tupe: visible mode, low-light pattern, infrared mode and sleet mist pattern.
In an embodiment of the present invention, described visual identification and positioning unit are also for judging according to described relative position information whether the described current location of described front edge of airport pickup port and the position of described aircraft door have deviation, if bias free, then represent that described front edge of airport pickup port and described aircraft door have been abutted against, if there is deviation, then represent that described front edge of airport pickup port and described aircraft door are abutted against not complete, need continue to drive described connecting bridge to move.
In an embodiment of the present invention, described connecting bridge also has walking anticollision mechanism, and described automatic abutment means also comprises: a remote control center; One Environment Monitor Unit, for remote worker before startup is abutted against automatically, whether the surrounding detecting this connecting bridge has obstacle, described Environment Monitor Unit comprises pick up camera and/or laser light curtain, wherein said pick up camera is arranged on described traveling gear, and described laser light curtain is arranged on described walking anticollision mechanism; Wherein, described Environment Monitor Unit sends enable signal to described remote control center when detecting and not having obstacle around this connecting bridge, is automatically abutted against by abutment means startup automatic described in described remote control center remote activation.
To achieve these goals, the present invention separately provides a kind of automatic inarching method of connecting bridge, described connecting bridge has front edge of airport pickup port, lifting mechanism and traveling gear, its feature is, described connecting bridge also includes automatic abutment means, described automatic abutment means at least comprises image data acquiring unit, pretreatment unit, data bank, store the data bank of the supplemental characteristic of the aircraft door of multiple type, visual identification and positioning unit, motion control unit and Aerobridge control system, described automatic inarching method comprises the following steps:
S1, when aircraft berth to a stop position and this connecting bridge automatically in advance by a reference position time, start described automatic abutment means;
S2, utilize described image data acquiring unit, gather the view data comprising aircraft door;
S3, utilize described pretreatment unit, pretreatment is carried out to described view data, obtains processing rear view data;
S4, utilize described visual identification and positioning unit, in conjunction with the interior supplemental characteristic corresponding to the aircraft door of the type of this aircraft of described data bank, after described process, view data, identify the figure of the aircraft door of this aircraft, and calculate the relative position information of described front edge of airport pickup port at current location and described aircraft door by vision positioning method;
S5, utilize described motion control unit, generate Stroke Control information according to described relative position information, and send to Aerobridge control system after described relative position information and described Stroke Control information being encoded;
S6, utilize described Aerobridge control system, the relative position information after received coding and Stroke Control information are decoded, and performs described Stroke Control information, drive this connecting bridge to move;
S7, repeated execution of steps S2, to step S6, until described front edge of airport pickup port docks with the aircraft door of this aircraft, have been abutted against automatically.
In an alternative embodiment of the invention, described step S2 comprises: utilize the monocular formula camera be arranged on described front edge of airport pickup port, combining image capture card and secondary light source, gather described view data.
In an alternative embodiment of the invention, in step s3, at least comprise the following steps: utilize filtration module, filtering process is carried out to collected described view data; Utilize Leveling Block, to the collected smoothing process of described view data; Utilize and strengthen module, enhancing process is carried out to collected described view data.
In an alternative embodiment of the invention, described pretreatment unit at least has following tupe: visible mode, low-light pattern, infrared mode and sleet mist pattern.
In an alternative embodiment of the invention, also comprise after described step S4: utilize described visual identification and positioning unit, judge according to described relative position information whether the position of the described current and described aircraft door of described front edge of airport pickup port has deviation, if bias free, then represent that described front edge of airport pickup port and described aircraft door have been abutted against, if there is deviation, then represents that described front edge of airport pickup port and described aircraft door are abutted against and do not complete, continue to perform step S5 to step S7.
In an alternative embodiment of the invention, further comprising the steps of before startup is abutted against automatically: to utilize an Environment Monitor Unit, whether the surrounding detecting this connecting bridge has obstacle, described Environment Monitor Unit sends enable signal to remote control center when detecting and not having obstacle around this connecting bridge, and remote worker activates described automatic abutment means and starts and be automatically abutted against after receiving this enable signal.
