CN105487092A - Navigation system for airport lounge bridge docking airplane hatch - Google Patents
Navigation system for airport lounge bridge docking airplane hatch Download PDFInfo
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- CN105487092A CN105487092A CN201510979169.0A CN201510979169A CN105487092A CN 105487092 A CN105487092 A CN 105487092A CN 201510979169 A CN201510979169 A CN 201510979169A CN 105487092 A CN105487092 A CN 105487092A
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- airport
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a navigation system for an airport lounge bridge docking an airplane hatch, belonging to the airport lounge bridge docking technology. The navigation system for the airport lounge bridge docking the airplane hatch comprises a navigation main control module (1), a lounge bridge position detection module (2), an airplane position detection module (8), a first satellite positioning antenna (201), a second satellite positioning antenna (202) and a satellite positioning base station (203). The navigation main control module (1) is electrically connected to the lounge bridge position detection module (2) and the airplane position detection module (8); the lounge bridge position detection module (2) is electrically connected to the first satellite positioning antenna (201), the second satellite positioning antenna (202) and the satellite positioning base station (203). Compared with the prior art, the navigation system for the airport lounge bridge docking the airplane hatch is reliable and high in accuracy, and can perform artificial lounge bridge docking and can perform automatic lounge bridge docking. .
Description
Technical field
The invention belongs to shelter bridge docking technique field, airport, in particular, belong to a kind of airport shelter bridge docking aircraft hatch navigational system.
Background technology
Along with China's sustain economic high speed development, air passenger traffic becomes more and more important.And Airport Operation safety and efficiency directly related therewith also more and more comes into one's own.Airport is an important component part in aviation industry, the place of be takeoff and landing, park, safeguarding.The evolution process on airport reflects the evolution of civil aviaton's cause.After civil aviation passenger transport enters the nineties, various places build an airport as emerged rapidly in large numbersBamboo shoots after a spring rain, and the line that newly sets sail is doubled and redoubled, and the passenger of airplane gets more and more.China 147, existing airport, will reach 244 to the year two thousand twenty planning civil airport sum, wherein newly-increased 97, airport.Making these airports normally run safely and efficiently is a very difficult task.
Passenger how can the boarding of safe and convenient, becomes the standard that of inspection airport operation management is important.Nowadays air bridge is stepped on as the passenger that airport is important the equipment of disembarking and is generally adopted on Ge great airport, the world with the advantage of himself.Air bridge, also known as empty bridge or connecting bridge, is called for short shelter bridge below, is the facility in a kind of airport building, extends to aircraft cabin door from landing gate, facilitate passenger to pass in and out cabin.Before air bridge comes out, portable airstair with on high asphalt road, then is climbed up in the necessary walking of passenger and ground, and still in the world, most airports use this kind of boarding method at present, but are all the airparks that can only hold baby plane usually.Under any weather condition, use shelter bridge that passenger can be allowed without the need to exposing to the sun and rain to be convenient to boarding and disembark.
Fig. 3 and Fig. 4 is the structural representation of shelter bridge, shelter bridge comprises rotary extension arm 101, pick platform 401, rotary extension arm comprises movable internal channel 1011 and movable outer tunnel 1012, movable outer tunnel 1012 are sleeved on outside movable internal channel 1011, and the platform 401 that picks is provided with front edge of airport pickup port 4011; Rotary extension arm 101 is hinged and connected with the stationary conduit 301 of terminal, and the platform 401 that picks is hinged and connected with the movable outer tunnel 1012 of rotary extension arm 101.The driven object of the drive system of shelter bridge comprises three motors such as rotary extension arm drive motor, rotary extension arm height control drive motor, the platform that picks rotation adjustment drive motor, is corresponding in turn to the control module of the control module of rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotation adjustment drive motor; Rotary extension arm drive motor controls the rotation of rotary extension arm and flexible, and rotary extension arm height control drive motor controls the lifting of rotary extension arm, and the platform that picks rotates adjustment drive motor and to control to pick the rotation of platform; Aircraft normally realizes docking of shelter bridge and aircraft door by these three motors of shelter bridge operating personnel manual operation after shelter bridge.Rotary extension arm drive motor is connected with the universal wheel below shelter bridge, universal wheel below shelter bridge can rotate around the hinged place of stationary conduit 301 by driven rotary telescopic arm 101, can the movable outer tunnel 1012 of driven rotary telescopic arm 101 at the external extension of movable internal channel 1011.Can rest in when aircraft berth on the standard lines of berth, because airport when aircraft berth is artificial vector aircraft berth, so aircraft can not rest on standard lines completely, aircraft and standard lines are certain to there is certain transverse position error, lengthwise position error and the angular error with standard lines.
