CN117163311A - Unmanned boarding bridge guiding docking system and method - Google Patents
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Abstract
Description
技术领域Technical field
本发明涉及无人机登机廊桥对接领域,尤其是涉及一种无人登机廊桥引导对接系统及方法。The invention relates to the field of unmanned aircraft boarding bridge docking, and in particular to an unmanned aircraft boarding bridge guidance and docking system and method.
背景技术Background technique
目前,登机廊桥的引导对接工作主要由人工完成,即由专业的引桥员根据飞机的型号和停机位,通过视觉判断和手动操作,将登机廊桥与飞机舱门对接。这种方式存在以下缺点:At present, the guidance and docking work of the boarding bridge is mainly done manually, that is, professional bridge guides use visual judgment and manual operation to connect the boarding bridge with the aircraft door according to the model and parking position of the aircraft. This approach has the following disadvantages:
(1)人工引桥需要专业的培训和考核,人力成本较高;(1) Manual approach bridges require professional training and assessment, and the labor cost is high;
(2)人工引桥受天气条件的影响较大,如大雾、夜暗、低能见度等情况下,视觉判断的准确性和可靠性会降低,引桥速度和安全性也会受到影响;(2) The artificial approach bridge is greatly affected by weather conditions, such as heavy fog, night darkness, low visibility, etc., the accuracy and reliability of visual judgment will be reduced, and the speed and safety of the approach bridge will also be affected;
(3)人工引桥容易出现操作失误,如误判飞机型号、停机位、舱门位置等,导致廊桥与飞机或地面设施发生碰撞或错位,造成财产损失或安全事故。(3) Manual approach bridges are prone to operational errors, such as misjudgment of aircraft model, parking space, door position, etc., resulting in collision or misalignment between the bridge and the aircraft or ground facilities, resulting in property damage or safety accidents.
发明内容Contents of the invention
本发明的目的在于提供一种无人登机廊桥引导对接系统及方法,旨在解决无人登机廊桥引导对接。The purpose of the present invention is to provide an unmanned boarding corridor guidance and docking system and method, aiming to solve the problem of unmanned boarding corridor guidance and docking.
本发明提供一种无人登机廊桥引导对接系统,包括:The invention provides an unmanned boarding bridge guidance and docking system, which includes:
飞行器舱门识别模块:设置在登机廊桥本体前端,用于通过多模态传感器采集飞行器舱门信息,将飞行器舱门信息发送到控制模块;Aircraft door identification module: Set at the front end of the boarding bridge body, it is used to collect aircraft door information through multi-modal sensors and send the aircraft door information to the control module;
控制模块,设置在登机廊桥本体内部,用于根据舱门信息动作控制登机廊桥本体进行动作,动作完成后,根据飞行器舱门信息控制登机廊桥本体向飞行器舱门移动,移动到飞行器舱门后进行对接。The control module is installed inside the boarding bridge body and is used to control the boarding bridge body to move according to the door information. After the action is completed, it controls the boarding bridge body to move toward the aircraft door according to the aircraft door information. Arrive at the aircraft door and dock.
本发明还提供一种无人登机廊桥引导对接方法,包括:The invention also provides an unmanned boarding bridge guidance and docking method, which includes:
通过飞行器舱门识别模块中的多模态传感器采集飞行器舱门信息,将飞行器舱门信息发送到控制模块;Collect aircraft door information through the multi-modal sensor in the aircraft door recognition module, and send the aircraft door information to the control module;
控制模块根据舱门信息动作控制登机廊桥本体进行动作,动作完成后,根据飞行器舱门信息控制登机廊桥本体向飞行器舱门移动,移动到飞行器舱门后进行对接。The control module controls the boarding bridge body to move according to the door information. After the action is completed, it controls the boarding bridge body to move to the aircraft door according to the aircraft door information, and then docks after moving to the aircraft door.
本发明实施例还提供一种无人登机廊桥引导对接装置,包括:存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序,所述计算机程序被所述处理器执行时实现上述方法的步骤。An embodiment of the present invention also provides an unmanned boarding bridge guidance and docking device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The computer program is The steps of implementing the above method when the processor is executed.
本发明实施例还提供一种计算机可读存储介质,所述计算机可读存储介质上存储有信息传递的实现程序,所述程序被处理器执行时实现上述方法的步骤。Embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium stores a program for implementing information transfer. When the program is executed by a processor, the steps of the above method are implemented.
采用本发明实施例,可以实现无人登机廊桥引导对接。By adopting the embodiments of the present invention, unmanned boarding bridge guidance and docking can be realized.
