CN117163311A - Unmanned boarding bridge guiding docking system and method - Google Patents
Unmanned boarding bridge guiding docking system and method Download PDFInfo
- Publication number
- CN117163311A CN117163311A CN202311117220.8A CN202311117220A CN117163311A CN 117163311 A CN117163311 A CN 117163311A CN 202311117220 A CN202311117220 A CN 202311117220A CN 117163311 A CN117163311 A CN 117163311A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- cabin door
- boarding bridge
- information
- door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims abstract description 9
- 238000004422 calculation algorithm Methods 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 10
- 238000007664 blowing Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000005728 strengthening Methods 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 2
- 230000002708 enhancing effect Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a guiding and docking method and a guiding and docking system for an unmanned boarding bridge, wherein the guiding and docking method comprises the following steps: aircraft door identification module: the boarding bridge body is arranged at the front end of the boarding bridge body and is used for acquiring aircraft cabin door information through a multi-mode sensor and sending the aircraft cabin door information to the control module; the control module is arranged in the boarding bridge body and used for controlling the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door. The invention can realize the guiding butt joint of the unmanned boarding bridge.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle boarding bridge docking, in particular to an unmanned boarding bridge guiding docking system and method.
Background
At present, the guiding and docking work of the boarding bridge is mainly completed manually, namely, a professional bridge approach personnel docks the boarding bridge with an airplane cabin door through visual judgment and manual operation according to the model and the airplane stand of the airplane. This approach has the following disadvantages:
(1) Professional training and assessment are needed for manual approach, and the labor cost is high;
(2) The artificial approach is greatly influenced by weather conditions, such as under the conditions of heavy fog, dark night, low visibility and the like, the accuracy and reliability of visual judgment can be reduced, and the approach speed and safety can be influenced;
(3) The manual approach bridge is easy to have misoperation, such as misjudgment of the model of the airplane, the stand, the position of the cabin door and the like, so that the corridor bridge collides with the airplane or the ground facility or is misplaced, and property loss or safety accidents are caused.
Disclosure of Invention
The invention aims to provide a guiding and docking system and method for an unmanned boarding bridge, and aims to solve the guiding and docking problem of the unmanned boarding bridge.
The invention provides an unmanned boarding bridge guiding docking system, which comprises:
aircraft door identification module: the boarding bridge body is arranged at the front end of the boarding bridge body and is used for acquiring aircraft cabin door information through a multi-mode sensor and sending the aircraft cabin door information to the control module;
the control module is arranged in the boarding bridge body and used for controlling the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door.
The invention also provides a guiding and docking method of the unmanned boarding bridge, which comprises the following steps:
acquiring aircraft door information through a multi-mode sensor in the aircraft door identification module, and sending the aircraft door information to the control module;
the control module controls the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door.
The embodiment of the invention also provides a guiding and docking device of the unmanned boarding bridge, which comprises the following steps: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the method described above.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores an information transmission implementation program, and the program realizes the steps of the method when being executed by a processor.
By adopting the embodiment of the invention, the guiding butt joint of the unmanned boarding bridge can be realized.
The foregoing description is only an overview of the present invention, and is intended to provide a more clear understanding of the technical means of the present invention, as it is embodied in accordance with the present invention, and to make the above and other objects, features and advantages of the present invention more apparent, as it is embodied in the following detailed description of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an unmanned boarding bridge guidance docking system of an embodiment of the present invention;
fig. 2 is a schematic plan view of a hatch of an unmanned boarding pass bridge guidance docking system of an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
System embodiment
According to an embodiment of the present invention, there is provided an unmanned boarding bridge guiding docking system, and fig. 1 is a schematic diagram of the unmanned boarding bridge guiding docking system according to the embodiment of the present invention, as shown in fig. 1, specifically including:
aircraft door identification module: the boarding bridge body is arranged at the front end of the boarding bridge body and is used for acquiring aircraft cabin door information through a multi-mode sensor and sending the aircraft cabin door information to the control module;
the control module is arranged in the boarding bridge body and used for controlling the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door.