The shelter bridge on current domestic and international most of airport is abutted against aircraft door work, is to drive shelter bridge entirely by shelter bridge driver.Mainly come by people exactly because shelter bridge is abutted against, safety and efficiency are all by a great extent based on the quality guiding commander and shelter bridge operator.In July, 2010, STERLING AIRWAYS LTD. of Denmark one airplane causes the air bridge connecting aircraft to start to rise at Malaga of Spain airport unknown cause, aircraft also tilts to tail thereupon, and an emergency braking system starts, but aircraft nose landing gear cannot be stoped to leave ground; This airplane last is just as the attitude of taking off, and prow is steeved, tail declivity; Fortunately airplane tail group does not touch ground, does not cause heavy losses.Within 2005, Guangzhou's Baiyun International Airport one air bridge collapses, and is shut down by the hatch door of South Airways one frame Air Passenger A20200 type aircraft; Before this aircraft prepares upper visitor, cleanup crew is doing main cabin health, and by the inductor by chance rubbish that one bag clears being placed on doorway, main cabin, resultant induction device sends rub-out signal to connecting bridge and causes collision.In Dec, 2007, Shenzhen Airlines B5187 B737-800 type aircraft is implemented in the rear maintenance process of boat on airport, Wuxi, because airport shelter bridge operating personnel operate against regulations, cause on the left of shelter bridge mouth with aircraft door scratching, cause that the guide arm on aircraft door be out of shape, decorative panel breakage on the left of shelter bridge mouth.Air China Co., Ltd.'s in March, 2011 Ningbo CA1854 time, Pekinese flight that flies to is incured loss through delay continuously because " mechanical fault " occurs, and fault is caused by the shelter bridge on airport aircraft door peripheral part of swiping.
Previous example illustrates that these three motors of shelter bridge operating personnel manual operation realize shelter bridge and there are problems with docking of aircraft door, not only needs a large amount of manpowers, aircraft also may be caused artificially to stop error, even human accident can occur; Can shelter bridge driver operation shelter bridge come to aircraft door safely and fast exactly and depend on a lot of human factor by shelter bridge in addition.Docking navigational system based on visual shelter bridge is exactly for above-mentioned safety and efficiency problem, the driving that using advance technology is shelter bridge provides solution, thus reduces personnel cost and because people is behavior and the mistake that causes, improve security, accuracy, and the operational efficiency on airport.
Summary of the invention
The present invention, in order to effectively solve above technical matters, gives a kind of airport shelter bridge docking aircraft hatch navigational system.
A kind of airport of the present invention shelter bridge docking aircraft hatch navigational system, is characterized in that: comprise navigation main control module, shelter bridge position detecting module, aircraft position detection module, the first satellite positioning antennas, the second satellite positioning antennas, satnav base station; Wherein:
Navigation main control module is electrical connected with shelter bridge position detecting module, aircraft position detection module respectively; Shelter bridge position detecting module is electrical connected with the first satellite positioning antennas, the second satellite positioning antennas, satnav base station respectively;
Shelter bridge position detecting module controls the first satellite positioning antennas, the second satellite positioning antennas coordinates with satnav base station the absolute position and the absolute angle that detect shelter bridge in real time jointly;
Aircraft position detection module detect the type of berth aircraft and aircraft stop behind berth with the deviate of shutting down normal place;
The detection signal of navigation main control module to the detection signal of shelter bridge position detecting module and aircraft position detection module processes to obtain the signal of real-time relative position and relative angle between shelter bridge and the final docking location of aircraft door.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: the first satellite positioning antennas is arranged on above the movable outer tunnel of shelter bridge rotary extension arm, and the second satellite positioning antennas is arranged on above front edge of airport pickup port.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: aircraft position detection module and the berth video camera that at least one is arranged at around aircraft berth are electrical connected.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: berth video camera is two.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: also comprise the aircraft shelter bridge difference in height acquisition module be electrical connected with navigation main control module.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: aircraft shelter bridge difference in height acquisition module and the difference in height video camera that at least one is arranged at shelter bridge front edge of airport pickup port place are electrical connected.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: difference in height video camera is two.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: also comprise the shelter bridge height detection module, the plane distance detection module that are electrical connected with navigation main control module.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: shelter bridge height detection module is ultrasonic detection sensor or laser beam detecting sensor, and shelter bridge height detection module installation is in the bottom of the movable outer tunnel of rotary extension arm; Plane distance detection module is ultrasonic detection sensor or laser beam detecting sensor, bottom plane distance detection module front edge of airport pickup port.
According to above-described airport shelter bridge docking aircraft hatch navigational system, preferably: also comprise the shelter bridge manual control module, the shelter bridge automatic control module that are electrical connected with navigation main control module;
The control module of shelter bridge manual control module and rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotate the control module adjusting drive motor and are electrical connected;
The control module of shelter bridge automatic control module and rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotate the control module adjusting drive motor and are electrical connected.
First satellite positioning antennas, the second satellite positioning antennas and satnav base station and shelter bridge position detecting module detect the absolute position of shelter bridge jointly, shelter bridge front edge of airport pickup port aligns the absolute angle in north mutually and the sea level elevation of shelter bridge, and absolute position, absolute angle and sea level elevation are given navigation main control module by shelter bridge position detecting module.Shelter bridge height detection module will detect the height of shelter bridge in real time and result be sent to navigation main control module.Result is sent to navigation main control module by detecting shelter bridge front edge of airport pickup port in real time to the distance of airframe by plane distance detection module.Navigation main control module carries out aggregate analysis process to aforementioned various information and provides the support of optimal route strategy with docking of aircraft for shelter bridge.Because aircraft door height changes a little along with the upper and lower machine of passenger may have, so shelter bridge docks successfully by bridge, aircraft shelter bridge difference in height acquisition module just starts constantly read hatch door real-time status data in real time and give shelter bridge automatic control module until shelter bridge removes bridge.If find in the process, hatch door height change value is greater than setting, and shelter bridge automatic control module then starts rotary extension arm height control drive motor, immediately to make shelter bridge height consistent with cabin door height.
The present invention compared with prior art has dependable performance, accuracy high, both can carry out artificial shelter bridge docking, also can carry out the docking of robotization shelter bridge.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of airport of the present invention shelter bridge docking aircraft hatch navigational system;
Accompanying drawing 2 is schematic flow sheets of airport of the present invention shelter bridge docking aircraft hatch;
Accompanying drawing 3 is structural representations one of shelter bridge in the present invention;
Accompanying drawing 4 is structural representations two of shelter bridge in the present invention;
Accompanying drawing 5 is schematic top plan view of shelter bridge of the present invention;
Accompanying drawing 6 is elevational schematic view of shelter bridge of the present invention.
Embodiment
Fig. 1 is the structural representation of airport of the present invention shelter bridge docking aircraft hatch navigational system; Airport of the present invention shelter bridge docking aircraft hatch navigational system, system comprises navigation main control module 1, shelter bridge position detecting module 2, aircraft shelter bridge difference in height acquisition module 3, shelter bridge height detection module 4, plane distance detection module 5, shelter bridge manual control module 6, shelter bridge automatic control module 7, aircraft position detection module 8.Shelter bridge position detecting module 2, aircraft shelter bridge difference in height acquisition module 3, shelter bridge height detection module 4, plane distance detection module 5, shelter bridge manual control module 6, shelter bridge automatic control module 7, aircraft position detection module 8 are electrical connected with navigation main control module 1.
Shelter bridge success docking machine cabin door, accurately determine that the positional information of shelter bridge and the positional information of aircraft stop are very important in advance, shelter bridge position detecting module 2 detects the positional information of shelter bridge, aircraft position detection module 8 detects the positional information that aircraft is stopped, the aircraft stop position information feed back that the shelter bridge positional information that shelter bridge position detecting module 2 detects and aircraft position detection module 8 detect is to main control module 1, and main control module 1 docks the optimal case route of front edge of airport pickup port according to shelter bridge positional information and aircraft stop position information determination shelter bridge.The differential signal of position between main control module 1, shelter bridge position detecting module 2 and plane distance detection module 5 and shelter bridge height detection module 4 cooperation detection shelter bridge and final docking location, height and relative angle.
Shelter bridge position detecting module 2 is electrical connected with the first satellite positioning antennas 201, second satellite positioning antennas 202, satnav base station 203 respectively, first satellite positioning antennas 201 and the second satellite positioning antennas 202 can carry out wire signal communication with shelter bridge position detecting module 2, and wired or wireless signal communication can be carried out with shelter bridge position detecting module 2 in satnav base station 203.
Satnav base station 203 can be arranged on the position of have no occluder near shelter bridge, first satellite positioning antennas 201 and the second satellite positioning antennas 202 are all navigator fix antennas of contained rover station in shelter bridge position detecting module, satnav base station 203 is fixing, and the first satellite positioning antennas 201 and the second satellite positioning antennas 202 are motions; First satellite positioning antennas 201 is arranged on the ceiling position of the platform 401 that picks or is arranged on the ceiling position of movable outer tunnel in rotary extension arm 101, and the second satellite positioning antennas 202 is arranged on the ceiling position of front edge of airport pickup port 4011 in the platform 401 that picks; First satellite positioning antennas 201 is for detecting the real-time longitude of the rotary extension arm of shelter bridge, latitude and altitude info ination, and the second satellite positioning antennas 202 is for detecting the front edge of airport pickup port angle information of shelter bridge.
This mode that is equipped with of the first satellite positioning antennas 201 and the second satellite positioning antennas 202, satnav base station 203 can ensure that system can accept satellite positioning navigation satellite-signal effectively, first satellite positioning antennas 201 and the second satellite positioning antennas 202 are followed shelter bridge and are revolved by it and carry out in rotary moving centered by heart, and the first satellite positioning antennas 201 and the second satellite positioning antennas 202 acting in conjunction accurately can obtain the physical location of shelter bridge.Satnav base station 203 is arranged on the fixed position place of airport or near airports have no occluder.
First satellite positioning antennas 201 and the second satellite positioning antennas 202 are all centimetre-sized or grade satellite positioning navigation positioning antenna.Because occasion used in the present invention is very special, requirement must very accurately control docking of guarantee shelter bridge and aircraft cabin hatch door to shelter bridge, therefore the first satellite positioning antennas 201 and the second satellite positioning antennas 202 are all at least centimetre-sized or grade satellite positioning navigation positioning antenna, centimetre-sized or grade satellite positioning navigation positioning antenna can ensure the reliability of technical solution of the present invention.
Aircraft position detection module 8 and the berth video camera 801 that at least one is arranged at around aircraft are electrical connected.Berth video camera 801 can be one, two or more, berth video camera 801 is arranged on around the aircraft of berth, the berth video information signal that berth video camera 801 detects in real time aircraft with the type and aircraft of determining berth aircraft stop behind berth with the deviate of shutting down normal place; Aircraft is stopped behind berth and the deviate of shutting down normal place comprises fuselage and standard and shuts down angle between line, the transversal discrepancy of fuselage front-wheel and standard aircraft gate and longitudinal difference, provides gross data support after aircraft stop berth effectively being detected with after the deviate of shutdown normal place by for follow-up shelter bridge docks optimization highway route design.The type of berth aircraft also can be inputted by manual type, and aircraft is stopped and also can be undertaken inputting by manual type with the deviate of shutting down normal place behind berth but inaccurate, loaded down with trivial details and require great effort time-consuming.