上述说明仅是本发明技术方案的概述,为了能够更清楚了解本发明的技术手段,依照说明书的内容予以实施,并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂,以下特举本发明的具体实施方式。The above description is only an overview of the technical solutions of the present invention. In order to have a clearer understanding of the technical means of the present invention, they shall be implemented in accordance with the contents of the description, and in order to make the above and other objects, features and advantages of the present invention more obvious and understandable, the following Specific embodiments of the present invention are specifically mentioned.
附图说明Description of drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案,下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施方式,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1是本发明实施例的无人登机廊桥引导对接系统的示意图;Figure 1 is a schematic diagram of the unmanned boarding bridge guidance and docking system according to an embodiment of the present invention;
图2是本发明实施例的无人登机廊桥引导对接系统的舱门平面示意图。Figure 2 is a schematic plan view of the cabin door of the unmanned boarding bridge guidance and docking system according to the embodiment of the present invention.
具体实施方式Detailed ways
下面将结合实施例对本发明的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solution of the present invention will be described clearly and completely below with reference to the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.
系统实施例System embodiment
根据本发明实施例,提供了一种无人登机廊桥引导对接系统,图1是本发明实施例的无人登机廊桥引导对接系统的示意图,如图1所示,具体包括:According to an embodiment of the present invention, an unmanned boarding bridge guidance and docking system is provided. Figure 1 is a schematic diagram of an unmanned boarding bridge guidance and docking system according to an embodiment of the present invention. As shown in Figure 1, it specifically includes:
飞行器舱门识别模块:设置在登机廊桥本体前端,用于通过多模态传感器采集飞行器舱门信息,将飞行器舱门信息发送到控制模块;Aircraft door identification module: Set at the front end of the boarding bridge body, it is used to collect aircraft door information through multi-modal sensors and send the aircraft door information to the control module;
控制模块,设置在登机廊桥本体内部,用于根据舱门信息动作控制登机廊桥本体进行动作,动作完成后,根据飞行器舱门信息控制登机廊桥本体向飞行器舱门移动,移动到飞行器舱门后进行对接。The control module is installed inside the boarding bridge body and is used to control the boarding bridge body to move according to the door information. After the action is completed, it controls the boarding bridge body to move toward the aircraft door according to the aircraft door information. Arrive at the aircraft door and dock.
飞行器舱门识别模块包括:视觉传感器和激光传感器,视觉传感器具体用于采集舱门图像信息,激光传感器用于采集飞行器距离信息和三维几何信息。The aircraft door recognition module includes: a visual sensor and a laser sensor. The visual sensor is specifically used to collect door image information, and the laser sensor is used to collect aircraft distance information and three-dimensional geometric information.
控制模块具体用于:根据舱门图像信息进行登机廊桥本体的收缩、转向和升降动作,动作完成后,根据快速定位导航算法控制登机廊桥本体向飞行器舱门移动。The control module is specifically used to perform contraction, steering, and lifting actions of the boarding bridge body based on the door image information. After the action is completed, control the boarding bridge body to move toward the aircraft door based on the rapid positioning and navigation algorithm.
所述飞行器舱门识别模块还包括:风刀装置,设置在视觉传感器前方,用于在大雨或大雪情况下通过快速气流吹去镜头前方的附着物。The aircraft door identification module also includes: an air knife device, which is arranged in front of the visual sensor and is used to blow away attachments in front of the lens through rapid airflow in the case of heavy rain or snow.
控制模块具体用于:对舱门图像信息、飞行器距离信息和三维几何信息进行处理,利用模糊识别能力在大雾、夜暗和低能见度条件下识别和定位飞机舱门,并利用激光测量的三维几何特征强化视觉识别和定位的稳定性,定位完成后向飞行器舱门移动。The control module is specifically used to: process door image information, aircraft distance information and three-dimensional geometric information, use fuzzy recognition capabilities to identify and locate aircraft doors in fog, night darkness and low visibility conditions, and use laser-measured three-dimensional Geometric features enhance the stability of visual recognition and positioning. After positioning is completed, it moves toward the aircraft door.
控制模块具体用于:检测分割舱门门缝边缘和踏板,计算舱门踏板处两个特征点的坐标,廊桥通过寻找这两个特征点来完成对接。The control module is specifically used to: detect the edge of the split hatch door seam and the pedal, calculate the coordinates of two feature points at the hatch pedal, and the corridor bridge completes the docking by finding these two feature points.