The aircraft door identification module comprises: the system comprises a vision sensor and a laser sensor, wherein the vision sensor is particularly used for acquiring cabin door image information, and the laser sensor is used for acquiring aircraft distance information and three-dimensional geometric information.
The control module is specifically used for: and carrying out contraction, steering and lifting actions of the boarding bridge body according to the cabin door image information, and controlling the boarding bridge body to move towards the cabin door of the aircraft according to the rapid positioning navigation algorithm after the actions are completed.
The aircraft door identification module further comprises: the air knife device is arranged in front of the vision sensor and is used for blowing off attachments in front of the lens through rapid air flow under the condition of heavy rain or heavy snow.
The control module is specifically used for: and processing the cabin door image information, the aircraft distance information and the three-dimensional geometric information, identifying and positioning the aircraft cabin door under the conditions of heavy fog, night darkness and low visibility by utilizing the fuzzy identification capability, enhancing the stability of visual identification and positioning by utilizing the three-dimensional geometric features measured by laser, and moving towards the aircraft cabin door after positioning is finished.
The control module is specifically used for: detecting and dividing the edge of a cabin door crack and a pedal, calculating coordinates of two characteristic points at the pedal of the cabin door, and completing butt joint by searching the two characteristic points through a corridor bridge.
The specific implementation method is as follows:
fig. 2 is a schematic plan view of a hatch of an unmanned boarding pass bridge guidance docking system of an embodiment of the present invention;
an unmanned boarding bridge guidance docking system, comprising:
1. an aircraft door identification module: the boarding corridor bridge is arranged at the front end of the boarding corridor bridge body and is connected with the boarding corridor bridge body; for identifying and locating aircraft doors by multimodal sensor fusion techniques;
2. and the control module is used for: the boarding bridge is arranged inside the boarding bridge body and is connected with the boarding bridge body; the boarding bridge body is used for controlling the boarding bridge body to stretch, turn and lift according to the information output by the aircraft identification module, and smooth and rapid movement from the initial position to the target position (namely the aircraft cabin door) is realized through a rapid positioning navigation algorithm.
Wherein the aircraft identification module comprises:
(1) Visual sensor: the camera comprises a camera, an infrared camera and the like; the system is used for collecting cabin door image information;
(2) Laser sensor: including laser rangefinder, lidar, etc.; the method is used for acquiring aircraft distance information and three-dimensional geometric information;
(3) Air knife device: is arranged in front of the vision sensor; the device is used for blowing off attachments in front of the lens through rapid airflow under the conditions of heavy rain or heavy snow and the like, so that the definition of the vision sensor is ensured;
(4) Identifying a positioning algorithm: the method is used for processing information acquired by the vision sensor and the laser sensor, identifying and positioning the aircraft cabin door under the conditions of heavy fog, dark night, low visibility and the like by utilizing the fuzzy identification capability, and strengthening the stability of vision identification and positioning by utilizing the three-dimensional geometric features of laser measurement;
(5) Information output interface: and the position and distance information of the aircraft cabin door, which are obtained by the identification and positioning algorithm, are output to the control module.
The control module includes:
(1) And (3) a controller: the control system is used for receiving information output by the aircraft identification module, calculating control signals of expansion, steering, lifting and the like of the boarding bridge body according to a preset control strategy and a quick positioning navigation algorithm, and outputting the control signals to the driving device;
(2) A driving device: comprises a motor, a hydraulic cylinder and the like; the boarding bridge body is driven to stretch, turn and lift according to the control signal output by the controller;
(3) A sensor: including encoders, pressure sensors, etc.; the system is used for collecting real-time state information of the boarding pass bridge body and feeding the real-time state information back to the controller.
