CN117163311A - Unmanned boarding bridge guiding docking system and method - Google Patents

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

Unmanned boarding bridge guidance and docking system and method

Technical field

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.

Background technique

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) Manual approach bridges require professional training and assessment, and the labor cost is high;

(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) 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.

Contents of the invention

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.

The invention provides an unmanned boarding bridge guidance and docking system, which includes:

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;

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.

The invention also provides an unmanned boarding bridge guidance and docking method, which includes:

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;

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.

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.

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.

By adopting the embodiments of the present invention, unmanned boarding bridge guidance and docking can be realized.

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.

Description of drawings

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.

Figure 1 is a schematic diagram of the unmanned boarding bridge guidance and docking system according to an embodiment of the present invention;

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.

Detailed ways

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.

System embodiment

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:

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;

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.

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.

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.

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.

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.

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.

The specific implementation methods are as follows:

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;

The unmanned boarding bridge guidance and docking system includes:

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. 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).

Wherein, the aircraft identification module includes:

(1) Vision sensors: including cameras, infrared cameras, etc.; used to collect door image information;

(2) Laser sensors: including laser rangefinders, lidar, etc.; used to collect aircraft distance information and three-dimensional geometric information;

(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) 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) 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.

The control module includes:

(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) 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) 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 Guide and docking method for unmanned boarding bridge

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. 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. 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.

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.

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. Output the position and distance information of the aircraft door obtained by the recognition and positioning algorithm to the control module;

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. 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. 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. 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. 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. 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. 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. 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.

Method Embodiment 1

According to an embodiment of the present invention, an unmanned boarding bridge guidance and docking method is provided, which specifically includes:

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;

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.

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.

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;

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;

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.

The details of docking after moving to the aircraft door include:

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.

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.

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.

Claims (10)

1. An unmanned boarding bridge guidance and docking system, which is characterized by including: 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; 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. 2. The system according to claim 1, characterized in that the aircraft door identification 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 3D geometric information. 3. The system according to claim 2, characterized in that the control module is specifically used to: perform contraction, steering and lifting actions of the boarding bridge body according to the door image information, and after the action is completed, perform quick positioning navigation according to The algorithm controls the boarding bridge body to move toward the aircraft door. 4. The system according to claim 3, characterized in that the aircraft door identification module further includes: an air knife device, arranged in front of the visual sensor, used to blow away the front of the lens through rapid airflow in the case of heavy rain or heavy snow. attachments. 5. The system according to claim 4, characterized in that the control module is specifically used to: process cabin door image information, aircraft distance information and three-dimensional geometric information, and use fuzzy recognition capabilities in heavy fog, night darkness and Identify and locate the aircraft door under low visibility conditions, and use the three-dimensional geometric features measured by laser to enhance the stability of visual identification and positioning. After the positioning is completed, it moves to the aircraft door. 6. The system according to claim 5, characterized in that the control module is specifically used to: detect the edge of the split hatch door seam and the pedal, calculate the coordinates of two characteristic points at the hatch pedal, and the corridor bridge searches for these Two feature points to complete the docking. 7. An unmanned boarding bridge guidance and docking method, characterized by including: 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; 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. 8. The method according to claim 7, characterized in that the aircraft door identification 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 3D geometric information. 9. The method according to claim 8, characterized in that the control module controls the boarding bridge body to act according to the action of the cabin door information. After the action is completed, the control module controls the boarding bridge body to move toward the aircraft according to the aircraft door information. Door movement, docking after moving to the aircraft door specifically includes: shrinking, turning and lifting the boarding bridge body based on the door image information. After the action is completed, controlling the direction of the boarding bridge body based on the rapid positioning and navigation algorithm. The aircraft door moves; 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; 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. 10. The method according to claim 9, wherein the docking after moving to the aircraft door specifically includes: 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.