具体实施方法如下:The specific implementation methods are as follows:
图2是本发明实施例的无人登机廊桥引导对接系统的舱门平面示意图;Figure 2 is a schematic plan view of the cabin door of the unmanned boarding bridge guidance and docking system according to the embodiment of the present invention;
无人登机廊桥引导对接系统,包括:The unmanned boarding bridge guidance and docking system includes:
1、飞机舱门识别模块:设置在登机廊桥本体前端,并与之连接;用于通过多模态传感器融合技术识别并定位飞行器舱门;1. Aircraft door identification module: Set at the front end of the boarding bridge body and connected to it; used to identify and locate aircraft doors through multi-modal sensor fusion technology;
2、控制模块:设置在登机廊桥本体内部,并与之连接;用于根据飞行器识别模块输出的信息控制登机廊桥本体进行伸缩、转向、升降等动作,并通过快速定位导航算法实现从初始位置到目标位置(即飞机舱门)的平稳迅速移动。2. Control module: Set inside the boarding bridge body and connected to it; used to control the boarding bridge body to perform telescopic, steering, lifting and other actions based on the information output by the aircraft identification module, and implemented through a rapid positioning and navigation algorithm Smooth and rapid movement from the initial position to the target position (i.e. the aircraft door).
其中,所述飞行器识别模块包括:Wherein, the aircraft identification module includes:
(1)视觉传感器:包括摄像头、红外摄像头等;用于采集舱门图像信息;(1) Vision sensors: including cameras, infrared cameras, etc.; used to collect door image information;
(2)激光传感器:包括激光测距仪、激光雷达等;用于采集飞机距离信息和三维几何信息;(2) Laser sensors: including laser rangefinders, lidar, etc.; used to collect aircraft distance information and three-dimensional geometric information;
(3)风刀装置:设置在视觉传感器前方;用于在大雨或大雪等情况下通过快速气流吹去镜头前方的附着物,保证视觉传感器的清晰度;(3) Air knife device: Set in front of the visual sensor; used to blow away attachments in front of the lens through rapid airflow in heavy rain or snow to ensure the clarity of the visual sensor;
(4)识别定位算法:用于对视觉传感器和激光传感器采集的信息进行处理,利用模糊识别能力在大雾、夜暗、低能见度等条件下识别和定位飞机舱门,并利用激光测量的三维几何特征强化视觉识别和定位的稳定性;(4) Identification and positioning algorithm: used to process information collected by visual sensors and laser sensors, using fuzzy recognition capabilities to identify and locate aircraft doors in conditions such as fog, darkness, and low visibility, and using three-dimensional laser measurement Geometric features enhance the stability of visual recognition and positioning;
(5)信息输出接口:用于将识别定位算法得到的飞行器舱门的位置和距离信息输出给控制模块。(5) Information output interface: used to output the position and distance information of the aircraft door obtained by the recognition and positioning algorithm to the control module.
所述控制模块包括:The control module includes:
(1)控制器:用于接收飞机识别模块输出的信息,并根据预设的控制策略和快速定位导航算法计算出登机廊桥本体的伸缩、转向、升降等控制信号,并输出给驱动装置;(1) Controller: used to receive the information output by the aircraft identification module, calculate the telescopic, steering, lifting and other control signals of the boarding bridge body based on the preset control strategy and rapid positioning and navigation algorithm, and output them to the driving device ;
(2)驱动装置:包括电机、液压缸等;用于根据控制器输出的控制信号驱动登机廊桥本体进行伸缩、转向、升降等动作;(2) Driving device: including motors, hydraulic cylinders, etc.; used to drive the boarding bridge body to telescope, turn, lift, etc. according to the control signal output by the controller;
(3)传感器:包括编码器、压力传感器等;用于采集登机廊桥本体的实时状态信息,并反馈给控制器。(3) Sensors: including encoders, pressure sensors, etc.; used to collect real-time status information of the boarding bridge body and feed it back to the controller.
2.2无人登机廊桥引导对接方法2.2 Guide and docking method for unmanned boarding bridge
1、启动识别模块,通过视觉传感器和激光传感器采集飞机舱门图像信息、距离信息和三维几何信息;1. Start the recognition module and collect aircraft door image information, distance information and three-dimensional geometric information through visual sensors and laser sensors;
2、启动风刀装置,通过快速气流吹去视觉传感器前方的附着物,保证视觉传感器的清晰度;2. Start the air knife device to blow away the attachments in front of the visual sensor through rapid airflow to ensure the clarity of the visual sensor;
3、启动识别定位算法,对视觉传感器和激光传感器采集的信息进行处理。廊桥引导对接的主要原理是检测分割舱门门缝边缘和踏板,计算舱门踏板处两个特征点的坐标,廊桥通过寻找这两个特征点来完成对接。3. Start the recognition and positioning algorithm to process the information collected by the visual sensor and laser sensor. The main principle of guided docking of the corridor bridge is to detect the edge of the split hatch door seam and the pedal, and calculate the coordinates of two feature points at the hatch pedal. The corridor bridge completes the docking by finding these two feature points.
为保证本系统在大雾、夜暗、低能见度等条件下也能精准对接舱门,使用数据增强算法,生成所有可能会出现的天气情况下的图像数据,将这些数据输入网络模型中进行训练,最后利用模糊识别能力在大雾、夜暗、低能见度等条件下识别和定位飞机舱门。In order to ensure that this system can accurately connect to the hatch under conditions such as heavy fog, darkness, and low visibility, a data enhancement algorithm is used to generate image data under all possible weather conditions, and these data are input into the network model for training. , and finally use fuzzy recognition capabilities to identify and locate aircraft doors in conditions such as fog, darkness, and low visibility.
同时,利用多线激光雷达进行测量,形成飞机的三维点云图,用其测量的三维几何特征强化视觉识别和定位的稳定性;At the same time, multi-line lidar is used for measurement to form a three-dimensional point cloud map of the aircraft, and the measured three-dimensional geometric features are used to enhance the stability of visual recognition and positioning;
4、将识别定位算法得到的飞机舱门的位置和距离信息输出给控制模块;4. Output the position and distance information of the aircraft door obtained by the recognition and positioning algorithm to the control module;
5、启动控制模块,根据预设的控制策略和快速定位导航算法计算出登机廊桥本体的伸缩、转向、升降等控制信号,并输出给驱动装置;5. Start the control module, calculate the telescopic, steering, lifting and other control signals of the boarding corridor bridge body based on the preset control strategy and rapid positioning and navigation algorithm, and output them to the driving device;
6、启动驱动装置,根据控制信号驱动登机廊桥本体进行伸缩、转向、升降等动作,并通过传感器采集登机廊桥本体的实时状态信息,并反馈给控制模块;6. Start the driving device and drive the boarding bridge body to telescopic, turn, lift and other actions according to the control signal, and collect the real-time status information of the boarding bridge body through the sensor and feed it back to the control module;
7、当登机廊桥本体与飞机舱门距离达到预设值时,启动对接模块,通过对接头与飞机舱门进行物理连接,并通过对接检测装置检测对接头与飞机舱门是否正确对接,并给出相应的信号或提示。7. When the distance between the boarding bridge body and the aircraft door reaches the preset value, the docking module is started, the docking joint is physically connected to the aircraft door, and the docking detection device is used to detect whether the docking joint and the aircraft door are correctly docked. And give corresponding signals or prompts.
1、本发明提供了一种无人登机廊桥引导对接系统及其方法,该系统能够在任何天气条件下,利用多模态传感器融合技术实现对飞机舱门的快速、准确、稳定地识别和定位,并采用快速定位导航算法,实现从十几米外平稳迅速地引导廊桥靠近飞机舱门,并精准实现对接。该系统能够提高登机廊桥的运行效率和安全性,降低人力成本和操作失误率,并提升旅客服务水平和体验。1. The present invention provides an unmanned boarding bridge guidance and docking system and a method thereof. The system can use multi-modal sensor fusion technology to realize rapid, accurate and stable identification of aircraft doors under any weather conditions. and positioning, and adopts a fast positioning and navigation algorithm to smoothly and quickly guide the corridor bridge to the aircraft door from more than ten meters away, and achieve precise docking. This system can improve the operating efficiency and safety of the boarding bridge, reduce labor costs and operational error rates, and improve passenger service levels and experience.