As seen from the above embodiment, the present invention by arranging image data acquiring unit on the front edge of airport pickup port of connecting bridge, such as monocular formula camera, gather the view data comprising aircraft door, and obtain the relative position information between front edge of airport pickup port and aircraft door by visual identification and location technology, and then Stroke Control information can be generated according to relevant relative position information, control connecting bridge motion by associated row process control information, dock until its front edge of airport pickup port completes with aircraft door.Therefore, the present invention without the need to installing infrared reflective device additional on the hatch door of each airplane, thus effectively avoids airfield equipment because of the equipment of reflected infrared, system to be caused to the problem of interference, safeguards that monitoring is simple.In addition, the present invention carries out pretreatment by pretreatment unit to collected image, also effectively can avoid the interference of various climatic conditions.
The present invention is directed to the actual demand of airport to full automaticity connecting bridge, adopt vision location technology to set up the intelligent information perception of connecting bridge, process and control system, realize connecting bridge intellectuality, the full automatic function that picks, also there is following advantage:
1. effectively can obtain aircraft profile and hatch door graphicinformation by image data acquiring unit, and set up multistage vision location and feature point detection and tracking by vision positioning method, intellectuality can be realized, full automaticly to pick.
2. do not need to do any special processing to aircraft door, namely do not need to add any sign or sensing device, the automatic and intellectuality that can realize connecting bridge and aircraft door by means of only image data acquiring unit (such as monocular formula camera) is located.
3. can improve the efficiency of boarding bridge pickup, strengthen the convenience that goes on or off the plane of passenger and ageing.
4. eliminate manually-operated uncertainty, the precision that raising connecting bridge docks with aircraft door and reliability.
5. eliminate manually-operated subjectivity and experience limitation, the objectivity that raising connecting bridge docks with aircraft door and normalization.
6., by aircraft model prior imformation and airport environment priori, improve the intelligent level of connecting bridge.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the principle of measurement figure that the present invention utilizes the monocular visual positioning method of monocular camera;
Fig. 2 is the high-level schematic functional block diagram of the automatic abutment means of connecting bridge of the present invention;
Fig. 3 is the schematic flow sheet of a preferred embodiment of the automatic inarching method of connecting bridge of the present invention;
Fig. 4 A to Fig. 4 D is the view that the target of the present invention's front edge of airport pickup port in deviations differentiation process is abutted against position and four kinds of different relative positions of current location;
Fig. 5 is the schematic flow sheet of another preferred embodiment of the automatic inarching method of connecting bridge of the present invention;
Fig. 6 is that the single camera vision system of connecting bridge of the present invention forms schematic diagram.
Detailed description of the invention
As shown in Figure 1, it illustrates the principle of measurement that the present invention utilizes the monocular visual positioning method of monocular formula camera.As shown in Figure 1, known by optical principle, when the distortion ignoring camera, through linear fit, the picture of line segment is also line segment, and object distance V and image distance U, each limit and its imaging are all proportional, that is: U/V=AB/A ' B ', wherein AB represents the length of line segment AB, and A ' B ' represents the length of the picture A ' B ' of line segment AB.If now AB is known, A ' B ' can survey, and image distance U also can survey, and now can ask for object distance V by mathematical method.
The invention provides a kind of connecting bridge, it has front edge of airport pickup port, lifting mechanism, traveling gear, walking anticollision mechanism (prior art) etc.Specifically, this connecting bridge also includes automatic abutment means in the present invention, during for berthing to a stop position when aircraft, starting and being automatically abutted against, described front edge of airport pickup port is abutted against aircraft door to this aircraft automatically by a reference position.
As shown in Figure 2, automatic abutment means of the present invention at least comprises following functions module: image data acquiring unit, pretreatment unit, data bank, visual identification and positioning unit, motion control unit and Aerobridge control system etc.Wherein, described databases contains the supplemental characteristic of the aircraft door of multiple type, and described supplemental characteristic such as can comprise the parameter such as length and width, radian, area, aspect ratio of various aircraft door.
Below in conjunction with Fig. 3, the automatic inarching method of the automatic abutment means of a preferred embodiment of the present invention is described:
Step S1, when aircraft berth to a stop position and connecting bridge automatically in advance by a reference position time, start automatic abutment means.
In the present invention, when aircraft berths to this stop position, connecting bridge can automatically pre-by (automatically pre-by being prior art under instruction, do not repeat them here) arrive an assigned address, this assigned address is the reference position of being automatically abutted against in the present invention, and now the height of connecting bridge and the basic adjusted of end of the bridge angle are to an initial position that picks.Preferably, this reference position is the position that distance aircraft door is about 1.5m ~ 3m.
Step S2, utilize image data acquiring unit, gather the view data comprising aircraft door.
In a preferred embodiment of the present invention, mainly utilize monocular formula camera, combining image capture card and secondary light source, gather described view data.Wherein, described monocular formula camera is installed on described front edge of airport pickup port, for capturing the view data comprising aircraft door.Described image pick-up card then for gather described monocular formula camera the view data that captures.Described secondary light source is then for providing secondary light source for described monocular formula camera captures described view data.When connecting bridge moves to described reference position, front edge of airport pickup port aims at aircraft door substantially, and described monocular formula collected by camera comprises the image of the airframe front portion of aircraft door.
Step S3, utilize pretreatment unit, pretreatment is carried out to described view data, obtains processing rear view data.
In a preferred embodiment of the present invention, described pretreatment unit such as at least can comprise multiple modules such as filtration module, Leveling Block, enhancing module, can respectively in order to carry out the pretreatments such as filtering process, smoothing processing, enhancing process to collected described view data.And, preferably, described pretreatment unit also at least can have multiple tupes such as visible mode, low-light pattern, infrared mode and sleet mist pattern, different pretreatments can be carried out for the view data collected under different weather condition, obtain view data after the process clearly after removing unnecessary noise information.
Step S4, utilize described visual identification and positioning unit, in conjunction with the interior supplemental characteristic corresponding to the aircraft door of this aircraft model of described data bank, after described process, view data, identify the figure of the aircraft door of this aircraft, and calculate the relative position information of described front edge of airport pickup port at current location and described aircraft door by vision positioning method.
In a preferred embodiment of the present invention, described visual identification and positioning unit can include visual identification module and vision locating module.Visual identification module, in conjunction with the supplemental characteristic of aircraft door of type corresponding to this aircraft in described data bank, identifies the figure of the aircraft door of this aircraft after described process view data.Vision locating module is then for calculating the relative position information of described front edge of airport pickup port at current location and described aircraft door by vision positioning method, the principle of wherein said vision positioning method with reference to the principle shown in figure 1, can not repeat them here.
Step S5, utilize described motion control unit, generate Stroke Control information according to described relative position information, and send to Aerobridge control system after described relative position information and described Stroke Control information being encoded.
In a preferred embodiment of the present invention, described motion control unit such as can comprise Stroke Control information generating module, coding module and communication module.Described Stroke Control information generating module can be used for generating Stroke Control information according to described relative position information, and described Stroke Control information such as can comprise the information such as sense of motion, end of the bridge angle, end of the bridge height, body of a bridge angle, stepping length and running velocity.Described coding module can be used for described relative position information and described Stroke Control information to encode.Described communication module is used for the relative position information after by coding and Stroke Control information, sends to Aerobridge control system.
In the present invention, according to the relative position information of front edge of airport pickup port, the instruction of corresponding connecting bridge Stroke Control can be generated.Incorporated by reference to reference to figure 4A to Fig. 4 D, in three-dimensional system of coordinate, X-axis represents the right position of front edge of airport pickup port, Y-axis represents the front and back position of front edge of airport pickup port, Z axis represents the height and position of front edge of airport pickup port, and thick dashed line A be positioned at X-axis positive axis position on and one end overlap with initial point, its target representing front edge of airport pickup port be abutted against position (target be abutted against position such as with aircraft door base for reference data, and be parallel to aircraft door base), heavy line B then represents the current location of front edge of airport pickup port.Wherein, when heavy line B and X-axis angled time, represent to there is angle between front edge of airport pickup port and hatch door; When heavy line B is parallel with X-axis, represent to there is not angle between front edge of airport pickup port and hatch door; When heavy line B correspondence is positioned at the positive shaft portion side of X-axis, represent that front edge of airport pickup port is to the right relative to hatch door, otherwise, represent to the left; When heavy line B correspondence is positioned at the positive shaft portion side of Y-axis, represent that front edge of airport pickup port is positioned at hatch door front, otherwise, represent and be positioned at rear; When heavy line B correspondence is positioned at the positive shaft portion side of Z axis, represent that front edge of airport pickup port is higher relative to hatch door, otherwise, represent on the low side.In Figure 4 A, described heavy line B be positioned at the positive shaft portion of X-axis, the positive shaft portion of Y-axis and the positive shaft portion of Z axis form space and angled with X-axis, the front edge of airport pickup port of state representation shown in it is positioned at hatch door front, away from hatch door, highly higher and position is to the right, there is angle, the instruction that now should generate is: connecting bridge declines, connecting bridge advances, and connecting bridge end of the bridge turns left.In figure 4b, described heavy line B be positioned at the positive shaft portion of X-axis, the positive shaft portion of Y-axis and Z axis bear shaft portion form space and parallel with X-axis, the front edge of airport pickup port of state representation shown in it is positioned at hatch door front and there is not angle with hatch door, but it is highly on the low side and position is to the right, distant, the instruction that now should generate is: connecting bridge rises, and connecting bridge advances.In figure 4 c, heavy line B is positioned at plane that the positive shaft portion of X-axis and the positive shaft portion of Y-axis form and parallel with X-axis, and one end of heavy line B is positioned on the positive shaft portion of Y-axis, the front edge of airport pickup port of state representation shown in it is positioned at hatch door front, and it is consistent with the height of hatch door, angle is consistent, and distance is also very near, and the instruction that now should generate is: connecting bridge ease ahead.In fig. 4d, heavy line B overlaps with thick dashed line A, and the front edge of airport pickup port of state representation shown in it docks completely with hatch door.
Step S6, utilize described Aerobridge control system, the relative position information after received coding and Stroke Control information are decoded, and performs described Stroke Control information, drive this connecting bridge to move.
Step S7, repeated execution of steps S2, to step S6, until described front edge of airport pickup port docks with the aircraft door of this aircraft, have been abutted against automatically.
In the present invention, after Aerobridge control system receives relevant information, it decoded and performs corresponding Stroke Control information, driving connecting bridge motion until complete and be abutted against task.
In another preferred embodiment of the present invention, in conjunction with reference to figure 2, Fig. 5, described visual identification and positioning unit also can comprise deviations and calculate and discrimination module, for judging according to described relative position information whether the current location of front edge of airport pickup port and the position of aircraft door have deviation, if bias free, then represent that front edge of airport pickup port and aircraft door have been abutted against, if there is deviation, then represent that front edge of airport pickup port and aircraft door are abutted against not complete, need continue to drive connecting bridge motion, namely continue to perform step S5 to step S7, dock until front edge of airport pickup port completes with aircraft door.
In the another preferred embodiment of the present invention, in conjunction with reference to figure 2, Fig. 5, described automatic abutment means also can comprise remote control center and Environment Monitor Unit.Wherein, described Environment Monitor Unit can be used for remote worker before startup is abutted against automatically, and whether the surrounding detecting this connecting bridge has obstacle.In the present invention, described Environment Monitor Unit such as can comprise pick up camera and/or laser light curtain, and wherein said pick up camera can be arranged on described traveling gear, and described laser light curtain can be arranged on described walking anticollision mechanism.When described Environment Monitor Unit detect there is no obstacle around this connecting bridge time, an enable signal can be sent to described remote control center, by abutment means automatic described in described remote control center remote activation, automatically be abutted against to start.
As shown in Figure 6, show single camera vision system of the present invention to form, in an embodiment of the present invention, pretreatment unit shown in Fig. 2, visual identification and positioning unit such as can be incorporated in a vision system computing machine, data bank in Fig. 2 also can be integrated in this vision system computing machine in the lump, motion control unit in Fig. 2 can be incorporated in a control system computing machine, and monocular formula camera can be arranged on front edge of airport pickup port, and Aerobridge control system is then connected with this control system compunication.In other embodiments, also each unit described in Fig. 2 can be integrated into an industrial computer or embedded system, these are not as limitation of the present invention.
As seen from the above embodiment, the present invention by arranging image data acquiring unit on the front edge of airport pickup port of connecting bridge, such as monocular formula camera, gather the view data comprising aircraft door, and obtain the relative position information between front edge of airport pickup port and aircraft door by visual identification and location technology, and then Stroke Control information can be generated according to relevant relative position information, control connecting bridge motion by associated row process control information, dock until its front edge of airport pickup port completes with aircraft door.Therefore, the present invention without the need to installing infrared reflective device additional on the hatch door of each airplane, thus effectively avoids airfield equipment because of the equipment of reflected infrared, system to be caused to the problem of interference, safeguards that monitoring is simple.In addition, the present invention carries out pretreatment by pretreatment unit to collected image, also effectively can avoid the interference of various climatic conditions.
The present invention is directed to the connecting bridge of aircraft is abutted against on airport actual demand to full automaticity, adopt vision location technology to set up the intelligent information perception of connecting bridge, process and control system, realize connecting bridge intellectuality, the full automatic function that picks, also there is following advantage:
1. effectively can obtain aircraft profile and hatch door graphicinformation by image data acquiring unit, and set up multistage vision location and feature point detection and tracking by vision positioning method, intellectuality can be realized, full automaticly to pick.
2. do not need to do any special processing to aircraft door, namely do not need to add any sign or sensing device, the automatic and intellectuality that can realize connecting bridge and aircraft door by means of only image data acquiring unit (such as monocular formula camera) is located.
3. can improve the efficiency of boarding bridge pickup, strengthen the convenience that goes on or off the plane of passenger and ageing.
4. eliminate manually-operated uncertainty, the precision that raising connecting bridge docks with aircraft door and reliability.
5. eliminate manually-operated subjectivity and experience limitation, the objectivity that raising connecting bridge docks with aircraft door and normalization.
6., by aircraft model prior imformation and airport environment priori, improve the intelligent level of connecting bridge.
Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the present invention.
Claims (10)
1. a connecting bridge, there is front edge of airport pickup port, lifting mechanism and traveling gear, it is characterized in that, described connecting bridge also includes automatic abutment means, for berth when an aircraft to a stop position and this connecting bridge automatically in advance by a reference position time, start and be automatically abutted against, described front edge of airport pickup port is automatically abutted against by this reference position the aircraft door to this aircraft, described automatic abutment means at least comprises:
Image data acquiring unit, for gathering the view data comprising aircraft door;
Pretreatment unit, for carrying out pretreatment to the described view data collected, obtains processing rear view data;
Data bank, is stored with the supplemental characteristic of the aircraft door of multiple type;
Visual identification and positioning unit, for in conjunction with the supplemental characteristic of aircraft door corresponding to this aircraft model in described data bank, after described process, view data, identify the figure of the aircraft door of this aircraft, and calculate the relative position information of described front edge of airport pickup port at current location and described aircraft door by vision positioning method; Described visual identification and positioning unit are also for judging according to described relative position information whether the described current location of described front edge of airport pickup port and the position of described aircraft door have deviation, if bias free, then represent that described front edge of airport pickup port and described aircraft door have been abutted against, if there is deviation, then represent that described front edge of airport pickup port and described aircraft door are abutted against not complete, need continue to drive described connecting bridge to move;
Motion control unit, for generating Stroke Control information according to described relative position information, and sends to Aerobridge control system after described relative position information and described Stroke Control information being encoded;
Described Aerobridge control system, for decoding to the relative position information after received coding and Stroke Control information, and perform described Stroke Control information, drive this connecting bridge to move until the aircraft door of its front edge of airport pickup port and this aircraft completes automatically is abutted against.
2. connecting bridge according to claim 1, is characterized in that, described image data acquiring unit comprises:
Monocular formula camera, is installed on described front edge of airport pickup port, for comprising the view data of aircraft door described in capturing;
Image pick-up card, for gather described monocular formula camera the view data that captures;
Secondary light source, for providing secondary light source for described monocular formula camera captures described view data.
3. connecting bridge according to claim 2, is characterized in that, described pretreatment unit at least comprises with lower module:
Filtration module, for carrying out filtering process to collected described view data;
Leveling Block, for the collected smoothing process of described view data;
Strengthen module, for carrying out enhancing process to collected described view data.
4. connecting bridge according to claim 3, is characterized in that, described pretreatment unit at least has following tupe: visible mode, low-light pattern, infrared mode and sleet mist pattern.
5. the connecting bridge according to claim arbitrary in Claims 1 to 4, is characterized in that, described connecting bridge also has walking anticollision mechanism, and described automatic abutment means also comprises:
One remote control center;
One Environment Monitor Unit, for remote worker before startup is abutted against automatically, whether the surrounding detecting this connecting bridge has obstacle, described Environment Monitor Unit comprises pick up camera and/or laser light curtain, wherein said pick up camera is arranged on described traveling gear, and described laser light curtain is arranged on described walking anticollision mechanism;
Wherein, described Environment Monitor Unit sends enable signal to described remote control center when detecting and not having obstacle around this connecting bridge, is automatically abutted against by abutment means startup automatic described in described remote control center remote activation.
6. the automatic inarching method of a connecting bridge, described connecting bridge has front edge of airport pickup port, lifting mechanism and traveling gear, it is characterized in that, described connecting bridge also includes automatic abutment means, described automatic abutment means at least comprises image data acquiring unit, pretreatment unit, data bank, store the data bank of the supplemental characteristic of the aircraft door of multiple type, visual identification and positioning unit, motion control unit and Aerobridge control system, described automatic inarching method comprises the following steps:
S1, when aircraft berth to a stop position and this connecting bridge automatically in advance by a reference position time, start described automatic abutment means;
S2, utilize described image data acquiring unit, gather the view data comprising aircraft door;
S3, utilize described pretreatment unit, pretreatment is carried out to described view data, obtains processing rear view data;
S4, utilize described visual identification and positioning unit, in conjunction with the interior supplemental characteristic corresponding to the aircraft door of this aircraft model of described data bank, after described process, view data, identify the figure of the aircraft door of this aircraft, and calculate the relative position information of described front edge of airport pickup port at current location and described aircraft door by vision positioning method; Utilize described visual identification and positioning unit, judge whether the described current location of described front edge of airport pickup port and the position of described aircraft door have deviation according to described relative position information, if bias free, then represent that described front edge of airport pickup port and described aircraft door have been abutted against, if there is deviation, then represent that described front edge of airport pickup port and described aircraft door are abutted against not complete, continue to perform step S5 to step S7;
S5, utilize described motion control unit, generate Stroke Control information according to described relative position information, and send to Aerobridge control system after described relative position information and described Stroke Control information being encoded;
S6, utilize described Aerobridge control system, the relative position information after received coding and Stroke Control information are decoded, and performs described Stroke Control information, drive this connecting bridge to move;
S7, repeated execution of steps S2, to step S6, until described front edge of airport pickup port docks with the aircraft door of this aircraft, have been abutted against automatically.
7. the automatic inarching method of connecting bridge according to claim 6, is characterized in that, described step S2 comprises:
Utilize the monocular formula camera be arranged on described front edge of airport pickup port, combining image capture card and secondary light source, gather described view data.
8. the automatic inarching method of connecting bridge according to claim 7, is characterized in that, in step s3, at least comprises the following steps:
Utilize filtration module, filtering process is carried out to collected described view data;
Utilize Leveling Block, to the collected smoothing process of described view data;
Utilize and strengthen module, enhancing process is carried out to collected described view data.
9. the automatic inarching method of connecting bridge according to claim 8, is characterized in that, described pretreatment unit at least has following tupe: visible mode, low-light pattern, infrared mode and sleet mist pattern.
10. the automatic inarching method of the connecting bridge according to claim arbitrary in claim 6 ~ 9, is characterized in that, further comprising the steps of before startup is abutted against automatically:
Utilize an Environment Monitor Unit, whether the surrounding detecting this connecting bridge has obstacle, described Environment Monitor Unit sends enable signal to remote control center when detecting and not having obstacle around this connecting bridge, and remote worker activates described automatic abutment means and starts and be automatically abutted against after receiving this enable signal.
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| CN201210164965.5A CN103419944B (en) | 2012-05-25 | 2012-05-25 | Air bridge and automatic abutting method therefor |
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| CN201210164965.5A CN103419944B (en) | 2012-05-25 | 2012-05-25 | Air bridge and automatic abutting method therefor |
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Effective date of registration: 20210621 Address after: 518103 No.9, Fuyuan 2nd Road, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN CIMC-TIANDA AIRPORT SUPPORT Co.,Ltd. Address before: Four No. four industrial road, Shekou Industrial Zone, Guangdong, Shenzhen 518067, China Patentee before: SHENZHEN CIMC-TIANDA AIRPORT SUPPORT Co.,Ltd. Patentee before: China International Marine Containers (Group) Co.,Ltd. |