JP2020104585A - Boarding bridge - Google Patents

Abstract

To enable a boarding bridge to follow height change of an entrance of an air vehicle of a connection object, easily without contacting the air vehicle of the connection object.SOLUTION: A boarding bridge 1 includes: a head 5 which may connect to an entrance of an air vehicle which is a connection object; a camera 42 which can image the entrance of the air vehicle; a height position calculation part 20 which calculates a height of a floor of the entrance based on imaging date of the entrance imaged by the camera 42; and a lift driving control part 28 which controls driving of the head 5 based on the height of the floor of the entrance calculated by the height position calculation part 20.SELECTED DRAWING: Figure 3

Description

The present invention relates to a boarding bridge.

In the movable boarding bridge that connects the aircraft and the terminal building, the height of the aircraft changes due to the change in the loading capacity of the aircraft after connecting the entry/exit of the aircraft and the opening of the head of the boarding bridge. .. Therefore, the operator manually adjusts the height, or adjusts the height of the head of the boarding bridge by using a device called an auto leveler that detects a change in the height of the aircraft.

The auto leveler is installed in the head part which is the tip side of the boarding bridge. The auto-leveler is provided with a wheel that comes into direct contact with the aircraft, detects the amount of rotation of the wheel that rotates as the aircraft moves in the vertical direction, and calculates the amount of elevation of the aircraft.

International Publication No. 2018/096773

Since the above-mentioned auto leveler has wheels in contact with the aircraft, it is necessary to have a structure in which an excessive load is not applied to the aircraft from the side of the boarding bridge, and sufficient attention is required when operating the boarding bridge.

The above-mentioned Patent Document 1 describes the use of a laser displacement meter for moving the cab (head) of the boarding bridge to follow the vertical movement of the aircraft. However, it is difficult for the laser displacement meter to distinguish an object to be detected by laser light from other objects or people. Further, the laser displacement meter is easily affected by various conditions such as gloss and cleanliness on the surface of an aircraft or a boarding bridge, weather and installation location (brightness, wetness due to rain, etc.). Therefore, in order to receive the laser light reflected by the object and obtain accurate data, it is necessary to collect a large amount of data such as conducting tests in advance and accumulating data while actually operating it. It takes time.

Further, the change in height due to the change in the payload of the aircraft also occurs when passengers get on and off. However, the technique described in Patent Document 1 is premised on detecting the boarding gate, and passengers passing through the boarding gate block the laser light, so that the boarding gate is actually detected by a laser displacement meter. It is difficult.

The present invention has been made in view of such circumstances, and it is possible to easily realize tracking of a height change of an entrance/exit of a connection target aircraft without contacting the connection target aircraft. The purpose is to provide a boarding bridge.

In order to solve the above problems, the boarding bridge of the present invention adopts the following means.
That is, the boarding bridge according to the present invention includes a head unit connectable to an entrance/exit of an aircraft to be connected, an image capturing unit capable of capturing an image of a predetermined region of the aircraft, and an image capturing of the predetermined region captured by the image capturing unit. A calculation unit that calculates the height of the predetermined region based on the data and a drive control unit that controls the drive of the head unit based on the height of the predetermined region calculated by the calculation unit are provided.

According to this configuration, the head unit can be connected to the entrance/exit of the target aircraft, the imaging unit images the predetermined region, and the imaging data of the predetermined region captured by the imaging unit is acquired. Then, the height of the predetermined region is calculated based on the imaged data of the predetermined region imaged by the imaging unit. Further, the drive of the head unit is controlled based on the calculated height of the predetermined portion. As a result, even if the height of the aircraft changes after the head is connected to the entrance/exit of the target aircraft, the height of the floor of the head can be made to follow the height of the floor of the entrance/exit of the aircraft. You can

In the above invention, the calculating unit calculates the first height of the predetermined region based on the first image data of the predetermined region captured by the image capturing unit, and calculates the first height of the predetermined region based on the first image data. A recording control unit that records the first height of the predetermined portion in a storage unit, and the first height that is recorded in the storage unit and the predetermined portion that is imaged after the first height is recorded. Whether the position change of the predetermined portion that requires the height adjustment of the head portion is generated based on the difference between the second height of the predetermined portion calculated based on the second image pickup data and the predetermined threshold value. A determination unit that determines whether or not the determination unit determines that the position change has occurred, and if the determination unit determines that the position change has occurred, the drive control unit determines whether the first height and the second height of the predetermined portion are satisfied. The drive of the head unit may be controlled based on the difference.

According to this configuration, the predetermined portion of the aircraft is imaged by the imaging unit, the first height of the predetermined portion is calculated based on the first imaging data, and the calculated first height is recorded in the storage unit. .. In addition, after the first height is recorded, the predetermined portion is imaged by the imaging unit, and the second height of the predetermined portion is calculated based on the imaged data. Then, based on a difference between the first height recorded in the storage unit and the second height temporally behind the first height and a predetermined threshold value, the height of the head unit needs to be adjusted for the entrance/exit. It is determined whether or not a position change has occurred. When the determination unit determines that the position of the predetermined portion has changed, the drive of the head unit is controlled based on the calculated difference between the first height and the second height of the predetermined portion.

In the above-mentioned invention, a recording control part which records the 1st image pick-up data of the above-mentioned predetermined part imaged by the above-mentioned image pick-up part in a storage part is further provided, The above-mentioned calculation part and the 1st image pick-up data recorded in the above-mentioned storage part. , The height of the predetermined portion of the first image data and the height of the predetermined portion of the second image data based on the second image data of the predetermined portion imaged after the first image data is recorded. The drive control unit may control the drive of the head unit based on the height difference of the predetermined portion calculated by the calculation unit.

With this configuration, the imaging unit images the predetermined part of the aircraft, and the first imaging data is recorded in the storage unit. In addition, after the first height is recorded, a predetermined portion is imaged by the imaging unit and the second imaging data is acquired. Then, based on the first imaging data and the second imaging data temporally later than the first height recorded in the storage unit, the height of the predetermined area of the first imaging data and the predetermined area of the second imaging data The height difference is calculated. Further, the drive of the head unit is controlled based on the calculated difference in height of the predetermined portion.

In the above invention, based on a difference in height of the predetermined portion calculated by the calculation unit and a predetermined threshold value, whether or not there is a position change of the predetermined portion that requires height adjustment of the head portion. The drive control unit may further control the drive of the head unit when the determination unit determines that the position change has occurred.

According to this configuration, it is determined whether or not the position change of the predetermined portion requiring the height adjustment of the head portion has occurred, based on the difference in height of the predetermined portion calculated by the calculation unit and the predetermined threshold value. To be done. If the determination unit determines that the position of the predetermined portion has changed, the drive of the head unit is controlled.

In the above invention, the image capturing unit can capture the predetermined region of the aircraft and the head unit in the same image, and the calculating unit can capture the predetermined region captured by the image capturing unit. A difference between the height of the predetermined portion and the height of the second predetermined portion of the head portion is calculated on the basis of the second predetermined portion of the head portion, and the height of the predetermined portion and the second portion calculated by the calculation portion are calculated. The determination unit further includes a determination unit that determines whether or not a position change of the predetermined region that requires height adjustment of the head unit occurs based on a difference in height of the predetermined region and a predetermined threshold value. When it is determined that the position change has occurred, the drive control unit determines the head unit based on the difference between the height of the predetermined portion and the height of the second predetermined portion calculated by the calculation unit. May be controlled.

According to this configuration, the predetermined part of the aircraft and the head part are imaged in the same image by the imaging part. Then, the difference between the height of the predetermined part and the second predetermined part of the head part is calculated based on the predetermined part imaged by the imaging part and the second predetermined part of the head part imaged. The second predetermined portion of the head portion is an end portion of the head portion, that is, an edge portion of the head portion that is connected to the entrance/exit of the aircraft, or the vicinity of the edge of the head portion, and the head portion and the entrance/exit of the aircraft. Is captured as an identifiable object in the image as a reference for grasping the relative position of the. Then, based on the difference in height between the predetermined portion calculated by the calculator and the second predetermined portion of the head portion and a predetermined threshold value, is there a change in the position of the entrance/exit that requires height adjustment of the head portion? It is determined whether or not. When the determination unit determines that the position of the predetermined portion has changed, the drive of the head unit is controlled based on the calculated difference in height between the predetermined portion and the second predetermined portion of the head unit.

In the above invention, the predetermined portion may be an entrance/exit of the aircraft, a door provided at a boarding entrance of the aircraft, a window of the aircraft, or a mark provided on the surface of the aircraft.

According to the present invention, it is possible to easily realize tracking of a height change of an entrance/exit of a connection target aircraft without contacting the connection target aircraft.

It is a side view showing a boarding bridge concerning a 1st embodiment of the present invention. It is a longitudinal section showing a boarding bridge concerning a 1st embodiment of the present invention. It is a block diagram showing a boarding bridge concerning a 1st embodiment of the present invention. 3 is a flowchart showing an operation of the boarding bridge according to the first exemplary embodiment of the present invention. 1 is a schematic view showing a floor of a head of a boarding bridge and an entrance/exit of an aircraft according to a first embodiment of the present invention. 7 is a flowchart showing the operation of the boarding bridge according to the modified example of the first embodiment of the present invention. It is a block diagram which shows the boarding bridge which concerns on 2nd Embodiment of this invention. It is a flowchart which shows operation|movement of the boarding bridge which concerns on 2nd Embodiment of this invention. It is a schematic diagram showing a floor of a head of a boarding bridge and an entrance/exit of an aircraft according to a second embodiment of the present invention.

Embodiments according to the present invention will be described below with reference to the drawings.
[First Embodiment]
The boarding bridge 1 according to the first embodiment of the present invention forms a passage for passengers between an airport terminal building and an aircraft, connects the terminal building and the aircraft, and enables a passenger to get on and off directly. To do.
The boarding bridge 1 moves between a standby position for connection preparation before arrival of the aircraft and a connection position when the aircraft is connected.

As shown in FIGS. 1 and 2, the boarding bridge 1 is connected to a rotunda 2 fixed to a fixed bridge leading to the terminal building, and rotatably horizontally and vertically to the rotunda 2. The proximal end tunnel 3 and the distal end side (aircraft side) of the proximal end tunnel 3 are telescopically fitted to the outside of the proximal end tunnel 3 and fixed to the movable distal end tunnel 4 and the distal end portion of the distal end tunnel 4. Head 5 and the like. Inside the rotunda 2, the base end tunnel 3, the tip end tunnel 4 and the head 5 of the boarding bridge 1, a passage for passengers is installed from the rotunda 2 to the head 5.

A fixed leg 6 is fixedly installed on the ground below the rotunda 2. A movable leg 7 is provided on the front end side in the longitudinal direction of the front end tunnel 4. The boarding bridge 1 is supported by fixed legs 6 and movable legs 7. The base tunnel 3, the tip tunnel 4, and the head 5 form a passage portion 40 that can be moved by the movable leg 7. The rotunda 2 may be supported by the terminal building and the fixed leg 6 may not be installed in the lower part.

The cross-sectional area of the hollow portion of the tip tunnel 4 is larger than the cross-sectional area of the base tunnel 3. The tip tunnel 4 moves along the outer peripheral surface of the base tunnel 3. When the tip tunnel 4 moves to the parking side of the aircraft, the entire length of the passage portion 40 extends, and when the tip tunnel 4 moves to the rotunda 2 side, the entire length of the passage portion 40 contracts. The tunnel part of the present invention is not limited to the combination of the two tunnel parts of the proximal end tunnel 3 and the distal end tunnel 4, and may be a structure in which three or more tunnel parts are connected to each other and have a two or more-stage expansion/contraction mechanism. Good.

The base end tunnel 3 is rotatable with respect to the rotunda 2 about a rotation axis provided in the rotunda 2 and parallel to the vertical direction. Therefore, the base end tunnel 3 can rotate in the horizontal plane, for example, in the left-right direction about the rotation axis.

The distal end tunnel 4 moves in the longitudinal direction and the left-right direction of the proximal end tunnel 3 and the distal end tunnel 4 when the traveling drive unit 9 provided on the movable leg 7 drives and the movable leg 7 moves.

The traveling drive unit 9 has wheels 11 driven by a motor and a carriage 12 on which the wheels 11 are installed. As shown in FIG. 2, for example, a pair of two wheels 11 is installed on the carriage 12. .. The two wheels 11 are connected to each other and are capable of turning around a rotation shaft 13 parallel to the vertical direction.

The traveling speed of the traveling drive unit 9 can be adjusted by changing the rotation speed of the wheels 11. The turning angle (steering angle) of the wheel 11 with respect to the lengthwise direction of the tip tunnel 4 is the difference between the rotational speeds of the two wheels 11 and the rotational directions (forward or reverse) of the two wheels 11. Can be adjusted by changing.

The base end tunnel 3 is rotatable about a rotation axis provided in the rotunda 2 and parallel to the horizontal direction. The movable leg 7 is provided with a lift drive unit 14. The elevation drive unit 14 is, for example, a motor and a ball screw, and changes the height of the tip tunnel 4 and the head 5. The height of the movable leg 7 is adjusted by the elevating/lowering drive unit 14, and the base end tunnel 3, the tip end tunnel 4 and the head 5 rotate in the up-down direction about the rotation axis, so that the height of the aircraft is increased. Is tilted accordingly.

In this way, the boarding bridge 1 expands and contracts, and rotates in the left and right directions and the up and down directions about the rotation axis provided in the rotunda 2. Therefore, the boarding bridge 1 may be changed depending on the parking state of the aircraft. Can be properly connected to an aircraft.

The head 5 has an opening formed on the front end side, and the front end side is connected to the entrance/exit of the aircraft. Inside the head 5, an operation panel 41 for starting driving of the traveling drive unit 9 of the boarding bridge 1 and operating the traveling direction (steering angle) of the wheels 11 of the traveling drive unit 9 is provided. There is.

The head 5 is rotatable with respect to the tip tunnel 4 about a rotation axis provided in the head 5 and parallel to the vertical direction. Therefore, the head 5 can rotate in the horizontal plane, for example, in the left-right direction about the rotation axis. The head 5 is provided with a turning drive unit 15. The turning drive unit 15 changes the turning angle of the head 5 with respect to the tip tunnel 4.

Further, the head 5 is provided with an adjustable floor (adjustable floor) 8 and an adjusted floor drive unit 16 (for example, a hydraulic cylinder). The adjustment floor drive unit 16 can drive the adjustment floor 8 to adjust the levelness of the adjustment floor 8. The adjustment floor 8 is, for example, a plate material having a hinge portion oblique to the edge of the opening of the head 5, and by changing the angle of the adjustment floor 8 with respect to the fixed floor of the head 5, the head 5 of the aircraft can be changed. You can adjust the levelness of the floor. The configuration of the adjustment floor 8 is not limited to the above example.

Further, a camera (imaging unit) 42 is installed on the head 5. The camera 42 is installed in, for example, the head 5 and is capable of capturing an image of a predetermined part of an aircraft to be connected, such as an entrance/exit. The imaged data of the camera 42 is transmitted to the comprehensive judgment unit 17.

The camera 42 may be an imaging device that acquires a still image or a moving image of two-dimensional data, or may be a stereo camera that can acquire three-dimensional data from image data captured by a plurality of cameras.

The boarding bridge 1 includes a control device 10, as shown in FIG. The control device 10 includes, for example, a comprehensive determination unit 17, a drive control unit 18, a memory 24, and the like. The operation of the control device 10 is implemented by a hardware resource such as a CPU by executing a prerecorded program.

The comprehensive determination unit 17 performs image processing based on the imaged data of the camera 42. Through the image processing, the comprehensive judgment unit 17 distinguishes a predetermined part of the object imaged by the camera 42, for example, an entrance/exit from the other part. This distinguishes the entrance/exit from those other than the entrance/exit such as passengers, and improves the detection accuracy of the entrance/exit. Further, the comprehensive judgment unit 17 calculates the position change in the height direction of the entrance/exit of the aircraft with respect to the head 5 based on the entrance/exit of the aircraft imaged by the camera 42 by image processing, and determines whether or not the position change occurs. To judge.

In addition, the comprehensive determination unit 17 drives the head 5 based on the calculated position change of the head 5 in the height direction, and the opening of the head 5 appropriately follows the entrance/exit of the aircraft, and The drive correction amount of the head 5 is calculated so that the connection with the entrance/exit is maintained. The calculated drive correction amount is sent to the drive control unit 18.

In the case of a stereo camera, the distance between the image pickup target and the stereo camera can be obtained from the parallax between the two lenses. Therefore, the distance between the entrance and exit of the aircraft and the camera 42 can be calculated by image analysis.

In addition, the imaged two-dimensional data is combined with a distance sensor (laser sensor, millimeter wave sensor, etc.) that acquires distance data to the airframe of the aircraft, so that the relative position required for tracking control of the aircraft is three-dimensional data ( It is converted to points on three-dimensional coordinates). Therefore, the converted data is used for tracking control of the aircraft.

The comprehensive judgment unit 17 includes a height position calculation unit 20, a recording control unit 21, a judgment unit 22, and a height position correction unit 23.

As shown in FIG. 5, the height position calculation unit 20 calculates the height position of the floor at the center L1 of the entrance/exit 51 based on the entrance/exit 51 of the aircraft captured by the camera 42. The height position calculation unit 20 calculates the height position of the floor at the start of the automatic leveling, and the recording control unit 21 stores the height position of the floor at the start of the automatic leveling calculated by the height position calculation unit 20. Record at 24. Further, the height position calculation unit 20 calculates the height position of the floor in the current state after the start of the automatic leveling.

Note that the recording control unit 21 may record in the memory 24 the imaged data of the entrance/exit 51 of the aircraft, which is imaged by the camera 42 at the start of the automatic leveling.
In this case, the height position calculation unit 20, as shown in FIG. 5, the imaging data of the entrance/exit 51 of the aircraft at the start of the auto-leveling and the entry/exit of the aircraft imaged by the camera 42 in the current state after the start of the auto-leveling. The height of the floor at the center L1 of the entrance/exit 51 at the start of auto-leveling and the center of the entrance/exit 51 imaged by the camera 42 in the current state after the start of auto-leveling by image processing based on the imaged data of the mouth 51. The difference in floor height position at L1 is calculated.

The determination unit 22 compares the height position of the floor at the start of the automatic leveling recorded in the memory 24 with the height position of the floor in the current state, and if the difference in height exceeds a predetermined threshold value, the height of the head 5 is increased. It is determined that there is a change in the position of the entrance/exit of the aircraft that requires adjustment.

The height position correction unit 23, based on the difference in height calculated by the height position calculation unit 20, the height of the floor at the entrance/exit of the aircraft, which is imaged by the camera 42, and the floor at the opening of the head 5. A correction amount for driving the up-and-down drive unit 14 is calculated so that the height difference falls within a predetermined range.

The drive control unit 18 includes an adjusted floor drive control unit 27, a lift drive control unit 28, a turning drive control unit 29, and a traveling drive control unit 30.

The adjusted floor drive control unit 27 controls driving of the adjusted floor drive unit 16. The adjusted floor drive control unit 27 controls, for example, the start and stop of driving of the adjusted floor drive unit 16 and the drive amount of the adjusted floor drive unit 16. The adjusted floor drive control unit 27 generates a drive signal for driving the adjusted floor drive unit 16.

The adjusted floor drive unit 16 is controlled based on the drive signal generated by the adjusted floor drive control unit 27 to drive the adjusted floor 8.

The elevation drive control unit 28 controls the drive of the elevation drive unit 14. The lifting drive control unit 28 controls, for example, the start and stop of driving of the lifting drive unit 14 and the drive amount of the lifting drive unit 14. The elevation drive control unit 28 generates a drive signal for driving the elevation drive unit 14 based on the correction amount calculated by the height position correction unit 23.

The elevation drive unit 14 is controlled based on the drive signal generated by the elevation drive control unit 28 to drive the movable leg 7. The lift drive unit 14 moves the movable leg 7 to change the height of the floor of the head 5.

The turning drive control unit 29 controls driving of the turning drive unit 15. The turning drive control unit 29 controls, for example, the start and stop of driving of the turning drive unit 15 and the drive amount of the turning drive unit 15. The turning drive control unit 29 generates a drive signal for driving the turning drive unit 15.

The turning drive unit 15 drives the head 5 under the control of the driving signal generated by the turning drive control unit 29.

The traveling drive control unit 30 controls driving of the traveling drive unit 9. The traveling drive control unit 30 controls, for example, the start and stop of driving of the traveling drive unit 9 and the rotation speed and rotation direction of the wheels 11 in the traveling drive unit 9. The traveling drive control unit 30 generates a drive signal for driving the traveling drive unit 9.

The traveling drive unit 9 is controlled based on the drive signal generated by the traveling drive control unit 30 to drive the wheels 11.

Next, a control method for controlling the operation of the boarding bridge 1 according to the present embodiment will be described with reference to FIG.

First, the head 5 moves to the vicinity of the aircraft, the opening of the head 5 is connected to the entrance/exit of the aircraft, and then the loading/unloading of passengers and the loading/unloading of cargo are started. Changes occur. Therefore, automatic leveling control is performed so that the floor height of the head 5 follows changes in the floor height at the entrance/exit of the aircraft.

First, for example, when an input for starting the automatic leveling control is made on the operation panel 41, the camera 42 images the entrance/exit of the aircraft to be connected (step S1). Then, the imaged data of the camera 42 is transmitted to the comprehensive determination unit 17. The imaging of the entrance/exit by the camera 42 and the transmission of the imaging data are continuously performed until the automatic leveling control is completed.

The comprehensive determination unit 17 performs image processing on the imaged data captured by the camera 42.

As shown in FIG. 5, the floor height position at the center L1 of the entrance/exit 51 at the start of the automatic leveling is calculated based on the entrance/exit 51 of the aircraft captured by the camera 42. Then, the calculated height position of the floor at the entrance/exit at the start of the automatic leveling is recorded in the memory 24 (step S2). Further, the height position of the floor of the head 5 at the start of automatic leveling, which is converted from the state of the movable leg 7 detected by the elevation drive control unit 28, is recorded in the memory 24 (step S3).

Then, it is determined whether or not the end operation of the automatic leveling control is performed (step S4), and the following operations are continuously performed until the end operation of the automatic leveling control is performed.

The height position of the floor at the entrance/exit in the current state is continuously calculated based on the entrance/exit of the aircraft imaged by the camera 42 (step S5).

Next, the difference between the height at the start of the auto leveling recorded in the memory 24 and the height of the current state is calculated, and the two are compared to determine whether or not the absolute value of the height difference is within a predetermined range. That is, it is determined whether or not the predetermined threshold is exceeded (step S6). When the absolute value of the height difference is within the predetermined range, the floor height position at the entrance/exit in the current state is continuously calculated.

On the other hand, if the absolute value of the height difference is not within the predetermined range, it is determined that the position change of the entrance/exit of the aircraft, which requires the height adjustment of the head 5, has occurred. Then, based on the calculated difference in height, the difference between the height of the floor at the entrance and exit of the aircraft and the height of the floor at the head 5 falls within a predetermined range, so that A correction amount for driving the up-and-down drive unit 14 is calculated based on the height (step S7).

Next, a drive signal for driving the up-and-down drive unit 14 is generated based on the calculated correction amount. The generated drive signal is transmitted to the lift drive unit 14, and the lift drive unit 14 drives the movable leg 7. As a result, the elevation drive unit 14 that has received the drive signal drives the motor and the ball screw provided on the movable leg 7 to change the height of the head 5 (step S8). For example, if it is determined that the height of the floor at the entrance/exit of the aircraft has risen and the position change of the entrance/exit where the height of the head 5 needs to be adjusted occurs, the head 5 is adjusted to rise. .. Further, when it is determined that the floor height at the entrance/exit of the aircraft is lowered and the position change of the entrance/exit where the height adjustment of the head 5 is required occurs, the head 5 is adjusted to descend. ..

The above operation is continuously performed until the operator performs the operation of ending the automatic leveling control. On the other hand, when the ending operation of the automatic leveling control is performed, the automatic leveling control is ended. Then, the boarding bridge 1 is in a state of waiting for an operation to start the operation of leaving the aircraft.

As described above, according to the present embodiment, the height position of the head 5 is automatically adjusted so as to follow the position change of the entrance/exit of the aircraft, so that the operation of the operator is simplified and the labor is saved. Further, since the control is performed based on the imaged data of the image of the entrance/exit of the aircraft, the auto-leveling control can be performed in a non-contact manner. Further, since the entrance/exit of the aircraft is detected by image processing based on the imaged data, the gloss and cleanliness on the surface of the aircraft and the boarding bridge 1 as well as the weather and the place of installation (brightness, rain, etc. It is difficult to be affected by various conditions such as getting wet), and it is possible to easily detect the position change of the entrance/exit of the aircraft to be connected.

Further, in the above-described embodiment, unlike the second embodiment described later, since it is not necessary to grasp the relative position between the head 5 and the entrance/exit of the aircraft, the aircraft and the head 5 are imaged in the same image by the camera 42. You don't have to.

It should be noted that instead of recording the height calculated based on the imaged data of the entrance/exit of the aircraft imaged at the start of auto-leveling in the memory 24, the imaged data of the entrance/exit at the start of auto-leveling is recorded in the memory 24. May be. Hereinafter, a control method for controlling the operation of the boarding bridge 1 according to the modified example of the present embodiment will be described with reference to FIG.

In this case, the entrance/exit of the aircraft is imaged by the camera 42 (step S11), and the imaging data of the entrance/exit at the start of the auto-leveling is recorded in the memory 24 (step S12). Further, the height position of the floor of the head 5 at the start of the automatic leveling, which is converted from the state of the movable leg 7 detected by the elevation drive control unit 28, is recorded in the memory 24 (step S13).

Then, it is determined whether or not the end operation of the automatic leveling control is performed (step S14), and the following operation is continuously performed until the end operation of the automatic leveling control is performed.

The camera 42 images the entrance/exit in the current state (step S15).

Next, based on the imaged data at the start of auto-leveling and the imaged data at the current state recorded in the memory 24, the height of the floor at the entrance/exit at the start of the auto-leveling and the floor at the entrance/exit of the current state are processed by image processing. The height difference is calculated (step S16). Then, it is determined whether or not the absolute value of the calculated height difference is within a predetermined range, that is, whether or not it exceeds a predetermined threshold value (step S17). When the absolute value of the height difference is within the predetermined range, the floor height position at the entrance/exit in the current state is continuously calculated.

On the other hand, when the absolute value of the height difference is not within the predetermined range, the correction amount for driving the up-and-down drive unit 14 is calculated (step S18) and the up-and-down drive is performed, as in the above-described first embodiment. The height of the head 5 is changed by the section 14 (step S19).

Further, in the above-described embodiments and modified examples, an example of the boarding gate is described as the predetermined part of the aircraft, the boarding gate is imaged, the height of the floor at the boarding gate is calculated, or image data is compared to determine the floor. Although the difference in height is calculated, the present invention is not limited to this example. For example, a predetermined part of the aircraft other than the boarding gate of the aircraft may be imaged. The predetermined part of the aircraft is, for example, a door provided at the boarding gate of the aircraft and opened from the boarding gate, a window of the aircraft, or a mark printed on the surface of the aircraft. The difference between the height of these predetermined parts and the height of the floor at the boarding gate may be acquired in advance, and the height of the floor at the boarding gate may be calculated from the imaged data.

In the calculation of the height of the floor at the boarding gate, the height direction can be determined from the mounting angle of the camera 42, the inclination of the tunnel, and the head angle.

When a stereo camera is used as the camera 42, it is possible to obtain distance data between the opening of the aircraft and the stereo camera. Therefore, the accuracy of the auto leveling control can be further improved.

[Second Embodiment]
Next, the boarding bridge 1 according to the second embodiment of the present invention will be described. In the following, detailed description of the configuration that overlaps with the first embodiment will be omitted.

In the boarding bridge 1 according to the present embodiment, the camera 42 is installed, for example, inside the head 5 so that a predetermined portion of the head 5, for example, the end of the floor and a predetermined portion of the aircraft to be connected, for example, the entrance/exit, are the same. Can be captured in the image. As a result, the difference between the floor height at the entrance/exit of the aircraft and the floor height at the head 5 can be directly detected, and the accuracy of the auto-leveling control can be more reliably improved.

The comprehensive determination unit 17 performs image processing based on the imaged data of the camera 42. Through the image processing, the comprehensive judgment unit 17 distinguishes a predetermined part of the object imaged by the camera 42, for example, the head 5 and the entrance/exit from other objects. As a result, the head 5 and the entrance/exit are distinguished from those other than the head 5 and the entrance/exit such as passengers, and the detection accuracy of the head 5 and the entrance/exit is improved. Through the image processing, the comprehensive determination unit 17 determines the edge of the floor of the head 5 imaged by the camera 42, for example, the edge of the floor at the opening of the head 5 and the floor at the entrance/exit of the aircraft imaged by the camera 42. Based on the edge, the difference between the height of the floor at the entrance/exit of the aircraft and the height of the floor at the head 5 in the current state is calculated.

The end of the head 5 may be a linear one indicating the end of the head 5, and is used as a reference for grasping the relative position between the head 5 and the entrance/exit of the aircraft, and is imaged as an identifiable object in the image. It is something. Therefore, not only at the edge of the head 5 which is connected to the entrance/exit of the aircraft, but also at the line applied parallel along the edge near the edge of the head 5 or at the edge of the cover part provided at the edge. Good. Further, the predetermined portion of the head 5 is not limited to the end portion of the head 5, and may be, for example, various parts or marks provided on the head 5. Further, the predetermined portion of the aircraft is not limited to the boarding gate of the aircraft, as in the first embodiment, and may be printed on the door provided on the boarding gate of the aircraft, opened from the boarding gate, the window of the aircraft, or the surface of the aircraft. It may be a mark that is present.

As shown in FIG. 7, the comprehensive judgment unit 17 includes a height position calculation unit 60, a judgment unit 62, and a height position correction unit 63.

As shown in FIG. 9, the height position calculation unit 60 measures the height position of the floor at the center L2 of the boarding line of the head 5 and the height of the floor at the center L1 of the entrance/exit 51 of the aircraft, which is captured by the camera 42. Based on both the height positions, the difference H between the floor height at the head 5 and the floor height at the entrance/exit of the aircraft is calculated.

When the height difference H calculated by the height position calculation unit 60 exceeds a predetermined threshold, the determination unit 62 determines that the position change of the entrance/exit of the aircraft, which requires the height adjustment of the head 5, has occurred. To do.

Based on the height difference H calculated by the height position calculation unit 60, the height position correction unit 63 sets the difference H between the height of the floor at the head 5 and the height of the floor at the entrance/exit of the aircraft within a predetermined range. A correction amount for driving the up-and-down drive unit 14 is calculated so as to be within the range.

Next, a control method for controlling the operation of the boarding bridge 1 according to the present embodiment will be described with reference to FIG.
First, the head 5 moves to the vicinity of the aircraft, the opening of the head 5 is connected to the entrance/exit of the aircraft, and then the loading/unloading of passengers and the loading/unloading of cargo are started. Changes occur. Therefore, automatic leveling control is performed so that the floor height of the head 5 follows changes in the floor height at the entrance/exit of the aircraft.

First, for example, when an input for starting the automatic leveling control is made on the operation panel 41, the camera 42 images the head 5 and the entrance/exit of the aircraft to be connected in the same image (step S21). Then, the imaged data of the camera 42 is transmitted to the comprehensive determination unit 17. The imaging of the head 5 and the entrance/exit by the camera 42 and the transmission of the imaging data are continuously performed until the auto-leveling control is completed.

The comprehensive determination unit 17 performs image processing on the imaged data captured by the camera 42.

Then, it is determined whether or not the end operation of the auto-leveling control is performed (step S22), and the following operation is continuously performed until the end operation of the auto-leveling control is performed.

Based on the head 5 and the entrance/exit of the aircraft captured by the camera 42, the difference H between the floor height of the head 5 and the floor height of the entrance/exit in the current state is continuously calculated (step S23).

Next, it is determined whether or not the absolute value of the height difference H in the current state is within a predetermined range, that is, whether or not it exceeds a predetermined threshold value (step S24). When the absolute value of the height difference H is within the predetermined range, the difference H between the floor height of the head 5 in the current state and the floor height of the floor at the entrance/exit is continuously calculated.

On the other hand, when the absolute value of the height difference H is not within the predetermined range, it is determined that the position change of the entrance/exit of the aircraft, which requires the height adjustment of the head 5, has occurred. Then, based on the calculated height difference H, in order to drive the lifting drive unit 14 so that the difference H between the floor height at the entrance and exit of the aircraft and the floor height at the head 5 falls within a predetermined range. Is calculated (step S25).

Next, a drive signal for driving the up-and-down drive unit 14 is generated based on the calculated correction amount. The generated drive signal is transmitted to the lift drive unit 14, and the lift drive unit 14 drives the movable leg 7. As a result, the motor and ball screw provided on the movable leg 7 are driven by the elevating/lowering drive unit 14 that has received the drive signal, and the height of the head 5 is changed (step S26). For example, if it is determined that the height of the floor at the entrance/exit of the aircraft has risen and the position change of the entrance/exit where the height of the head 5 needs to be adjusted occurs, the head 5 is adjusted to rise. .. Further, when it is determined that the floor height at the entrance/exit of the aircraft is lowered and the position change of the entrance/exit where the height adjustment of the head 5 is required occurs, the head 5 is adjusted to descend. ..

The above operation is continuously performed until the operator performs the operation of ending the automatic leveling control. On the other hand, when the ending operation of the automatic leveling control is performed, the automatic leveling control is ended. Then, the boarding bridge 1 is in a state of waiting for an operation to start the operation of leaving the aircraft.

As described above, according to the present embodiment, the height position of the head 5 is automatically adjusted so as to follow the position change of the entrance/exit of the aircraft, so that the operation of the operator is simplified and the labor is saved. Further, since the control is performed based on the imaged data of the image of the entrance/exit of the aircraft, the auto-leveling control can be performed in a non-contact manner. Further, since the entrance/exit of the aircraft is detected by image processing based on the imaged data, the gloss and cleanliness on the surface of the aircraft and the boarding bridge 1 as well as the weather and the place of installation (brightness, rain, etc. It is difficult to be affected by various conditions such as getting wet), and it is possible to easily detect the position change of the entrance/exit of the aircraft to be connected.

Furthermore, since the control is performed based on the imaging data obtained by imaging both the entrance and exit of the aircraft and the head 5 in the same image, the change in the position of the entrance and exit with respect to the head 5 can be detected more reliably. When a stereo camera is used as the camera 42, the distance data between the opening of the aircraft and the stereo camera can be acquired. Therefore, the accuracy of the auto leveling control can be further improved.

In the above-described first and second embodiments, the case where only one camera 42 is installed when the camera 42 is not a stereo camera has been described, but the present invention is not limited to this example. For example, a plurality of cameras 42 may be installed so that the height at the entrance/exit of the aircraft can be detected at a plurality of locations. Further, the camera 42 may be used not only as a camera used only for automatic leveling control but also as a camera used for other control (for example, automatic connection control to an aircraft).

1: Boarding bridge 2: Rotunda 3: Base end tunnel 4: Tip tunnel 5: Head 6: Fixed leg 7: Movable leg 8: Adjusting floor 9: Traveling drive unit 10: Control device 11: Wheel 12: Bogie 13: Rotating shaft 14: Lifting/driving unit 15: Swinging driving unit 16: Adjusted floor driving unit 17: Overall judgment unit 18: Drive control unit 20: Height position calculation unit 21: Recording control unit 22: Judgment unit 23: Height position correction unit 24 : Memory 27: Adjusted floor drive control unit 28: Lifting drive control unit 29: Turning drive control unit 30: Traveling drive control unit 40: Passage unit 41: Operation panel 42: Camera 51: Entrance/exit 60: Height position calculation unit 62 : Judgment unit 63: Height position correction unit

Claims (6)

A head part that can be connected to the entrance and exit of the aircraft to be connected,
An imaging unit capable of imaging a predetermined part of the aircraft,
A calculating unit that calculates the height of the predetermined region based on the imaged data of the predetermined region captured by the image capturing unit;
A drive control unit that controls the drive of the head unit based on the height of the predetermined portion calculated by the calculation unit;
A boarding bridge equipped with. The calculation unit calculates a first height of the predetermined region based on first image data of the predetermined region captured by the image capturing unit,
A recording control unit configured to record the first height of the predetermined portion calculated based on the first imaging data in a storage unit;
Difference between the first height recorded in the storage unit and the second height of the predetermined portion calculated based on the second imaging data of the predetermined portion imaged after the first height is recorded. And, based on a predetermined threshold value, a determination unit that determines whether or not a position change of the predetermined portion that requires height adjustment of the head portion occurs.
Further equipped with,
When the determination unit determines that the position change has occurred, the drive control unit controls the drive of the head unit based on the difference between the first height and the second height of the predetermined portion. The boarding bridge according to claim 1. A recording controller that records the first imaged data of the predetermined region imaged by the imager in a memory,
The calculation unit is configured to perform the first imaging data based on the first imaging data recorded in the storage unit and the second imaging data of the predetermined region imaged after the first imaging data is recorded. And calculating a difference between the height of the predetermined portion and the height of the predetermined portion of the second imaging data,
The boarding bridge according to claim 1, wherein the drive control unit controls the drive of the head unit based on the difference in height of the predetermined portion calculated by the calculation unit. Judgment to determine whether or not there is a position change of the predetermined portion that requires height adjustment of the head portion, based on a difference in height of the predetermined portion calculated by the calculation unit and a predetermined threshold value Further provided,
The boarding bridge according to claim 2, wherein the drive control unit controls the drive of the head unit when the determination unit determines that the position change has occurred. The imaging unit is capable of imaging the predetermined portion of the aircraft and the head unit in the same image,
The calculation unit calculates a height of the predetermined portion and a height of the second predetermined portion of the head unit based on the predetermined portion imaged by the imaging unit and the second predetermined portion of the head unit that is imaged. Calculate the difference,
Based on a difference between the height of the predetermined portion and the height of the second predetermined portion calculated by the calculation unit and a predetermined threshold, a position change of the predetermined portion that requires height adjustment of the head portion occurs. Further comprises a determination unit for determining whether or not
When it is determined that the position change has occurred by the determination unit, the drive control unit, based on the difference between the height of the predetermined portion and the height of the second predetermined portion calculated by the calculating unit, The boarding bridge according to claim 1, wherein driving of the head unit is controlled. The said predetermined part is a door provided in the entrance/exit of the said aircraft, the boarding gate of the said aircraft, the window of the said aircraft, or the mark provided in the said aircraft surface. The listed boarding bridge.

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