Shelter bridge position detecting module 2 controls the first satellite positioning antennas 201, second satellite positioning antennas 202 and jointly coordinates with satnav base station 203 absolute position and absolute angle and sea level elevation of detecting shelter bridge in real time; Aircraft position detection module 8 detect the type of berth aircraft and aircraft stop behind berth with the deviate of shutting down normal place; The detection signal of navigation main control module 1 pair of shelter bridge position detecting module 2 and the detection signal of aircraft position detection module 8 process the signal obtaining relative position and relative angle in real time between shelter bridge and final docking location.
After shelter bridge docks successfully with aircraft door, because aircraft door height changes a little along with the upper and lower machine of passenger may have, so shelter bridge docks successfully by bridge, aircraft shelter bridge difference in height acquisition module 3 just starts constantly read hatch door real-time status data in real time and give shelter bridge automatic control module 7 until shelter bridge removes bridge.If find in the process, hatch door height change value is greater than setting, and shelter bridge automatic control module 7 starts rotary extension arm height control drive motor, immediately to make shelter bridge height consistent with cabin door height.Aircraft shelter bridge difference in height acquisition module 3 and one or two difference in height video cameras 301 are electrical connected, and difference in height video camera 301 is preferably disposed on the upper position place of front edge of airport pickup port, this position again can not blocking therefore can obtain good Detection results by people above aircraft door; If only use a difference in height video camera 301, difference in height video camera 301 is arranged on shelter bridge front edge of airport pickup port position.If only use two difference in height video cameras, 301, two difference in height video cameras 301 to arrange the effect with binocular vision identification symmetrically, can ensure that the vision signal detected is reliable and stable.
Shelter bridge height detection module 4 and plane distance detection module 5 are ultrasonic detection sensor or laser beam detecting sensor.Shelter bridge height detection module 4 and plane distance detection module 5 accurately detect the height of shelter bridge and the distance of aircraft respectively, and the accuracy of detection of ultrasonic detection sensor or laser beam detecting sensor and Detection results can meet the demands completely.
Shelter bridge manual control module 6 can by spacer assembly or directly and the control module of rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotate the control module adjusting drive motor and be electrical connected.If need manually to dock, then only need to start shelter bridge manual control module 6 can complete, manually directly control rotary extension arm drive motor by shelter bridge manual control module 6, rotary extension arm height control drive motor, the platform that picks rotate adjustment drive motor with the final docking location making shelter bridge walk to precompute to complete the docking with aircraft door.Have in shelter bridge manual control module 6 for manually-operated display function screen, manual operation display function screen, to show the current position of shelter bridge and final docking location and the route that should walk and direction in real time, also shows height control direction and numerical value simultaneously.It can be stepper motor that shelter bridge rotatory and extending device drive motor, shelter bridge height control drive motor, shelter bridge rotate adjustment drive motor.The input that the side-play amount of the type of berth aircraft, aircraft and standard parking place and difference in height replace aircraft position detection module 8 can be inputted by shelter bridge manual control module 6.
Shelter bridge automatic control module 7 can by spacer assembly or directly and the control module of rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotate the control module adjusting drive motor and be electrical connected.If need to carry out automatic butt, then only need to start shelter bridge automatic control module 7 can complete, shelter bridge automatic control module 7 directly control rotary extension arm drive motor, rotary extension arm height control drive motor, the platform that picks rotates adjustment drive motor and directly docks to make shelter bridge and aircraft door.It can be stepper motor that shelter bridge rotatory and extending device drive motor, shelter bridge height control drive motor, shelter bridge rotate adjustment drive motor.
Fig. 2 is the schematic flow sheet of the shelter bridge automatic control module of airport of the present invention shelter bridge docking aircraft hatch; Shelter bridge automatic butt control system control flow, after start up system is initially drawn, read the data that navigation processing unit is uploaded, according to related data, shelter bridge rotatory and extending device drive motor, shelter bridge height control drive motor, shelter bridge are rotated to adjustment drive motor and carry out drived control.Wherein the shelter bridge rotation adjustment driving of drive motor and the driving of shelter bridge height control drive motor are undertaken by bridge process at shelter bridge, but need complete before shelter bridge is greater than 1m from plane distance, when the two distance is 1m, above-mentioned two motors are adjusted to the right place not yet, then stop the driving of shelter bridge rotatory and extending device drive motor, after the height of shelter bridge and axial line angular setting put in place, namely continue to drive shelter bridge rotatory and extending device drive motor after shelter bridge alignment machine cabin door, again.Because aircraft cabin door height changes a little along with the upper and lower machine of passenger may have, so shelter bridge is automatically by after bridge success, start constantly to read video processing unit data, until shelter bridge removes bridge.If find in the process, cabin door height change value is greater than setting, starts shelter bridge lift in height motor, makes shelter bridge height change consistent with cabin door height change.
Fig. 3, Fig. 4 are the structural representations of shelter bridge in the present invention, shelter bridge comprises rotary extension arm 101, pick platform 401, rotary extension arm 101 comprises movable internal channel 1011 and movable outer tunnel 1012, movable outer tunnel 1012 are sleeved on outside movable internal channel 1011, and the platform 401 that picks is provided with front edge of airport pickup port 4011; Rotary extension arm 101 is hinged and connected with the stationary conduit 301 of terminal, and the platform 401 that picks is hinged and connected with the movable outer tunnel 1012 of rotary extension arm 101.First satellite positioning antennas 201 is arranged on the ceiling position of the platform 401 that picks or is arranged on the ceiling position of movable outer tunnel in rotary extension arm 101, and the second satellite positioning antennas 202 is arranged on the ceiling position of front edge of airport pickup port 4011 in the platform 401 that picks.
Fig. 5 is the schematic diagram overlooking shelter bridge from top; Fig. 6 is the schematic diagram looking up shelter bridge from below; First satellite positioning antennas 201 and the second satellite positioning antennas 202 are all rover station navigator fix antennas, and satnav base station 203 is fixing, and the first satellite positioning antennas 201 and the second satellite positioning antennas 202 are motions; First satellite positioning antennas 201 is arranged on the ceiling position of the platform 401 that picks or is arranged on the ceiling position of movable outer tunnel in rotary extension arm 101, and the second satellite positioning antennas 202 is arranged on the ceiling position of front edge of airport pickup port 4011 in the platform 401 that picks; First satellite positioning antennas 201 is for detecting the real-time longitude of the rotary extension arm of shelter bridge, latitude and altitude info ination, and the second satellite positioning antennas 202 is for detecting the front edge of airport pickup port angle information of shelter bridge.
Aircraft shelter bridge difference in height acquisition module 3 and one or two difference in height video cameras 301 are electrical connected, difference in height video camera 301 be preferably disposed on front edge of airport pickup port upper position place, this position is above aircraft door therefore can obtain good Detection results; If only use a difference in height video camera 301, difference in height video camera 301 is arranged on shelter bridge front edge of airport pickup port position.If only use two difference in height video cameras, 301, two difference in height video cameras 301 to arrange the effect with binocular vision identification symmetrically, can ensure that the vision signal detected is reliable and stable.
Shelter bridge height detection module 4 and plane distance detection module 5 are separately positioned on pick mesa base and the front edge of airport pickup port lower position of shelter bridge, and the shelter bridge height detection module 4 towards ground and the plane distance detection module 5 towards aircraft accurately detect to the distance of aircraft the pick height of platform and shelter bridge front edge of airport pickup port of shelter bridge respectively.
Claims (10)
1. an airport shelter bridge docking aircraft hatch navigational system, is characterized in that: comprise navigation main control module (1), shelter bridge position detecting module (2), aircraft position detection module (8), the first satellite positioning antennas (201), the second satellite positioning antennas (202), satnav base station (203); Wherein:
Navigation main control module (1) is electrical connected with shelter bridge position detecting module (2), aircraft position detection module (8) respectively; Shelter bridge position detecting module (2) is electrical connected with the first satellite positioning antennas (201), the second satellite positioning antennas (202), satnav base station (203) respectively;
Shelter bridge position detecting module (2) controls the first satellite positioning antennas (201), the second satellite positioning antennas (202) coordinates with satnav base station (203) absolute position and the absolute angle that detect shelter bridge in real time jointly;
Aircraft position detection module (8) detect the type of berth aircraft and aircraft stop behind berth with the deviate of shutting down normal place;
The detection signal of navigation main control module (1) to the detection signal of shelter bridge position detecting module (2) and aircraft position detection module (8) processes to obtain the signal of real-time relative position and relative angle between shelter bridge and the final docking location of aircraft door.
2. airport according to claim 1 shelter bridge docking aircraft hatch navigational system, it is characterized in that: the first satellite positioning antennas (201) is arranged on above the movable outer tunnel of shelter bridge rotary extension arm, and the second satellite positioning antennas (202) is arranged on above front edge of airport pickup port.
3. airport according to claim 1 shelter bridge docking aircraft hatch navigational system, is characterized in that: aircraft position detection module (8) and the berth video camera (801) that at least one is arranged at around aircraft berth are electrical connected.
4. airport according to claim 3 shelter bridge docking aircraft hatch navigational system, is characterized in that: berth video camera (801) is two.
5. airport according to claim 1 shelter bridge docking aircraft hatch navigational system, is characterized in that: also comprise aircraft shelter bridge difference in height acquisition module (3) be electrical connected with navigation main control module (1).
6. airport according to claim 5 shelter bridge docking aircraft hatch navigational system, is characterized in that: the difference in height video camera (301) that aircraft shelter bridge difference in height acquisition module (3) is arranged at shelter bridge front edge of airport pickup port place with at least one is electrical connected.
7. airport according to claim 6 shelter bridge docking aircraft hatch navigational system, is characterized in that: difference in height video camera (301) is two.
8. airport according to claim 1 shelter bridge docking aircraft hatch navigational system, is characterized in that: also comprise the shelter bridge height detection module (4), the plane distance detection module (5) that are electrical connected with navigation main control module (1).
9. airport according to claim 8 shelter bridge docking aircraft hatch navigational system, it is characterized in that: shelter bridge height detection module (4) is ultrasonic detection sensor or laser beam detecting sensor, shelter bridge height detection module (4) is arranged on the bottom of the movable outer tunnel of rotary extension arm; Plane distance detection module (5) is ultrasonic detection sensor or laser beam detecting sensor, and plane distance detection module (5) is arranged on bottom front edge of airport pickup port.
10. airport according to claim 1 shelter bridge docking aircraft hatch navigational system, is characterized in that: also comprise the shelter bridge manual control module (6), the shelter bridge automatic control module (7) that are electrical connected with navigation main control module (1);
The control module of shelter bridge manual control module (6) and rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotate the control module adjusting drive motor and are electrical connected;
The control module of shelter bridge automatic control module (7) and rotary extension arm drive motor, the control module of rotary extension arm height control drive motor, the platform that picks rotate the control module adjusting drive motor and are electrical connected.
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| CN201510979169.0A CN105487092B (en) | 2014-12-30 | 2015-12-23 | Airport shelter bridge docks aircraft hatch navigation system |
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| CN201410836360 | 2014-12-30 | ||
| CN2014108363605 | 2014-12-30 | ||
| CN201510979169.0A CN105487092B (en) | 2014-12-30 | 2015-12-23 | Airport shelter bridge docks aircraft hatch navigation system |
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| CN105487092B CN105487092B (en) | 2018-10-23 |
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| CN106697322A (en) * | 2016-12-09 | 2017-05-24 | 华德宝机械（昆山）有限公司 | Automatic abutting system and method for boarding bridge |
| CN109887343A (en) * | 2019-04-04 | 2019-06-14 | 中国民航科学技术研究院 | It takes to a kind of flight and ensures node automatic collection monitoring system and method |
| CN110047111A (en) * | 2019-04-18 | 2019-07-23 | 中国民航大学 | A kind of airplane parking area shelter bridge butting error measurement method based on stereoscopic vision |
| CN110750101A (en) * | 2019-10-16 | 2020-02-04 | 北京天睿空间科技股份有限公司 | Boarding bridge parking position setting method oriented to automatic operation |
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