2、本发明设计了可以在大雾、夜暗、低能见度等条件下利用模糊识别能力识别和定位飞机舱门的算法,克服大雾等因素的影响;2. The present invention designs an algorithm that can use fuzzy recognition capabilities to identify and locate aircraft doors in conditions such as heavy fog, dark night, low visibility, etc., to overcome the influence of factors such as heavy fog;
3、本发明设计了针对大雨的风刀方案,快速的风刀可以吹去镜头前附着的大雨和大雪;3. The present invention has designed an air knife solution for heavy rain. The fast air knife can blow away the heavy rain and snow attached in front of the lens;
4、本发明设计了激光和视觉融合的方法,利用激光测量物体的三维几何特征,通过三维几何特征强化视觉识别和定位飞机舱门的稳定性;4. The present invention designs a laser and vision fusion method, using laser to measure the three-dimensional geometric characteristics of objects, and using the three-dimensional geometric characteristics to enhance the stability of visual recognition and positioning of aircraft doors;
5、本发明设计了快速定位导航算法,采用逐帧略检与抽样精检相结合的方法,能够在端侧有限算力上获得较高频率的定位刷新率。5. The present invention designs a fast positioning and navigation algorithm, which adopts a method of combining frame-by-frame skimming and sampling precision inspection, which can obtain a higher frequency positioning refresh rate with limited computing power on the end side.
方法实施例一Method Embodiment 1
根据本发明实施例,提供了一种无人登机廊桥引导对接方法,具体包括:According to an embodiment of the present invention, an unmanned boarding bridge guidance and docking method is provided, which specifically includes:
通过飞行器舱门识别模块中的多模态传感器采集飞行器舱门信息,将飞行器舱门信息发送到控制模块;Collect aircraft door information through the multi-modal sensor in the aircraft door recognition module, and send the aircraft door information to the control module;
控制模块根据舱门信息动作控制登机廊桥本体进行动作,动作完成后,根据飞行器舱门信息控制登机廊桥本体向飞行器舱门移动,移动到飞行器舱门后进行对接。The control module controls the boarding bridge body to move according to the door information. After the action is completed, it controls the boarding bridge body to move to the aircraft door according to the aircraft door information, and then docks after moving to the aircraft door.
所述飞行器舱门识别模块包括:视觉传感器和激光传感器,视觉传感器具体用于采集舱门图像信息,激光传感器用于采集飞行器距离信息和三维几何信息。The aircraft door recognition module includes: a visual sensor and a laser sensor. The visual sensor is specifically used to collect door image information, and the laser sensor is used to collect aircraft distance information and three-dimensional geometric information.
所述控制模块根据舱门信息动作控制登机廊桥本体进行动作,动作完成后,根据飞行器舱门信息控制登机廊桥本体向飞行器舱门移动,移动到飞行器舱门后进行对接具体包括:根据舱门图像信息进行登机廊桥本体的收缩、转向和升降动作,动作完成后,根据快速定位导航算法控制登机廊桥本体向飞行器舱门移动;The control module controls the boarding bridge body to move according to the action of the door information. After the action is completed, it controls the boarding bridge body to move to the aircraft door according to the aircraft door information. After moving to the aircraft door, docking specifically includes: According to the door image information, the boarding bridge body is retracted, turned and lifted. After the action is completed, the boarding bridge body is controlled to move towards the aircraft door according to the rapid positioning and navigation algorithm;
在大雨或大雪情况下,通过风刀装置快速气流吹去镜头前方的附着物;In the case of heavy rain or snow, the fast airflow of the air knife device is used to blow away the attachments in front of the lens;
对舱门图像信息、飞行器距离信息和三维几何信息进行处理,利用模糊识别能力在大雾、夜暗和低能见度条件下识别和定位飞机舱门,并利用激光测量的三维几何特征强化视觉识别和定位的稳定性,定位完成后向飞行器舱门移动,移动到飞行器舱门后进行对接。Process the door image information, aircraft distance information and three-dimensional geometric information, use fuzzy recognition capabilities to identify and locate the aircraft door in fog, night darkness and low visibility conditions, and use the three-dimensional geometric features measured by laser to strengthen visual recognition and For the stability of positioning, after the positioning is completed, move towards the aircraft door and dock after moving to the aircraft door.
移动到飞行器舱门后进行对接具体包括:The details of docking after moving to the aircraft door include:
检测分割舱门门缝边缘和踏板,计算舱门踏板处两个特征点的坐标,廊桥通过寻找这两个特征点来完成对接。Detect the edge of the split hatch door seam and the pedal, and calculate the coordinates of two feature points at the hatch pedal. The corridor bridge completes the docking by finding these two feature points.
本发明实施例是与上述方法实施例对应的系统实施例,各个模块的具体操作可以参照方法实施例的描述进行理解,在此不再赘述。The embodiment of the present invention is a system embodiment corresponding to the above method embodiment. The specific operations of each module can be understood with reference to the description of the method embodiment, and will not be described again here.
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换本发明各实施例技术方案,并不使相应技术方案的本质脱离本方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements of the technical solutions of the various embodiments of the present invention do not deviate from the essence of the corresponding technical solutions. Scope of the program.
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