2.2 unmanned boarding bridge guiding and docking method
1. Starting an identification module, and acquiring image information, distance information and three-dimensional geometric information of an aircraft cabin door through a visual sensor and a laser sensor;
2. starting the air knife device, and blowing off attachments in front of the vision sensor through rapid air flow to ensure the definition of the vision sensor;
3. and starting an identification positioning algorithm, and processing information acquired by the visual sensor and the laser sensor. The main principle of the gallery bridge guiding butt joint is to detect and divide the edge of a cabin door crack and a pedal, calculate coordinates of two characteristic points at the pedal of the cabin door, and the gallery bridge finishes the butt joint by searching the two characteristic points.
In order to ensure that the system can accurately butt-joint the cabin doors under the conditions of heavy fog, dark night, low visibility and the like, a data enhancement algorithm is used for generating image data under all possible weather conditions, the data are input into a network model for training, and finally the aircraft cabin doors are identified and positioned under the conditions of heavy fog, dark night, low visibility and the like by utilizing the fuzzy identification capability.
Meanwhile, the multi-line laser radar is used for measurement to form a three-dimensional point cloud picture of the aircraft, and the three-dimensional geometric features measured by the three-dimensional point cloud picture are used for strengthening the visual recognition and positioning stability;
4. the position and distance information of the aircraft cabin door obtained by the identification positioning algorithm is output to a control module;
5. starting a control module, calculating control signals of expansion, steering, lifting and the like of the boarding bridge body according to a preset control strategy and a quick positioning navigation algorithm, and outputting the control signals to a driving device;
6. starting a driving device, driving the boarding bridge body to perform actions such as expansion, steering, lifting and the like according to the control signal, collecting real-time state information of the boarding bridge body through a sensor, and feeding back to a control module;
7. when the distance between the boarding bridge body and the aircraft cabin door reaches a preset value, a docking module is started, the docking module is physically connected with the aircraft cabin door through a docking head, whether the docking head is correctly docked with the aircraft cabin door or not is detected through a docking detection device, and corresponding signals or prompts are given.
1. The invention provides a guiding and docking system and a guiding and docking method for an unmanned boarding bridge, which can realize rapid, accurate and stable identification and positioning of an airplane cabin door by utilizing a multi-mode sensor fusion technology under any weather condition, and realize stable and rapid guiding of the boarding bridge from the outside of ten meters to the position close to the airplane cabin door by adopting a rapid positioning navigation algorithm, and realize accurate docking. The system can improve the operation efficiency and the safety of the boarding bridge, reduce the labor cost and the operation error rate, and improve the service level and the experience of passengers.
2. The invention designs an algorithm for identifying and positioning the aircraft door by utilizing the fuzzy identification capability under the conditions of heavy fog, dark night, low visibility and the like, and overcomes the influence of factors such as heavy fog and the like;
3. the invention designs an air knife scheme aiming at heavy rain, and the fast air knife can blow heavy rain and heavy snow attached in front of a lens;
4. the invention designs a laser and vision fusion method, which utilizes laser to measure the three-dimensional geometric characteristics of an object, and strengthens the stability of vision recognition and positioning of an aircraft cabin door through the three-dimensional geometric characteristics;
5. the invention designs a rapid positioning navigation algorithm, and adopts a method of combining frame-by-frame slight inspection and sampling precise inspection, so that a positioning refresh rate with higher frequency can be obtained on limited calculation force of an end side.
Method embodiment one
According to the embodiment of the invention, an unmanned boarding bridge guiding docking method is provided, which specifically comprises the following steps:
acquiring aircraft door information through a multi-mode sensor in the aircraft door identification module, and sending the aircraft door information to the control module;
the control module controls the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door.
The aircraft door identification module comprises: the system comprises a vision sensor and a laser sensor, wherein the vision sensor is particularly used for acquiring cabin door image information, and the laser sensor is used for acquiring aircraft distance information and three-dimensional geometric information.
