CN110750101A - Boarding bridge parking position setting method oriented to automatic operation - Google Patents
Boarding bridge parking position setting method oriented to automatic operation Download PDFInfo
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- CN110750101A CN110750101A CN201910982413.7A CN201910982413A CN110750101A CN 110750101 A CN110750101 A CN 110750101A CN 201910982413 A CN201910982413 A CN 201910982413A CN 110750101 A CN110750101 A CN 110750101A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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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
- B64F1/30—Ground or aircraft-carrier-deck installations for embarking or disembarking passengers
- B64F1/305—Bridges extending between terminal building and aircraft, e.g. telescopic, vertically adjustable
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a boarding bridge parking position setting method facing automatic operation, which is characterized in that a Y axis is arranged right in front of the head end of a control room of a boarding bridge, an X axis is arranged in the horizontal plane in the direction vertical to the Y axis, a Z axis is arranged in the direction vertical to the ground, a local coordinate system of the boarding bridge is established, the local coordinate system can use any driving wheel contact point below a control room of the boarding bridge as an original point to calibrate a camera, a scene image containing a parking area is collected by the camera, a target parking position is manually specified on the scene image, the ground coordinate of the target parking position is calculated according to the mapping relation between the image coordinate system and the local coordinate system according to the internal parameters and the external parameters of the camera, and after the boarding bridge reaches the target parking position, the attitude and the height are adjusted according to the standard parking attitude and corresponding airplane cabin door information to reach the. The invention has convenient and intuitive setting of the target parking position without excessive equipment and provides a foundation for the automatic control of the boarding bridge parking.
Description
Technical Field
The invention relates to a boarding bridge parking position setting method for automatic operation.
Background
The boarding bridge is also called an air bridge or an airplane corridor bridge, is a facility in an airport terminal building, extends from a boarding door to an airplane cabin door, and is convenient for passengers to get in and out of a cabin. Under any weather conditions, 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 on a central shaft at a boarding door, 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. The tail end has a control room for controlling the movement of the bridge body, and a bellows is extended outward to closely engage the cabin door, so that the boarding bridge is moved from the waiting position to the cabin door before the passengers are loaded and unloaded, and the bellows is closely engaged with the cabin door, which is called the boarding bridge parking or landing against the boarding bridge. And after the boarding and the alighting and other subsequent processes are finished, the boarding bridge is moved to the original waiting position, namely the boarding bridge is evacuated or the corridor bridge is withdrawn.
At present, the boarding bridge stopping and withdrawing are mainly completed manually by boarding bridge operators in a control room, the boarding bridge operators are combined with visual and handle operations, high operation skills are needed, and the operation process is troublesome.
Although many attempts have been made to achieve automatic docking of boarding bridges, no practical application has been found so far. However, the continuous development of computer vision technology and automation control technology provides possibility for the automation of boarding bridge parking, so that there is a need to develop a practical, reliable and convenient boarding bridge automatic parking technology in due time.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a boarding bridge parking position setting method for automatic operation, which is convenient for setting a parking position and provides a basis for automatic control of boarding bridge parking.
The technical scheme of the invention is as follows: a boarding bridge parking position setting method facing automatic operation is characterized in that a Y axis is arranged right in front of a head end of a control room of a boarding bridge, an X axis is arranged in a horizontal plane in a direction vertical to the Y axis, a Z axis is arranged in a direction vertical to the ground, a local coordinate system of the boarding bridge is established, the local coordinate system can be determined to be original by taking a contact point of any driving wheel below a control room of the boarding bridge as an original point or in other modes convenient to calculate or control, a camera is calibrated, a scene image containing a parking area is collected (shot) by the camera, a target parking position is manually specified on the scene image (image picture), and a ground coordinate (XY plane coordinate) of the target parking position is calculated and obtained according to the following formula:
wherein,
m＝[uv]Tan image coordinate matrix for the target parking position, wherein (u, v) are image coordinate system coordinates for the target parking position,
M＝[xyz]Ta local coordinate matrix for the target parking location, wherein (x, y, z) is the local coordinate system coordinates for the specified target parking location,
(u,v)＝(u0,v0)，(u0,v0) Calibrating the optical center image coordinates of the camera at the moment for the camera;
R＝[RxRyRz]is the attitude angle matrix of the camera, wherein Rx、RyRz, are the pose angles of the camera with respect to the axes of the local coordinate system X, Y, Z, respectively. The attitude angle matrix of the camera may be determined using any of the existing techniques, for example, in the following manner:
R＝R0＝[Rx0Ry0Rz0]，R0camera attitude angle matrix, R, for camera calibration timex0、Ry0、RzoThe attitude angles of the cameras relative to the axes of the local coordinate system X, Y, Z at the time of camera calibration are each,
t is the local coordinate matrix of the camera, and T is [ T ═ T [ [ T ]xTyTz]Wherein (T)x,Ty,Tz) Is the local coordinate system coordinates of the camera. The local coordinate matrix of the camera may be determined using any prior art technique, for example, in the following manner:
Tx＝Tx0，Ty＝Ty0，Tz＝Tz0+(h-h0) Wherein (T)x0,Ty0,Tz0) Coordinates of a local coordinate system of the camera at the time of calibrating the camera, h is the relative height of the boarding bridge or the control room, h0The relative height of the boarding bridge or control room at the moment is calibrated for the camera. The relative height of the bridge or cabin, which is the height of the bridge or cabin relative to the corresponding reference height, can be determined using any known technique, and can be typically collected by a corresponding height sensor, for example.
After the boarding bridge reaches the target parking position, determining a plane azimuth angle for attitude adjustment according to the actual attitude and the standard parking attitude, determining a height difference for front end height adjustment according to corresponding airplane cabin door information, and adjusting a front end angle and a height position according to the plane angle and the height difference to reach the standard parking attitude.
The related working process comprises the following steps: the method comprises the steps that a fixed forward camera is installed above a boarding bridge control room, a camera shooting area covers a boarding bridge parking area, the forward camera can be calibrated in advance to obtain internal parameters (posture, focal length, distortion coefficient and the like) of the forward camera, external parameters of the forward camera are calibrated under a second coordinate system, the height of the forward camera (the control room can be lifted and lowered, so the height is changed) is obtained in real time through a sensor inside the boarding bridge during working, the change of the external parameters (only the height or Z-axis coordinate change) is calculated in real time, the corresponding relation between the image coordinate of the forward camera and the three-dimensional space position is established based on the internal parameters and the external parameters of the forward camera, an operator clicks the expected parking position on an image, a system automatically calculates the parking position of the boarding bridge on the ground, and conditions are provided for automatic parking, the change of the stop position (relative position) can be tracked and monitored/calculated in real time, the stop position is transmitted to the corresponding control and driving device, and the boarding bridge is moved from the waiting position to the stop starting position through the control and driving device. .
The invention has the following technical effects: firstly, the implementation is simple, and only one camera and a simple computing unit need to be additionally arranged; and secondly, the parking position is intuitive, is specified by an operator on the video picture, and the existing target tracking technology can be adopted to continuously track the target parking position in the video image in the boarding bridge moving process until the picture of the video image is dropped off from the target parking position.
The invention does not assume that the accurate position of the airplane is obtained by an automatic means, but is directly specified by an operator based on the field condition, so the invention is also suitable for the movement of the boarding bridge under some special conditions, such as the movement of the boarding bridge to any specified position when no airplane exists, and the like.
The invention utilizes the original height sensor of the boarding bridge or the control room thereof to obtain the movement amount of the camera in the vertical direction, and limits the appointed stop point on the horizontal ground, under the constraint conditions, the image coordinate can be mapped to a unique point in the local coordinate system, thereby overcoming the difficulty of converting the image coordinate into the local coordinate system in the camera movement occasion.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
Detailed Description
Referring to fig. 1, the invention provides a boarding bridge parking position setting method for automatic operation, and the specific implementation steps are as follows.
1) Camera arrangement
The camera can be generally arranged outside the control room of the boarding bridge, such as above the top of the control room, and is fixed relative to the control room, and the horizontal view angle and the pitch angle of the camera are set to ensure that when the boarding bridge is in a waiting area, a video picture shot by the camera can cover a target parking position (area), namely an area where a driving wheel below the control room of the boarding bridge is stopped when parking.
2) Camera calibration
The camera can be calibrated by adopting the prior art, and external parameters such as the position and the posture of the camera and internal parameters such as an optical center and a focal length can be obtained.
Without loss of generality, a local coordinate system is established by taking a contact point of a driving wheel below a boarding bridge control room as an origin (one driving wheel is selected when a plurality of driving wheels exist), taking the right front of the head end of the control room as a Y axis, taking the direction vertical to the Y axis in a horizontal plane as an X axis, and taking the direction vertical to the ground as a Z axis.
Moving a driving wheel for determining the origin of a coordinate system below a control room of the boarding bridge to a known position on the ground, fixing the control room of the boarding bridge at a certain height, reading and recording the height h of the boarding bridge at the moment from a system sensor of the control room0(note that in general, this height is the relative height of a point in the control room).
A calibration plate is placed on the ground on site or calibration points with measurable positions are selected, image coordinates of the points are obtained manually or automatically, and calibration is carried out by adopting a known method to obtain internal parameters and external parameters of the camera.
The internal parameter matrix a is represented by formula (1).
Wherein (u)0,v0) Coordinates representing the optical center of the camera, α and βScale factors of the image coordinates in the horizontal and vertical directions are respectively expressed, and gamma represents a deviation coefficient of the horizontal and vertical axes of the image. For convenience, camera imaging distortion is not considered here, and when it is desired to correct for imaging distortion, it may be according to the corresponding prior art.
The external parameter being the position T of the camera in local coordinates0＝[Tx0Ty0Tz0]And attitude angle R0＝[Rx0Ry0Rz0]。
3) Image coordinates of an image are correlated with the location of a ground point
Since the camera is fixed with respect to the control room, other parameters than the height are not changed while the boarding bridge is moved and lifted. And a height TzCan be obtained by reading the data of the height sensor, i.e.
Tz＝Tz0+(h-h0) (2)
Wherein h is0Initial height, T, of boarding bridge recorded for calibrationz0Is the initial height of the camera during calibration, and h is the current height of the boarding bridge.
Therefore, when the boarding bridge moves and ascends and descends, the external parameter of the camera can be expressed as an attitude angle R ═ R0And a three-dimensional position T, where Tx0,Ty0,Tz0The initial coordinate position of the camera on the X, Y, Z axis is calibrated, so that at any time in the boarding bridge moving machine and lifting process, in a local coordinate system which is constructed by taking the contact point of a driving wheel below a boarding bridge control room as an origin, the internal parameter A, the external parameter attitude angle R and the external parameter three-dimensional space coordinate T of the camera are known or can be obtained by calculation.
The camera image coordinate matrix may be expressed as m ═ uv]TThe three-dimensional point coordinate matrix in the local coordinate system can be expressed as M ═ xyz]TBy adding a new element
And andthe relationship therebetween can be expressed by formula (4).
The ground can be represented as a plane with z equal to 0 in the coordinate system, so that the spatial coordinate [ xy 0] under the constraint of z equal to 0 can be calculated by formula (4) by selecting any pixel point on a given digital image.
4) Boarding bridge parking position setting based on position association
The picture (scene image) of the video of the camera is displayed on an operation panel in front of an operator, the operator moves a cursor to the position of a target pixel point in the picture through a mouse or a direction button, after the selection is clicked, the system calculates the actual position on the ground of the airport apron corresponding to the position of the pixel point according to a formula (4) to be used as the target position of a corresponding driving wheel below a boarding bridge control room, the target position is transmitted to a control system, and the control system finishes the horizontal movement of the boarding bridge through a driving device of the control system.
In addition, according to the relative relationship between the set target parking position (or the actual position when the boarding bridge reaches the target parking position) and the standard parking position of the corresponding airplane, the horizontal azimuth angle corresponding to the boarding bridge when the right front direction of the boarding bridge is perpendicular to the airplane (or the horizontal azimuth angle between the actual position when the boarding bridge reaches the target parking position and the standard parking attitude) can be calculated, and the height of the passenger door can be obtained according to airplane model data provided by the system. And driving a boarding bridge front end rotating device and a lifting device according to the obtained horizontal azimuth angle and the passenger cabin door height.
Through the above operations, the boarding bridge reaches the standard parking attitude at the target parking position, the front end of the boarding bridge is aligned to the cabin door, the height of the boarding bridge is consistent with that of the cabin door, and only a small safe distance is reserved between the front end of the boarding bridge and the cabin door, and the subsequent final parking operation can be easily completed through manual operation or other precise measurement and control means.
The image coordinate system referred to in the present specification means a coordinate system for an image, and includes a so-called image coordinate system and a so-called image coordinate system.
Claims (7)
1. A boarding bridge parking position setting method oriented to automatic operation is characterized in that a local coordinate system of a boarding bridge is established by taking the right front of the head end of a control room of the boarding bridge as a Y axis, the vertical direction of the control room in a horizontal plane and the Y axis as an X axis and the vertical ground direction as a Z axis, a camera is calibrated, a scene image containing a parking area is collected by the camera, a target parking position is manually appointed on the scene image, and the ground coordinate of the target parking position is obtained by calculation according to the following formula:
wherein,
m＝[uv]Tan image coordinate matrix for the target parking position, wherein (u, v) are image coordinate system coordinates for the target parking position,
M＝[xyz]Ta local coordinate matrix for the target parking location, wherein (x, y, z) is the local coordinate system coordinates for the specified target parking location,
R＝[RxRyRz]is the attitude angle matrix of the camera, wherein Rx、Ry、RzRespectively the attitude angles of the cameras relative to the axes of the local coordinate system X, Y, Z,
T＝[TxTyTz]is a local coordinate matrix of the camera, wherein (T)x，Ty，Tz) Is the local coordinate system coordinates of the camera.
2. A method as claimed in claim 1, characterized in that the image coordinates of the optical centre of the camera are determined in accordance with the following:
(u，v)＝(u0，v0)
wherein (u)0，v0) And calibrating the image coordinates of the optical center of the camera at the moment for the camera.
3. The method of claim 1, wherein the camera pose angle matrix is determined according to the following:
R＝R0＝[Rx0Ry0Rz0]
wherein R is0Camera attitude angle matrix, R, for camera calibration timex0、Ry0、RzoThe attitude angles of the cameras relative to the axes of the local coordinate system X, Y, Z at the time of day are calibrated for the cameras, respectively.
4. A method according to claim 1, characterized in that the local coordinate matrix of the camera is determined in accordance with the following way:
Tx＝Tx0，Ty＝Ty0，Tz＝Tz0+(h-h0)
wherein (T)x0，Ty0，Tz0) Calibrating a cameraThe local coordinate system coordinate of the camera at the moment, h is the relative height of the boarding bridge or the control room, h0The relative height of the boarding bridge or control room at the moment is calibrated for the camera.
5. The method according to claim 4, wherein the relative height of the bridge or cabin is collected by a corresponding height sensor, which is the height of the bridge or cabin relative to a corresponding reference height.
6. The method according to any one of claims 1 to 5, wherein the origin of the local coordinate system is set as a contact point of any one of the driving wheels under the control room of the boarding bridge.
7. Method according to any of claims 1 to 5, characterized in that after the boarding bridge has reached the target parking position, the azimuth plane for attitude adjustment is determined from the actual attitude and the standard parking attitude, the altitude difference for front-end altitude adjustment is determined from the corresponding aircraft door information, and the front-end angle and altitude position are adjusted from said angle plane and altitude difference to reach the standard parking attitude.
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Cited By (3)
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| CN112093070A (en) * | 2020-08-20 | 2020-12-18 | 北汽福田汽车股份有限公司 | Automatic docking method and device and vehicle |
| CN112528729A (en) * | 2020-10-19 | 2021-03-19 | 浙江大华技术股份有限公司 | Video-based airplane bridge approach event detection method and device |
| CN113204244A (en) * | 2021-04-23 | 2021-08-03 | 电子科技大学 | Boarding bridge docking method based on positioning navigation |
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| CN112093070A (en) * | 2020-08-20 | 2020-12-18 | 北汽福田汽车股份有限公司 | Automatic docking method and device and vehicle |
| CN112528729A (en) * | 2020-10-19 | 2021-03-19 | 浙江大华技术股份有限公司 | Video-based airplane bridge approach event detection method and device |
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