The control module controls the boarding bridge body to act according to the cabin door information, after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and after the boarding bridge body moves to the aircraft cabin door, the boarding bridge body is docked specifically comprises: the method comprises the steps of performing shrinkage, steering and lifting actions of a boarding bridge body according to cabin door image information, and controlling the boarding bridge body to move towards an aircraft cabin door according to a rapid positioning navigation algorithm after the actions are completed;
under the condition of heavy rain or heavy snow, the air knife device is used for blowing off attachments in front of the lens in a rapid air flow manner;
and processing the cabin door image information, the aircraft distance information and the three-dimensional geometric information, identifying and positioning the aircraft cabin door under the conditions of heavy fog, dark night and low visibility by utilizing the fuzzy identification capability, strengthening the stability of visual identification and positioning by utilizing the three-dimensional geometric features measured by laser, moving towards the aircraft cabin door after positioning, and docking after moving to the aircraft cabin door.
The butt joint after moving to the aircraft cabin door specifically comprises:
detecting and dividing the edge of a cabin door crack and a pedal, calculating coordinates of two characteristic points at the pedal of the cabin door, and completing butt joint by searching the two characteristic points through a corridor bridge.
The embodiment of the present invention is a system embodiment corresponding to the above method embodiment, and specific operations of each module may be understood by referring to the description of the method embodiment, which is not repeated herein.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; and these modifications or substitutions may be made to the technical solutions of the embodiments of the present invention without departing from the spirit of the corresponding technical solutions.
Claims (10)
1. An unmanned boarding bridge guidance docking system, comprising:
aircraft door identification module: the boarding bridge body is arranged at the front end of the boarding bridge body and is used for acquiring aircraft cabin door information through a multi-mode sensor and sending the aircraft cabin door information to the control module;
the control module is arranged in the boarding bridge body and used for controlling the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door.
2. The system of claim 1, wherein the aircraft door identification module comprises: the system comprises a vision sensor and a laser sensor, wherein the vision sensor is particularly used for acquiring cabin door image information, and the laser sensor is used for acquiring aircraft distance information and three-dimensional geometric information.
3. The system according to claim 2, wherein the control module is specifically configured to: and carrying out contraction, steering and lifting actions of the boarding bridge body according to the cabin door image information, and controlling the boarding bridge body to move towards the cabin door of the aircraft according to the rapid positioning navigation algorithm after the actions are completed.
4. A system according to claim 3, wherein the aircraft door identification module further comprises: the air knife device is arranged in front of the vision sensor and is used for blowing off attachments in front of the lens through rapid air flow under the condition of heavy rain or heavy snow.
5. The system of claim 4, wherein the control module is specifically configured to: and processing the cabin door image information, the aircraft distance information and the three-dimensional geometric information, identifying and positioning the aircraft cabin door under the conditions of heavy fog, night darkness and low visibility by utilizing the fuzzy identification capability, enhancing the stability of visual identification and positioning by utilizing the three-dimensional geometric features measured by laser, and moving towards the aircraft cabin door after positioning is finished.
6. The system of claim 5, wherein the control module is specifically configured to: detecting and dividing the edge of a cabin door crack and a pedal, calculating coordinates of two characteristic points at the pedal of the cabin door, and completing butt joint by searching the two characteristic points through a corridor bridge.
7. The unmanned boarding bridge guiding docking method is characterized by comprising the following steps of:
acquiring aircraft door information through a multi-mode sensor in the aircraft door identification module, and sending the aircraft door information to the control module;
the control module controls the boarding bridge body to act according to the cabin door information, and after the action is finished, the boarding bridge body is controlled to move towards the aircraft cabin door according to the aircraft cabin door information, and the boarding bridge body is butted after moving to the aircraft cabin door.
8. The method of claim 7, wherein the aircraft door identification module comprises: the system comprises a vision sensor and a laser sensor, wherein the vision sensor is particularly used for acquiring cabin door image information, and the laser sensor is used for acquiring aircraft distance information and three-dimensional geometric information.
9. The method of claim 8, wherein the controlling module controls the boarding bridge body to operate according to the door information, and after the operation is completed, controls the boarding bridge body to move towards the aircraft door according to the aircraft door information, and the docking after the movement to the aircraft door specifically comprises: the method comprises the steps of performing shrinkage, steering and lifting actions of a boarding bridge body according to cabin door image information, and controlling the boarding bridge body to move towards an aircraft cabin door according to a rapid positioning navigation algorithm after the actions are completed;
under the condition of heavy rain or heavy snow, the air knife device is used for blowing off attachments in front of the lens in a rapid air flow manner;
and processing the cabin door image information, the aircraft distance information and the three-dimensional geometric information, identifying and positioning the aircraft cabin door under the conditions of heavy fog, dark night and low visibility by utilizing the fuzzy identification capability, strengthening the stability of visual identification and positioning by utilizing the three-dimensional geometric features measured by laser, moving towards the aircraft cabin door after positioning, and docking after moving to the aircraft cabin door.
10. The method according to claim 9, wherein said moving to the aircraft door followed by docking comprises:
detecting and dividing the edge of a cabin door crack and a pedal, calculating coordinates of two characteristic points at the pedal of the cabin door, and completing butt joint by searching the two characteristic points through a corridor bridge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311117220.8A CN117163311A (en) | 2023-08-31 | 2023-08-31 | Unmanned boarding bridge guiding docking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311117220.8A CN117163311A (en) | 2023-08-31 | 2023-08-31 | Unmanned boarding bridge guiding docking system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117163311A true CN117163311A (en) | 2023-12-05 |
Family
ID=88946312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311117220.8A Pending CN117163311A (en) | 2023-08-31 | 2023-08-31 | Unmanned boarding bridge guiding docking system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117163311A (en) |
-
2023
- 2023-08-31 CN CN202311117220.8A patent/CN117163311A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103419944B (en) | Air bridge and automatic abutting method therefor | |
| US11815915B2 (en) | Systems and methods for calibrating vehicular sensors | |
| CN112665556B (en) | Generating a three-dimensional map of a scene using passive and active measurements | |
| CN109800658B (en) | Parking space type online identification and positioning system and method based on neural network | |
| US10260889B2 (en) | Position estimation device and position estimation method | |
| KR102217453B1 (en) | Boarding bridge automatic entrance system | |
| CN108873904B (en) | Unmanned parking method and device for mining vehicle and readable storage medium | |
| CN113791621B (en) | Automatic steering tractor and airplane docking method and system | |
| KR20200044157A (en) | Methods and systems for detecting weather conditions using vehicle onboard sensors | |
| CN114442101B (en) | Vehicle navigation method, device, equipment and medium based on imaging millimeter wave radar | |
| KR20200071959A (en) | Method and Apparatus for Vehicle Detection Using Ladar Sensor and Camera | |
| US20210394782A1 (en) | In-vehicle processing apparatus | |
| KR102373825B1 (en) | Vehicle navigaton switching device for golf course self-driving cars | |
| US20220348211A1 (en) | Method and Assistance Device for Assisting Driving Operation of a Motor Vehicle, and Motor Vehicle | |
| KR20230115622A (en) | boarding bridge autonomous docking apparatus and operation method thereof | |
| CN117163311A (en) | Unmanned boarding bridge guiding docking system and method | |
| CN115407700B (en) | Missile installing vehicle alignment system based on multi-sensor fusion and using method | |
| KR102443142B1 (en) | Steeting control apparatus and method with enhanced lane recognition | |
| CN212828324U (en) | Unmanned vehicle obstacle recognition and detection system based on deep learning | |
| US20210142216A1 (en) | Method of training a machine learning system for an object recognition device | |
| AU2020301543B2 (en) | An airport stand arrangement and method | |
| JP4071412B2 (en) | Parking position display device | |
| CN116022657B (en) | Path planning method and device and crane | |
| US20230367020A1 (en) | Method for Classifying Objects in an Environment of a Vehicle as Objects That Can Be Driven Under or as Objects on the Roadway, Computing Device and Driver Assistance System | |
| CN118149849A (en) | AGV navigation system and method integrating SLAM, reflecting column and contour fitting calculation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |