WO2022052349A1 - 登机桥防撞方法及登机桥防撞系统 - Google Patents

登机桥防撞方法及登机桥防撞系统 Download PDF

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Publication number
WO2022052349A1
WO2022052349A1 PCT/CN2020/135886 CN2020135886W WO2022052349A1 WO 2022052349 A1 WO2022052349 A1 WO 2022052349A1 CN 2020135886 W CN2020135886 W CN 2020135886W WO 2022052349 A1 WO2022052349 A1 WO 2022052349A1
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WIPO (PCT)
Prior art keywords
boarding bridge
protection area
area
obstacle
collision avoidance
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Application number
PCT/CN2020/135886
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English (en)
French (fr)
Inventor
陈勇
向卫
邓览
雷安良
梁乐贤
Original Assignee
深圳中集天达空港设备有限公司
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Application filed by 深圳中集天达空港设备有限公司 filed Critical 深圳中集天达空港设备有限公司
Priority to EP20953134.2A priority Critical patent/EP4212436A1/en
Publication of WO2022052349A1 publication Critical patent/WO2022052349A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/30—Ground or aircraft-carrier-deck installations for embarking or disembarking passengers
    • B64F1/305—Bridges extending between terminal building and aircraft, e.g. telescopic, vertically adjustable
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers

Definitions

  • the present disclosure relates to boarding bridge technology, and in particular, to a boarding bridge anti-collision method and a boarding bridge anti-collision system.
  • Method 1 Install a proximity sensor at a high-risk location where the boarding bridge has a high probability of collision.
  • the boarding bridge anti-collision function will immediately function. trigger.
  • the shape of the boarding bridge and the aircraft hub is relatively complex and the volume is relatively large, and the boarding bridge can perform multi-degree-of-freedom motion of multiple joint points, the boarding bridge may connect with adjacent boarding bridges in various postures and directions from various directions. The bridge or the aircraft collides, so using this method can reduce the probability of collision, but it cannot achieve complete collision avoidance.
  • the second method is to use the boarding bridge status data, combined with the theoretical position data of the aircraft parking, to calculate the positional relationship between the boarding bridge and the boarding bridge or with the aircraft in real time through software model calculation.
  • a certain point of the boarding bridge is calculated
  • the collision avoidance function of the boarding bridge will be triggered immediately.
  • the disadvantage of using software anti-collision is that it is highly dependent on the motion state data of the boarding bridge and the aircraft parking position data. When there is a problem with the collected data, there will be inconsistencies between the calculation and the actual situation, and it is very likely that the boarding bridge has collided. , and the anti-collision function has not yet been triggered, or the distance is still far away and the anti-collision function has been triggered.
  • An object of the present disclosure is to provide a boarding bridge anti-collision method, so as to realize all-round anti-collision protection of the boarding bridge and improve safety.
  • Another object of the present disclosure is to provide an anti-collision system for a boarding bridge, so as to realize the above-mentioned anti-collision method, which is easy to operate and improves the all-round anti-collision protection of the boarding bridge.
  • a boarding bridge collision avoidance method comprising: acquiring a pre-configured protective area of a boarding bridge; scanning and acquiring the position of an obstacle; if the obstacle is located in the protective area, then An alarm signal is generated, and the boarding bridge is controlled to perform a collision avoidance action; if the obstacle is not located in the protection area, continue scanning.
  • the method further includes: the protection area of the boarding bridge includes: collecting a corner range of the gate of the boarding bridge, and dividing the corner range into n equal parts partitions, where n is a positive integer, and n ⁇ 1; when the port is rotated to the middle position of each partition, the protection area of each partition is drawn according to the outline of the boarding bridge , to obtain the pre-configured boarding bridge protection area.
  • the rotation angle range of the boarding gate of the boarding bridge is determined as [E, F]
  • the rotation angle range is determined as [E, F]. It is equally divided into 16 partitions, where -30° ⁇ E ⁇ F ⁇ 90°.
  • the protection area includes a first-level area, and the edge line of the first-level area has a minimum distance from the outline of the side of the boarding bridge close to the obstacle .
  • the protection area includes a plurality of graded areas, and the minimum distances between the edge lines of the plurality of graded areas and the outline of the side of the boarding bridge close to the obstacle are successively increased. .
  • the edge line of each protection area has two end points, wherein the first end point is determined according to the position of the running mechanism of the boarding bridge, and the second end point is opposite to the A front end point of the front end of the front end of the side close to the obstacle; the exit point of the scan line used to scan and obtain the position of the obstacle is connected with the first end point to form a first side edge line, and the scan line is The exit point of the line is sequentially connected with the front end point and the second end point to form a second side edge line, and the first side edge line, the edge line and the second side edge line form the closed side edge line.
  • Protected area is a first end point is determined according to the position of the running mechanism of the boarding bridge, and the second end point is opposite to the A front end point of the front end of the front end of the side close to the obstacle; the exit point of the scan line used to scan and obtain the position of the obstacle is connected with the first end point to form a first side edge line, and the scan line is The exit point of the line
  • a Cartesian coordinate is established in the scan plane of the scan line system to obtain the coordinate value of each point in the protection area.
  • the Cartesian coordinate system takes the airport pick-up port of the boarding bridge as a reference system, and when the pick-up port is rotated to a middle position of the partition, the Coordinate values of each point of the protection area corresponding to the partition.
  • the rectangular coordinate system takes the ground as a reference system, and when the port is rotated to the middle position of a partition, the protection area corresponding to the partition is obtained. Coordinate value of each point.
  • the range scanned by the scan line is a sector, and the central angle of the sector is 250° ⁇ 360°.
  • the method for acquiring the protection area of the boarding bridge further includes: establishing a corresponding logical relationship between the corner of the boarding port and the protection area, where the corresponding logical relationship is: when all the When the rotation angle is in (E+(m-1)* ⁇ , E+m* ⁇ ], the protection area is Bm; where 1 ⁇ m ⁇ n, and m is a positive integer; When the rotation angle ⁇ is within the range of (E+(m-1)* ⁇ , E+m* ⁇ ], a switching signal is sent to switch to the protection area Bm.
  • the plurality of level areas includes a first level area and a second level area, wherein an edge line of the first level area is a distance from the boarding bridge close to the obstacle
  • the outer contour of the side has a first minimum distance
  • the edge line of the second level area has a second minimum distance from the outer contour of the side of the boarding bridge close to the obstacle
  • the second minimum distance is greater than the first minimum distance
  • a boarding bridge collision avoidance system including a boarding bridge, the boarding bridge comprising: a boarding bridge passage, a round platform and an aircraft gate connected in sequence, the aircraft gate It is rotatable relative to the circular platform, and also includes: a distance sensing device, which is arranged at the bottom of the circular platform and is used to obtain and configure and obtain the protection area of the pre-configured boarding bridge, scan and obtain the position of the obstacle, and determine the position of the obstacle.
  • the boarding bridge control device receives the alarm signal for judging Whether the obstacle is located in the protection area, if so, an alarm signal is generated, and the boarding bridge is controlled to perform a collision avoidance action; if not, the sensing device is controlled to continue scanning.
  • the boarding bridge collision avoidance system further includes: a rotation angle measurement sensor, which is provided at the airport pick-up port and is electrically connected to the boarding bridge control device, and is used for collecting the contact point.
  • the rotation angle range of the aircraft port and the rotation angle of the aircraft port are sent to the boarding bridge control device.
  • the sensing device distance sensing device includes: a distance sensor for scanning and acquiring the position of an obstacle; a protection area configuration module for dividing the rotation angle range into n equal parts partitions, where n is a positive integer, and n ⁇ 1, and is used to draw each of the partitions according to the outline of the boarding bridge when the airport port is rotated to the middle position of each of the partitions to obtain the pre-configured boarding bridge protection area; a coordinate system establishment module for taking the exit point of the scan line emitted by the distance sensor as the origin, and taking the exit point of the scan line as the origin , taking the symmetric center line of the range scanned by the scan line as the Y axis, establish a rectangular coordinate system in the scan plane of the scan line, and obtain the coordinate value of each point in the protection area.
  • the boarding bridge control device stores a corresponding logical relationship between the corner of the boarding port and the protection area, and the corresponding logical relationship is: when the corner is in ( When E+(m-1)* ⁇ , E+m* ⁇ ], the protection area is Bm; where 1 ⁇ m ⁇ n, and m is a positive integer; the sensing device distance sensing device further includes: a control The sensor is electrically connected to the distance sensor and the boarding bridge control device, respectively.
  • the boarding bridge control device sends a switching signal of the protection area Bm corresponding to the corner to the controller according to the corresponding logical relationship, and the controller controls the conversion after receiving the switching signal.
  • control and control the distance sensor to switch to obtain the protection area Bm of the boarding bridge based on the coordinate values of each point of the protection area Bm in the rectangular coordinate system corresponding to the corner. Scan and obtain the position coordinates of the obstacle in the rectangular coordinate system corresponding to the corner of the protection area Bm, and determine whether the position coordinates are located in the protection area, and if so, generate the alarm signal.
  • the boarding bridge control device further includes an anti-collision control module for controlling the boarding bridge to perform an anti-collision action.
  • the machine port includes a rotating rod, which is located below the round table and is connected with the round table and the machine port; the distance sensing device and the distance sensor are provided on the on the rotating rod to rotate with the port; or the distance sensor of the distance sensing device is arranged on the round table.
  • the boarding bridge collision avoidance system includes two distance sensing devices, and the two distance sensing devices are respectively: the distance sensor includes: a first distance sensor, a second distance sensor A distance sensing device includes a first distance sensor, all the first scan lines emitted by the first distance sensor form a first scan plane, and the first scan plane is a horizontal plane; the second distance sensing device is located at the below the first distance sensing device, the second distance sensing device includes a second distance sensor, located below the first distance sensor, and all the second scan lines emitted by the second distance sensor form a second scan plane, The second scanning plane is inclined downward relative to the first scanning plane.
  • the boarding bridge collision avoidance system further includes the distance sensor and further includes: a third distance sensing device, a third distance sensor located above the first distance sensing device , the third distance sensing device includes a third distance sensor, above the first distance sensor, the third scan line emitted by the third distance sensor forms a third scan plane, and the third scan plane is opposite to the first distance sensor.
  • the scanning plane is tilted up.
  • the boarding bridge collision avoidance system further includes: at least one protective sensing device sensor, including a protective sensor, which is provided on the boarding bridge, and all scan lines emitted by the protective sensor Facing the obstacle, and the scanning area of the scanning line is a three-dimensional cone.
  • the advantages and positive effects of the anti-collision method for the boarding bridge of the present disclosure are:
  • the boarding bridge By obtaining the pre-configured boarding bridge protection area, all surrounding areas of the boarding bridge with high collision probability can be pre-included in the protection area, and then by judging whether the obstacle falls into the protection area, the boarding bridge can be controlled to carry out
  • the anti-collision action realizes that when the obstacle enters the protection area, the action of the boarding bridge can be controlled to avoid collision, so it realizes all-round anti-collision protection for the boarding bridge, and at the same time improves the accuracy of anti-collision and avoids the occurrence of collisions.
  • Anti-collision corners By obtaining the pre-configured boarding bridge protection area, all surrounding areas of the boarding bridge with high collision probability can be pre-included in the protection area, and then by judging whether the obstacle falls into the protection area, the boarding bridge can be controlled to carry out
  • the anti-collision action realizes that when the obstacle enters the protection area, the action of the boarding bridge can be controlled to avoid collision, so it realizes
  • FIG. 1 exemplarily shows a flowchart of a collision avoidance method for a boarding bridge in an embodiment of the present disclosure
  • FIG. 2 exemplarily shows a side view of a boarding bridge in an embodiment of the present disclosure
  • FIG. 3 exemplarily shows a partial perspective view of a boarding bridge in an embodiment of the present disclosure
  • FIG. 4 exemplarily shows a schematic diagram of determining a protection area in a boarding bridge collision avoidance method according to an embodiment of the present disclosure
  • FIG. 5 exemplarily shows a schematic diagram of determining a protection area in a boarding bridge collision avoidance method according to another embodiment of the present disclosure
  • FIG. 6 exemplarily shows a schematic diagram of a Cartesian coordinate system of a protection area in an embodiment of the present disclosure, wherein the Cartesian coordinate system takes the boarding port of the boarding bridge as a reference system;
  • FIG. 7 exemplarily shows a schematic diagram of the protection area of B01 in an embodiment of the present disclosure in a Cartesian coordinate system with the boarding port of the boarding bridge as the reference system;
  • FIG. 8 exemplarily shows a schematic diagram of the protection area of B08 in an embodiment of the present disclosure in a Cartesian coordinate system with the boarding port of the boarding bridge as the reference system;
  • FIG. 9 exemplarily shows a schematic diagram of the protection area of B16 in an embodiment of the present disclosure in a Cartesian coordinate system with the access port of the boarding bridge as the reference system;
  • FIG. 10 exemplarily shows a schematic diagram of determining a protection area in a collision avoidance method for a boarding bridge according to still another embodiment of the present disclosure
  • FIG. 11 exemplarily shows a partial perspective view of another boarding bridge in an embodiment of the present disclosure
  • FIG. 12 exemplarily shows a schematic diagram of a Cartesian coordinate system of a protection area in an embodiment of the present disclosure, wherein the Cartesian coordinate system takes the ground as a reference system;
  • FIG. 13 exemplarily shows a schematic diagram of the docking of a boarding bridge and an aircraft door in an embodiment of the present disclosure
  • FIG. 14 exemplarily shows a functional block diagram of a boarding bridge collision avoidance system in an embodiment of the present disclosure
  • FIG. 15 exemplarily shows a schematic structural diagram of a boarding bridge collision avoidance system in an embodiment of the present disclosure
  • FIG. 16 exemplarily shows a functional block diagram of another boarding bridge collision avoidance system in an embodiment of the present disclosure
  • FIG. 17 exemplarily shows a schematic structural diagram of another boarding bridge collision avoidance system in an embodiment of the present disclosure
  • Figure 18 is an enlarged view of part T in Figure 17;
  • FIG. 19 exemplarily shows a schematic diagram of the boarding bridge and the collision avoidance between the boarding bridges in the embodiment of the present disclosure.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
  • the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
  • the boarding bridge 1 includes a boarding bridge passage 11 , a round platform 12 and an airport pick-up port 13 which are connected in sequence.
  • the boarding bridge passage 11 can be extended and retracted, and a walking mechanism 14 is provided below the boarding bridge passage 11 , that is, the boarding bridge 1 can be pushed to move through the walking mechanism 14 .
  • Flexible connection is a rotating rod 131 below the plane receiving port 13, one end of the rotating rod 131 is connected with the bottom of the round table 12, and the other end is connected with the plane receiving port 13, so that the plane receiving port 13 can rotate around the round table 12, so as to realize the connection of the aircraft door.
  • FIG. 1 exemplarily shows a flow chart of a method for preventing collision of a boarding bridge in an embodiment of the present disclosure.
  • the methods provided by the embodiments of the present disclosure can be used to prevent collisions between the boarding bridge 1 and the aircraft, and between the boarding bridge P1 and the boarding bridge P2 (as shown in FIG. 16 ).
  • the boarding bridge collision avoidance method includes:
  • step S200 a pre-configured protection area of the boarding bridge is acquired.
  • the protection area of the boarding bridge is the area outside the boarding bridge with a high probability of collision. If the obstacle 5 enters the protection area, the obstacle is likely to collide with the boarding bridge.
  • step S400 scan and obtain the position of the obstacle
  • a scanner can be used to scan the position of the obstacle, so as to provide a basis for the judgment in the following steps.
  • step S600 if the obstacle is located in the protection area, an alarm signal is generated, and the boarding bridge is controlled to perform a collision avoidance action; if the obstacle is not located in the protection area, the scanning is continued.
  • the boarding bridge protection area by obtaining the boarding bridge protection area, all surrounding areas of the boarding bridge with a high collision probability can be included in the protection area in advance, and then boarding is controlled by judging whether the obstacle falls into the protection area.
  • the anti-collision action of the bridge realizes that when the obstacle enters the protection area, the action of the boarding bridge can be controlled to avoid collision. Therefore, the all-round anti-collision protection of the boarding bridge is realized, and the accuracy of anti-collision is improved at the same time. Avoid collision dead angle.
  • step S200 a pre-configured protection area of the boarding bridge is acquired.
  • the range of the rotation angle of the machine port is the angular range of the machine port's rotation on the round table. Specifically, it can be understood as the rotation angle range of the central axis K of the machine port. As shown in Figure 4, the central axis K is perpendicular to the machine port. The plane in which the opening is located, and the axis passing through the center of the plane. Continuing to refer to FIG. 4 , the extension direction F of the boarding bridge can be taken as the reference of 0°.
  • the range of the rotation angle of the port 13 of the boarding bridge 1 is [E, F], where -90° ⁇ E ⁇ F ⁇ 180°, for example, the rotation angle range can be -70° ⁇ E ⁇ F ⁇ 160°, -60° ⁇ E ⁇ F ⁇ 120°, -45° ⁇ E ⁇ F ⁇ 100°, preferably, -30° ⁇ E ⁇ F ⁇ 90°, for example, the rotation angle range may also be -20° ⁇ E ⁇ F ⁇ 80°, 0° ⁇ E ⁇ F ⁇ 75°, and 5° ⁇ E ⁇ F ⁇ 60°.
  • the rotation angle ⁇ of the airport terminal 13 may be the included angle between the center plane of the boarding bridge passage 11 perpendicular to the ground and the center plane of the airport terminal 13 .
  • the rotation angle range of the port 13 is [-30°, 90°], and the rotation angle range can be divided into 16 partitions, Q01-Q16, and the included angle ⁇ of each partition is 7.5°.
  • the protection area of each partition is drawn respectively.
  • the corresponding logical relationship between the corner ⁇ of the port 13 and the protection area can refer to the following table:
  • each protected area may include at least one level zone.
  • only one first-level area A1 may be included, and the edge line S1 of the first-level area A1 has a first minimum distance L from the outline of the boarding bridge 1, 0.6m ⁇ L ⁇ 0.8m, preferably L is 0.6m, of course, L can also be 0.65m, 0.70m or 0.75m, which is not limited here.
  • each protection area may also include multiple grade areas, and the minimum distances between the edge lines of the multiple grade areas and the outline of the boarding bridge 1 increase in sequence.
  • the minimum distance in the above-mentioned embodiment can be set by those skilled in the art according to the actual situation, for example, according to the model of the aircraft and the model of the boarding bridge, mainly considering the area prone to collision.
  • the partition Q01 corresponds to the protection area B01, and the protection area B01 can have two grade areas, the first grade area A1 and the second grade area A2, the first grade area A1 It can also be referred to as a protection zone, and the second level zone A2 can also be referred to as a warning zone.
  • the edge line S1 of the first level area A1 has a first minimum distance L from the outline of the side of the boarding bridge close to the obstacle 5, and the edge line S2 of the second level area A2 is distanced from the boarding bridge.
  • the outline of the side of the bridge close to the obstacle 5 has a second minimum distance M, wherein the first minimum distance L is smaller than the second minimum distance M, in other words, the edge line S1 of the first level area A1 is closer to the boarding bridge
  • the outer contour of 1 near the obstacle side that is, the collision probability at the first level area A1 is higher.
  • M can also be 1.3m, 1.4m, 1.5m, which is not particularly limited here.
  • the level of the second-level area A2 is lower than that of the first-level area A1, and the probability of collision in A2 is smaller than that of A1.
  • the obstacle 5 is in the first-level area A1, it means that it is relatively close to the boarding bridge. 1, the first alarm signal is generated, and the boarding bridge 1 is controlled to stop running. If the obstacle 5 is in the second level area A2, indicating that the obstacle 5 is relatively far from the boarding bridge 1, a second alarm signal is generated, and the boarding bridge 1 is controlled to decelerate to avoid collision with the obstacle 5.
  • the edge line of each guarded area has two endpoints. Since the area with a higher collision probability is generally the side of the boarding bridge 1 close to the aircraft wing or engine, and generally the front end of the side of the walking mechanism 14 and the aircraft port 13 on this side, therefore, in this embodiment , among the two endpoints of the edge line, the first endpoint is determined according to the position of the walking mechanism 14 of the boarding bridge 1, for example, the first endpoint is facing the walking mechanism 14 or is a certain distance from the walking mechanism 14 on the boarding bridge passage 11 the desired distance.
  • the second end point is directly connected to a front end point C of the front end of the port 13 on the side close to the obstacle.
  • the distance sensor 20 sends out a scan line
  • the exit point of the scan line is connected with the first end point to form a first side edge line
  • the exit point of the scan line is sequentially connected with the front end point C and the second end point to form a second side edge line
  • the first side edge line, the edge line and the second side edge line form a closed guard area.
  • a guard zone is established.
  • the first side edge line, the edge line and the second side edge line are not limited to straight lines.
  • the edge lines are polylines that change according to the outer contour of the boarding bridge (boarding bridge passage-round platform- port), as shown in FIG. 5 , the first side edge line and the second side edge line can also be broken lines, and as shown in FIG. 4 , the first side edge line can also be a straight line.
  • the port 13 is rotated to the middle position of the partition Q01, that is, the port 13 is rotated to the position where the rotation angle ⁇ is E+ ⁇ /2, and the edge line S1 of the first level area A1 of the protection area B01 has The first endpoint S11 and the second endpoint S12, wherein the second endpoint S12 is directly connected to the front end point C of the front end of the front end of the port near the obstacle, then the connection line O-S11 is the first side edge line, OC-S12 The connecting line is the second side edge line.
  • connection line O-S21 is the third side edge line, as shown in Figure 4 It can be seen that the connection line of O-S21 is composed of the connection line of O-S11 plus the extension line of the straight line where the line segment is located, and the connection line of OC-S22 is the fourth side edge line, then S11-S21, S21-S22, S22- The area enclosed by S12 and S12-S11 is the second level area A2.
  • a boundary line G may also be provided on the side of the protection area away from the airport pick-up port.
  • the boundary line G may be perpendicular to the extension direction F of the boarding bridge passage 11 , and S21 is located on the boundary line G.
  • the boundary line G extends a distance from S21 to the direction close to the first edge line S1, and there is a boundary point R.
  • R can be understood as the intersection of the O-S11 extension line and the boundary line G, then at this time
  • the second level area A2 is surrounded by S11-R-S21, S21-S22, S22-S12 and S12-S11.
  • the second level area A2 is surrounded by O-R-S21, S21-S22, S22-S12 and S12-S11-O.
  • the distance that the boundary line G extends from S21 to the direction close to the first edge line S1 may be the second minimum distance M minus the first minimum distance L, that is, M-L.
  • M-L the second minimum distance
  • the selected position of the boundary line G can also be other positions, as long as the OR connection line and the traveling mechanism do not interfere with each other. Those skilled in the art can choose according to the actual situation. Here No special restrictions are made.
  • inside and outside in the present disclosure are technical terms indicating relative positional relationship. Taking the central axis of the boarding bridge aisle 11 as a reference, the direction toward the central axis is the direction away from the central axis. In addition, therefore, it can be considered that the above-mentioned edge line S2 is located outside of S1.
  • the scanning line is emitted by the distance sensor, and its scanning surface is generally fan-shaped. Therefore, the above-mentioned Y-axis is the symmetrical center line of the scanning surface of the fan-shaped scanning surface. point) is the X-axis. Of course, a straight line corresponding to a radius drawn from other central corners of the fan-shaped scanning surface can also be used as the Y-axis, which is not limited here.
  • the purpose of establishing this rectangular coordinate system is to obtain the coordinates of each point of the protection area and the coordinates of the obstacle 5, and configure the coordinate values of the protection area corresponding to each partition to the distance sensing device, that is, the protection area is pre-configured to the distance in the sensing device.
  • FIG. 3 to FIG. 10 respectively show a schematic diagram of the partial structure of the boarding bridge 1 when the distance sensing device 2 is disposed on the rotating rod 131 of the airport pick-up port 13 , and thus The Cartesian coordinate system of the defined protective area.
  • the distance sensing device 2 can rotate with the rotation of the port 13 .
  • the rectangular coordinate system is established in the distance sensing device 2 , so the reference system of the rectangular coordinate system is the boarding port 13 of the boarding bridge 1 .
  • the Cartesian coordinate system and the corresponding protection areas B01, B08 and B16 are respectively shown when the port 13 is rotated to the partitions Q01, Q08 and Q16, and the protection areas are shown in the same figure out, as shown in Figure 6. It should be noted that, the solid line portion represents the overlapping portion of the protection area.
  • the port 13 When the port 13 is transferred to different partitions Q01-Q16, the coordinate values of the protection areas in the rectangular coordinate system of the corresponding partitions are obtained, and then the protection areas B01-B16 with different coordinate systems are configured. When the port 13 is rotated to a certain partition, the protection area corresponding to the partition is retrieved.
  • FIG. 11 to FIG. 12 respectively show a schematic diagram of the partial structure of the boarding bridge 1 when the distance sensing device 2 is arranged on the disc and the rectangular coordinates of the protection area determined therefrom.
  • the distance sensing device 2 does not rotate with the rotation of the port 13, therefore, the rectangular coordinate system takes the ground as a reference.
  • FIG. 12 shows the rectangular coordinate system and the corresponding protection areas B01 , B08 and B16 when the port 13 is rotated to the partitions of the partitions Q01 , Q08 and Q16 , and the protection areas are in the same figure shown, where the solid line portion is the overlapping area.
  • the port 13 When the port 13 is transferred to different partitions Q01-Q16, the coordinate value of the protection area in the rectangular coordinate system of the corresponding partition is obtained. When the port 13 is rotated to a certain partition, the protection area corresponding to the partition is retrieved.
  • the specific retrieval process is: when the collected angle ⁇ of the port is within the range of (E+(m-1)* ⁇ , E+m* ⁇ ], establish the angle ⁇ and protection of the port according to Table 1.
  • the corresponding logical relationship of the area send the switching signal of the protection area Bm to the distance sensing device 2 to switch to the protection area Bm, where m is a positive integer between [1, n].
  • the protection area changes with the change of the turning angle ⁇ .
  • step S400 scan and obtain the position of the obstacle, which specifically includes:
  • the rectangular coordinate system corresponding to the sub-area is retrieved, and the distance sensing device 2 is used to obtain the position of the obstacle 5 in the rectangular coordinate system. the coordinate values in .
  • step S600 if the obstacle falls into the protection area, an alarm signal is generated, and the boarding bridge is controlled to perform an anti-collision action; if the obstacle does not fall into the protection area, the scanning continues, including:
  • FIG. 13 shows a schematic diagram of the docking between the boarding bridge 1 and the aircraft door by using the method in the above embodiment. Due to the use of multi-level protection and large-scale protection, the boarding bridge 1 and the aircraft are effectively avoided. Collision of wings or engines.
  • the boarding bridge collision avoidance method of the present disclosure by obtaining the pre-configured protection area of the boarding bridge 1, can pre-include all the surrounding areas of the boarding bridge 1 with a high collision probability in the protection area, and then pass the Determine whether the obstacle 5 falls into the protection area, and control the boarding bridge 1 to perform anti-collision action, so that when the obstacle 5 falls into the protection area, the boarding bridge 1 can be controlled to move to avoid collision, so the boarding bridge 1 can be controlled to avoid collision.
  • Bridge 1 provides all-round anti-collision protection, and at the same time improves the accuracy of anti-collision and avoids the occurrence of anti-collision dead angles.
  • a boarding bridge collision avoidance system is provided to perform the collision avoidance method in the above-mentioned embodiments.
  • the boarding bridge collision avoidance system includes: a boarding bridge 1 , a distance sensing device 2 and a boarding bridge control device 3 .
  • the boarding bridge 1 includes: a boarding bridge passage 11 , a round platform 12 and an airport pick-up port 13 which are connected in sequence.
  • the boarding bridge passage 11 can be extended and retracted, and a walking mechanism 14 is provided below the boarding bridge passage 11 , that is, the boarding bridge 1 can be pushed to move through the walking mechanism 14 .
  • the distance sensing device 2 is arranged at the bottom of the circular platform 12 to obtain the pre-configured protection area of the boarding bridge 1, scan and obtain The position of the obstacle 5 is determined, and if the obstacle 5 is located in the protection area, an alarm signal will be generated and issued, and if the obstacle is not located in the protection area, the scanning will continue.
  • the boarding bridge control device 3 is used to receive the alarm signal and control the boarding bridge to perform collision avoidance action.
  • this level of collision avoidance system may further include a rotation angle measurement sensor 4 , which is located at the airport pick-up port 13 and is electrically connected to the boarding bridge control device 3 for collecting the rotation angle range of the aircraft pick-up port 13 and the pick-up port 13 .
  • the corner of port 13 is sent to the boarding bridge control device 3.
  • the distance sensing device 2 includes: a distance sensor 20 , a protection area configuration module 21 and a coordinate system establishment module 22 .
  • the distance sensor 20 is used to scan and obtain the position of the obstacle 5;
  • the protection area configuration module 21 is used to equally divide the corner range into n partitions, where n is a positive integer, and n ⁇ 1, and is used when connecting
  • the port 13 is rotated to the middle position of each partition, the protection area of each partition is drawn according to the outline of the boarding bridge 1 to obtain the preconfigured boarding bridge protection area.
  • the coordinate system establishment module 22 is used to take the exit point of the scan line as the origin, the exit point of the scan line emitted by the distance sensor 20 as the origin, and the symmetric center line of the range scanned by the scan line as the Y-axis.
  • a Cartesian coordinate system is established in the scanning plane, and the coordinate values of each point in the protection area are obtained.
  • the distance sensing device 2 further includes a controller 23 .
  • the controller 23 is electrically connected to the distance sensor 20 and the boarding bridge control device 3 respectively.
  • the rotation angle measurement sensor 4 collects the rotation angle of the aircraft connection port 13, for example, the rotation angle ⁇ is at (E+(m-1)* ⁇ , E+
  • the corresponding protection area is Bm
  • the boarding bridge control device 3 sends the switching signal of the protection area Bm to the controller 23 according to the corresponding logical relationship in the stored table 1, and the controller 23 receives
  • the distance sensor 20 is controlled to scan and obtain the coordinates of the rectangular coordinate system corresponding to the protection area Bm of the obstacle 5.
  • the boarding bridge control device 3 also includes an anti-collision control module 31, which is used to control the boarding bridge 1 to perform anti-collision actions. For example, when the distance sensor 20 scans the obstacle 5, it sends its position information to the controller 23 to control the The device 23 obtains the coordinates of the obstacle 5 in the corresponding protection area, and determines whether the coordinates fall into the first level area A1 of the protection area. If it falls, a first alarm signal is generated and sent to the boarding bridge control. The anti-collision control module 31 in the device 3 further controls the boarding bridge to stop running. If it is determined that the coordinates of the obstacle 5 fall into the second level area A2, a second alarm signal is generated and sent to the anti-collision control module 31, and the anti-collision control module 31 further controls the boarding bridge to decelerate.
  • an anti-collision control module 31 is used to control the boarding bridge 1 to perform anti-collision actions. For example, when the distance sensor 20 scans the obstacle 5, it sends its position information
  • the machine port 13 includes a rotating rod 131 , which is located below the round table 12 and is connected to the round table 12 and the machine port 13 .
  • the distance sensing device 2 is arranged on the rotating rod 131 to rotate with the port 13 .
  • the distance sensing device 2 is arranged on the round table 12 . At this time, the distance sensing device 2 will not rotate with the rotation of the port 13 .
  • the above-mentioned distance sensing device 2 is set at different positions, and the reference system of the established rectangular coordinate system will be different, because the establishment of different rectangular coordinate systems and the coordinate value of the protection area have been described in detail in the method embodiment. Obtaining, the system embodiments are also based on the same inventive concept, and the relevant content of the method embodiments can be introduced into the system embodiments, which will not be repeated here.
  • one, two or three distance sensing devices 2 may be provided.
  • the first distance sensing device may include a first distance sensor 201, the first distance sensing device is mounted on the rotating rod 31 or the round table 12, and the first distance sensor 201 emits a first scanning plane I1 formed by all scanning lines for the horizontal plane. That is, the protection area acquired by the first distance sensor 201 is located in the horizontal plane.
  • the edge part of the aircraft wing is usually a circular arc surface, if only the horizontal plane is set to scan, the obstacle 5 that is not located in the scanning plane may not be scanned, and there is still a risk of collision.
  • the present disclosure also provides the above-mentioned second distance sensing device, the second distance sensing device is located below or above the first distance sensing device, and the second distance sensing device includes the second distance sensor 202 .
  • the second distance sensing device is installed under the first distance sensing device, the second distance sensor 202 is arranged under the first distance sensor 201, and the second scanning plane I2 emitted by the second distance sensor 202 is opposite to the second distance sensor 202.
  • a scanning plane I1 is inclined downward; or when the second distance sensing device is installed above the first distance sensing device, the second distance sensor 202 is located above the first distance sensor 201, and the second distance sensor 202 emits the The two scanning planes I2 are inclined upward relative to the first scanning plane.
  • the second scanning plane I2 has an included angle between the second scanning plane I2, and the included angle can range from 0° to 30°, and of course other angles.
  • the included angle can range from 0° to 30°, and of course other angles.
  • the boarding bridge collision avoidance system may also include a third distance sensing device, and the third distance sensing device includes a third distance sensor (not shown in the figure).
  • the first distance The arrangement of the sensor 201 is the same as above, the second distance sensor 202 is arranged below the first distance sensor 201, and the second scan plane I2 emitted by the second distance sensor 202 is inclined downward relative to the first scan plane I1, that is, the second scan plane There is an included angle between the surface I2 and the first scanning surface I1, and the included angle may range from 0° to 30°.
  • the third distance sensor can be arranged above the first distance sensor 201, and the third scanning plane (not shown in the figure) emitted by the third distance sensor is inclined upward with respect to the first scanning plane I1, that is, the third scanning plane is the same as the first scanning plane I1.
  • There is an included angle between the scanning planes I1 and the range of the included angle may be 0° ⁇ 30°. Of course, the range of the included angle is not limited to this. Therefore, the three distance sensors can scan the obstacle 5 more comprehensively.
  • the distance sensing device 2 in the above-mentioned embodiment can be a laser scanner, and the central angle of the scanning surface can be 250° ⁇ 360°, specifically, 270°, 280°, 300° or 320°, so it can achieve Large-scale detection, and by setting a rectangular coordinate system in the distance sensing device 2, the distance sensing device 2 can adapt to the detection area, that is, according to the rotation angle of the port 13, the corresponding rectangular coordinate system and corresponding protection are obtained.
  • the coordinates of the area make the operation more accurate and convenient.
  • the three distance sensing devices 2 have different rectangular coordinate systems, and the positions of the three distance sensing devices are different, and the protection areas of the three distance sensing devices are also different.
  • the boarding bridge can be controlled to stop by the boarding bridge control device; this situation includes: at least one distance sensing device 2. It is sensed that the obstacle 5 is located in the first-level area A1 of its protection area. If other distance sensing devices 2 simultaneously detect that the obstacle 5 is located in the second-level area A2 of its protection area, the obstacle 5 is preferentially determined.
  • the boarding bridge control device 3 controls the boarding bridge 1 to stop running.
  • the three distance sensing devices 2 all sense that the obstacle 5 is located in the first level area A1, it is determined that the obstacle 5 is located in the first level area A1.
  • the boarding bridge controls the boarding bridge 1 to decelerate.
  • the priority is determined as the first-level area A1
  • the boarding bridge control device 3 controls the boarding bridge 1 to stop running; if the first-level area A1 does not appear , as long as the second-level area A2 appears, it is determined as the second-level area A2 preferentially, and the boarding bridge control device 3 controls the boarding bridge 1 to decelerate.
  • the boarding bridge collision avoidance system in the present disclosure may further include: at least one protection sensing device 6 , which is arranged on the boarding bridge 1 .
  • the protective sensing device 6 includes a protective sensor 601 , the scanning surface emitted by the protective sensor 601 faces the obstacle 5 , and the scanning area of the scanning line is a three-dimensional cone, that is, the protective sensor 601 can scan in a three-dimensional space.
  • the other components of the protection sensing device 6 are the same as the above-mentioned distance sensing device 2, that is, it also includes a protection area configuration module, a coordinate system establishment module, a controller, etc., which can obtain the pre-configured protection area, and obtain the corresponding protection area. Coordinate system, and realize signal transmission through the controller and the boarding bridge control device, etc., which will not be repeated here.
  • the determination of the grade area is the same as the above-mentioned three distance sensing devices 2, that is, when the protective sensing device 6 and the distance sensing device 2 When the obstacle 5 is sensed, the level area is determined. As long as the first level area A1 appears, it will be determined as the first level area A1 first.
  • the boarding bridge control device 3 controls the boarding bridge 1 to stop running. If the first level area does not appear A1, as long as the second-level area A2 appears, it is determined as the second-level area A2 first, and the boarding bridge control device 3 controls the boarding bridge 1 to decelerate.
  • the protection sensor 601 may be an electromagnetic wave sensor 601 ′ and/or an ultrasonic sensor 601 ′′.
  • the electromagnetic wave sensor 601 ′ is provided on the boarding plane In front of the traveling mechanism 14 of the bridge 1, the ultrasonic sensor 601" is arranged at the bottom of the aircraft port 13, and the detection surfaces (scanning surfaces) of the electromagnetic wave sensor 601' and the ultrasonic sensor 601" are both facing the obstacle 5 (that is, the aircraft wing or the The direction of the engine or the adjacent boarding bridge).
  • the protection sensing device 6 When the electromagnetic wave sensor 601' and/or the ultrasonic sensor 601" detects the obstacle 5, the protection sensing device 6 will send the signal of the obstacle 5 to the boarding bridge control device. 3.
  • the anti-collision control module 32 of the boarding bridge control device 3 starts and sends a stop instruction to the boarding bridge 1 to stop the movement of the boarding bridge 1, thereby achieving the purpose of collision avoidance.
  • the scanning area of the protection sensor 601 is a cone of a three-dimensional space, such as the first scanning area H1 of the electromagnetic wave sensor 601 ′ and the first scanning surface I1 of the first distance sensor 201 form a three-dimensional detection
  • the second scanning area H2 of ” and the second scanning surface I2 of the second distance sensor 202 also form three-dimensional detection. Therefore, the protection area of the electromagnetic wave sensor 601 ′, the protection area of the ultrasonic sensor 601 ′′ and the protection area of the first distance sensor 201 2.
  • the protection area of the second distance sensor 202 is formed in three-dimensional detection in three-dimensional space, that is, the detection in cooperation with the above-mentioned distance sensing device 2 is realized.
  • the sensing device containing the sensor can be registered
  • the air bridge control device controls the boarding bridge to stop or decelerate, so that the obstacle 5 can be detected more accurately.
  • any one of the electromagnetic wave sensor 601 ′, the ultrasonic sensor 601 ′′, the first distance sensor 201 , the second distance sensor 202 and the third distance sensor detects an obstacle 5
  • the anti-collision function will be activated, thus greatly improving the reliability of the anti-collision function of the boarding bridge 1.
  • redundant protection can also be formed between various sensors, that is, when a certain sensor fails, the anti-collision system of the boarding bridge 1 can still perform the anti-collision function.
  • the above-mentioned distance sensing devices and/or protection sensing devices may be disposed on the round table 12 or the rotating rod 131 through the bracket 7 .
  • the bracket 7 can be rotated in three directions of X-axis, Y-axis, and Z-axis, so that the above-mentioned sensors can be adjusted in the X-axis, Y-axis, and Z-axis directions.
  • the bracket 7 can play the role of fine-tuning the distance sensor, so as to overcome the problems caused by manufacturing precision or installation tolerance. Before scanning, the distance sensor will be adjusted through the bracket 7, and then the distance sensor will be positioned and subsequent scanning will be performed.
  • the boarding bridge collision avoidance system in the present disclosure can not only be used for collision avoidance between the boarding bridge 1 and the aircraft, but also can be used for the boarding bridge P1 and the boarding bridge P2, and the boarding bridge 1 and surrounding obstacles Anti-collision between 5.
  • Fig. 19 shows a schematic diagram of collision avoidance between two boarding bridges P1, P2.
  • the distance sensor 20 of the boarding bridge P1 senses that there is an obstacle 5 in the anti-collision zone Bm, it will transmit the sensed warning signal or protection signal to the moving boarding bridge.
  • the aircraft bridge P1 or P2 the moving boarding bridge P1 or P2 decelerates or stops according to the received induction signal type, so as to realize the collision avoidance between the boarding bridge and the adjacent boarding bridge.
  • the boarding bridge anti-collision system of the present disclosure can achieve more accurate anti-collision, and the operation is simpler.

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Abstract

一种登机桥（1）防撞方法及登机桥防撞系统。该登机桥防撞方法包括：获取预先配置的登机桥的防护区域；扫描并获取障碍物（5）的位置；若所述障碍物位于所述防护区域，则产生警报信号，并控制所述登机桥进行防撞动作；若所述障碍物未位于所述防护区域，则继续进行扫描。

Description

登机桥防撞方法及登机桥防撞系统
交叉引用
本公开要求于2020年9月11日提交的申请号为202010954391.6、名称为“登机桥防撞方法及登机桥防撞系统”的中国专利申请的优先权，该中国专利申请的全部内容通过引用全部并入本文。
技术领域
本公开涉及登机桥技术，尤其涉及一种登机桥防撞方法及登机桥防撞系统。
背景技术
目前，登机桥与飞机之间或登机桥与登机桥之间常采用的防撞方式有如下两种。
方式一，在登机桥发生碰撞概率较大的高风险位置加装近距离感应传感器，在登机桥运动过程中，当传感器感应范围内感应到有物体侵入时，登机桥防撞功能立即触发。因为登机桥和飞机的外形轮毂比较复杂、体积比较大，而且登机桥可进行多个关节点的多自由度运动，登机桥可能会以各种姿势、从各种方向与相邻登机桥或飞机产生碰撞，因此采用此方法能够减少碰撞概率，但无法做到完全防撞。
方式二，利用登机桥状态数据，结合飞机停靠的理论位置数据通过软件模型计算来实时计算出登机桥与登机桥之间或与飞机之间的位置关系，当计算出登机桥某点与相邻的登机桥的某点或与飞机的某点距离达到设定的安全距离时，登机桥防撞功能会立即触发。而采用软件防撞的缺点是需要高度依赖登机桥的运动状态数据和飞机停靠位置数据，当所采集到的数据有问题时，则会出现计算与实际不一致，很可能登机桥已经发生碰撞了，而防撞功能仍然还没有触发，或者距离还很远而防撞功能却已经触发。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的相关技术的信息。
发明内容
本公开的一个目的在于提供一种登机桥防撞方法，以实现登机桥全方位防撞保护，提高安全性。
本公开的另一个目的在于提供一种登机桥防撞系统，以实现上述防撞方法，操作简 单，并提高登机桥全方位防撞保护。
本公开的其他特性和优点将通过下面的详细描述变得显然，或部分地通过本公开的实践而习得。
根据本公开的一方面，提供一种登机桥防撞方法，包括：获取预先配置的登机桥的防护区域；扫描并获取障碍物的位置；若所述障碍物位于所述防护区域，则产生警报信号，并控制所述登机桥进行防撞动作；若所述障碍物未位于所述防护区域，则继续进行扫描。
根据本公开的一示例性实施方式，所述方法还包括：所述登机桥的防护区域包括：采集所述登机桥的接机口的转角范围，并将所述转角范围等分为n个分区，其中，n为正整数，且n≥1；当所述接机口转动至各个所述分区的中间位置时，根据所述登机桥的外形轮廓，绘制各个所述分区的防护区域，以获得所述预先配置的登机桥防护区域。
根据本公开的一示例性实施方式，以所述登机桥的延伸方向为0°基准，确定所述登机桥的接机口的转角范围为[E，F]，并将所述转角范围等分为16个分区，其中，-30°≤E＜F≤90°。
根据本公开的一示例性实施方式，所述防护区域包括一个第一等级区，所述第一等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓具有一最小距离。
根据本公开的一示例性实施方式，所述防护区域包括多个等级区，所述多个等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓的最小距离依次递增。
根据本公开的一示例性实施方式，每个所述防护区域的边缘线具有两个端点，其中的第一端点根据所述登机桥的行走机构的位置确定，第二端点正对所述接机口的靠近所述障碍物一侧的前端的一前端点；用于扫描并获取障碍物位置的扫描线的射出点与所述第一端点连接形成第一侧边缘线，所述扫描线的射出点依序与所述前端点、所述第二端点连接形成第二侧边缘线，所述第一侧边缘线、所述边缘线和所述第二侧边缘线形成闭合的所述防护区域。
根据本公开的一示例性实施方式，以所述扫描线的射出点为原点，以所述扫描线所扫描的范围的对称中心线为Y轴，在所述扫描线的扫描面内建立直角坐标系，获取所述防护区域各点的坐标值。
根据本公开的一示例性实施方式，所述直角坐标系以所述登机桥的接机口为参照系，当所述接机口旋转至一所述分区的中间位置时，获取与所述分区对应的所述防护区域的各点的坐标值。
根据本公开的一示例性实施方式，所述直角坐标系以地面为参照系，当所述接机口旋转至一所述分区的中间位置时，获取与所述分区对应的所述防护区域的各点的坐标值。
根据本公开的一示例性实施方式，所述扫描线所扫描的范围为一扇形，所述扇形的圆心角为250°～360°。
根据本公开的一示例性实施方式，所述获取登机桥的防护区域方法还包括：建立所述接机口的转角与所述防护区域的对应逻辑关系，所述对应逻辑关系为：当所述转角处于(E+(m-1)*α,E+m*α]时，所述防护区域为Bm；其中1≤m≤n，且m为正整数；当采集到所述接机口的转角β在(E+(m-1)*α,E+m*α]范围内时，发送切换信号以切换到所述防护区域Bm。
根据本公开的一示例性实施方式，所述多个等级区包括第一等级区和第二等级区，其中，所述第一等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓具有一第一最小距离；所述第二等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓具有一第二最小距离；所述第二最小距离大于所述第一最小距离；当所述障碍物位于所述第一等级区时，产生第一警报信号，并控制所述登机桥停止运行；当所述障碍物位于所述第二等级区时，产生第二警报信号，并控制所述登机桥减速运行。
根据本公开的另一方面，提供一种登机桥防撞系统，包括登机桥，所述登机桥包括：依序连接的登机桥通道、圆台和接机口，所述接机口相对于所述圆台可旋转，还包括：距离传感装置，设于所述圆台底部，用于获取并配置并获取预先配置的登机桥的防护区域，扫描并获取障碍物的位置，并判断若所述障碍物位于所述防护区域，则产生警报信号并发出，若所述障碍物未位于所述防护区域，则继续进行扫描；登机桥控制装置，接收所述警报信号，用于判断所述障碍物是否位于所述防护区域，若是，则产生警报信号，并控制所述登机桥进行防撞动作；若否，则控制所述传感装置继续进行扫描。
根据本公开的一示例性实施方式，该登机桥防撞系统还包括：转角测量传感器，设于所述接机口，并与所述登机桥控制装置电连接，用于采集所述接机口的转角范围以及所述接机口的转角，并发送至所述登机桥控制装置。
根据本公开的一示例性实施方式，所述传感装置距离传感装置包括：距离传感器，用于扫描并获取障碍物的位置；防护区域配置模块，用于将所述转角范围等分为n个分区，其中，n为正整数，且n≥1，并且用于当所述接机口转动至各个所述分区的中间位置时，根据所述登机桥的外形轮廓，绘制各个所述分区的防护区域，以获得所述预先配 置的登机桥防护区域；坐标系建立模块，用于以所述距离传感器所发射的扫描线的射出点为原点，以所述扫描线的射出点为原点，以所述扫描线所扫描的范围的对称中心线为Y轴，在所述扫描线的扫描面内建立直角坐标系，获取所述防护区域各点的坐标值。
根据本公开的一示例性实施方式，所述登机桥控制装置中存储有所述接机口的转角与所述防护区域的对应逻辑关系，所述对应逻辑关系为：当所述转角处于(E+(m-1)*α,E+m*α]时，所述防护区域为Bm；其中1≤m≤n，且m为正整数；所述传感装置距离传感装置还包括：控制器，分别与所述距离传感器和所述登机桥控制装置电连接，当所述转角测量传感器采集到所述接机口的转角β在(E+(m-1)*α,E+m*α]范围内时，所述登机桥控制装置根据所述对应逻辑关系向所述控制器发送与所述转角对应的防护区域Bm的切换信号，所述控制器接收所述切换信号后控转换至所述防护区域Bm，制控制所述距离传感器切换到基于与所述转角对应的直角坐标系下的所述防护区域Bm各点坐标值来获取登机桥的防护区域Bm，所述距离传感器扫描并获取障碍物的在所述防护区域Bm转角对应的直角坐标系中的位置坐标，并判断所述位置坐标是否位于所述防护区域中，若是，则产生所述警报信号。
根据本公开的一示例性实施方式，所述登机桥控制装置还包括防撞控制模块，用于控制所述登机桥进行防撞动作。
根据本公开的一示例性实施方式，所述接机口包括转动杆，位于所述圆台的下方，与所述圆台和所述接机口连接；所述距离传感装置距离传感器设于所述转动杆上，以随所述接机口转动；或所述距离传感装置距离传感器设于所述圆台上。
根据本公开的一示例性实施方式，所述登机桥防撞系统包括两个所述距离传感装置，两个所述距离传感装置分别为：所述距离传感器包括：第一距离传感器第一距离传感装置，包括第一距离传感器，所述第一距离传感器所发射的所有第一扫描线形成第一扫描面，所述第一扫描面为水平面；第二距离传感装置，位于所述第一距离传感装置的下方，所述第二距离传感装置包括第二距离传感器，位于第一距离传感器下方，所述第二距离传感器发射的所有第二扫描线形成第二扫描面，所述第二扫描面相对于所述第一扫描面向下倾斜。
根据本公开的一示例性实施方式，所述登机桥防撞系统还包括所述距离传感器还包括：第三距离传感装置，第三距离传感器，位于所述第一距离传感装置的上方，所述第三距离传感装置包括第三距离传感器，第一距离传感器上方，所述第三距离传感器发射的第三扫描线形成第三扫描面，所述第三扫描面相对于所述第一扫描面向上倾斜。
根据本公开的一示例性实施方式，所述登机桥防撞系统还包括：至少一保护传感装置传感器，包括保护传感器，设于所述登机桥，所述保护传感器发出的所有扫描线朝向所述障碍物，且所述扫描线的扫描区域为一三维锥体。
由上述技术方案可知，本公开的登机桥的防撞方法的优点和积极效果在于：
通过获取预先配置的登机桥防护区域，能够将登机桥的具有较高碰撞几率的周围区域全部预先包含在该防护区域中，再通过判断障碍物是否落入防护区域，控制登机桥进行防撞动作，实现了当障碍物进入防护区域中，就能够控制登机桥动作，避免碰撞，因此实现了对登机桥全方位的防撞保护，同时提高了防撞的精确度，避免产生防撞死角。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，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。
图1示例性地示出本公开实施例中一种登机桥防撞方法的流程图；
图2示例性地示出本公开实施例中一种登机桥的侧面示意图；
图3示例性地示出本公开实施例中一种登机桥的局部立体示意图；
图4示例性地示出本公开实施例中一种登机桥防撞方法中确定防护区域的示意图；
图5示例性地示出本公开另一实施例中一种登机桥防撞方法中确定防护区域的示意图；
图6示例性地示出本公开实施例中防护区域直角坐标系示意图，其中，直角坐标系以登机桥的接机口为参照系；
图7示例性地示出本公开实施例中一种直角坐标系以登机桥的接机口为参照系的B01的防护区域的示意图；
图8示例性地示出本公开实施例中一种直角坐标系以登机桥的接机口为参照系的B08的防护区域的示意图；
图9示例性地示出本公开实施例中一种直角坐标系以登机桥的接机口为参照系的B16的防护区域的示意图；
图10示例性地示出本公开再一实施例中一种登机桥防撞方法中确定防护区域的示意图；
图11示例性地示出本公开实施例中另一种登机桥的局部立体示意图；
图12示例性地示出本公开实施例中防护区域直角坐标系示意图，其中，直角坐标系以地面为参照系；
图13示例性地示出本公开实施例中一种登机桥与飞机舱门对接的示意图；
图14示例性地示出本公开实施例中一种登机桥防撞系统的功能框图；
图15示例性地示出本公开实施例中一种登机桥防撞系统的结构示意图；
图16示例性地示出本公开实施例中另一种登机桥防撞系统的功能框图；
图17示例性地示出本公开实施例中另一种登机桥防撞系统的结构示意图；
图18为图17中T部分的放大图；
图19示例性地示出本公开实施例中的登机桥与登机桥之间防撞的示意图。
附图标记说明：
1，P1，P2、登机桥；11、登机桥通道；12、圆台；13、接机口；131、转动杆；14、行走机构；2、距离传感装置；20、距离传感器；21、防护区域配置模块；22、坐标系建立模块；201、第一距离传感器；202、第二距离传感器；23、控制器；3、登机桥控制装置；31、防撞控制模块；4、转角测量传感器；5、障碍物；6、保护传感装置；601、保护传感器；601’、电磁波传感器；601”、超声波传感器；7、支架；K、接机口的中轴线；F、登机桥延伸方向；L，M、最小距离；Q01～Qn、分区；B01～Bn、防护区域；A1、第一等级区；S1：第一等级区的边缘线；S11、第一端点；S13、第二端点；A2、第二等级区；S2、第二等级区的边缘线；S21、第三端点；S22、第四端点；C、前端点；R、边界点；I1、第一扫描面；I2、第二扫描面；H1、第四扫描面；H2、第五扫描面。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的范例；相反，提供这些实施方式使得本公开将更加全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施方式中。
此外，附图仅为本公开的示意性图解，并非一定是按比例绘制。图中相同的附图标记表示相同或类似的部分，因而将省略对它们的重复描述。附图中所示的一些方框图是 功能实体，不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体，或在一个或多个硬件模块或集成电路中实现这些功能实体，或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
下面，将结合附图及实施例对本公开示例实施方式提供的登机桥防撞方法进行详细的说明。
在描述方法之前，为了便于理解，先对登机桥1结构进行描述。请参考图2，登机桥1包括依序连接的登机桥通道11、圆台12和接机口13。登机桥通道11能够进行伸缩，在登机桥通道11下方设有行走机构14，即能够通过该行走机构14推动登机桥1运动。接机口13的下方设有转动杆131，转动杆131的一端与圆台12底部连接，另一端与接机口13连接，使接机口13能够绕圆台12转动，以实现对飞机舱门的灵活对接。
图1示例性地示出本公开实施例中一种登机桥防撞方法流程图。本公开实施例提供的方法能够用于防止登机桥1与飞机之间、登机桥P1与登机桥P2之间的防撞(如图16所示)。
参考图1，登机桥防撞方法包括：
在步骤S200中，获取预先配置的登机桥的防护区域。
其中，登机桥的防护区域为发生碰撞几率高的登机桥外侧的区域，如果障碍物5进入该防护区域，则障碍物容易与登机桥发生碰撞。
在步骤S400中，扫描并获取障碍物的位置；
此步骤中，可以利用扫描器扫描障碍物的位置，以便于对后面步骤中的判断提供依据。
在步骤S600中，若障碍物位于防护区域，则产生警报信号，并控制登机桥进行防撞动作；若障碍物未位于防护区域，则继续进行扫描。
在上述方法中，通过获取登机桥防护区域，能够将登机桥的具有较高碰撞几率的周围区域全部预先包含在该防护区域中，再通过判断障碍物是否落入防护区域，控制登机桥进行防撞动作，实现了当障碍物进入防护区域中，就能够控制登机桥动作，避免碰撞，因此实现了对登机桥全方位的防撞保护，同时提高了防撞的精确度，避免产生防撞死角。
在步骤S200中，获取预先配置的登机桥的防护区域。
采集登机桥的接机口的转角范围，并将转角范围等分为n个分区，其中，n为正整数，且n≥1。当接机口转动至各个分区的中间位置时，根据登机桥的外形轮廓，绘制各个分区的防护区域，以获得预先配置的登机桥的防护区域。
接机口的转角范围即接机口在圆台旋转的角度范围，具体地，可以理解为接机口的中轴线K旋转角度范围，如图4所示，该中轴线K为垂直于接机口开口所在平面，且穿过该平面中心的轴线。继续参考图4，可以通过登机桥延伸方向F为0°基准，此时确定登机桥1的接机口13的转角范围为[E，F]，其中，-90°＜E＜F＜180°，例如，该转角范围可以为-70°＜E＜F＜160°，-60°＜E＜F＜120°，-45°＜E＜F＜100°，优选地，-30°≤E＜F≤90°，例如，转角范围还可以为-20°≤E＜F≤80°，0°≤E＜F≤75°，5°≤E＜F≤60°。将该转角范围可以等分为n个分区，每个分区的夹角为α＝((F-E))/n。接机口13的转角β可以为与地面垂直的登机桥通道11的中心面与接机口13的中心面的夹角。
在一实施例中，n＝16，E＝-30°，F＝90°。则接机口13的转角范围为[-30°，90°]，将该转角范围可以等为16个分区，Q01～Q16，每个分区的夹角α为7.5°。之后，根据接机口13转动至各个分区的中间位置的外形轮廓，分别绘制各个分区的防护区域。接机口13的转角β与的防护区域的对应逻辑关系可参考下表：
表一
Figure PCTCN2020135886-appb-000001
表中2＜m＜n，m为正整数。
在一实施例中，每个防护区域可以包括至少一个等级区。例如，可以只包括一个第一等级区A1，该第一等级区A1的边缘线S1距离该登机桥1的外形轮廓具有一第一最小距离L，0.6m≤L≤0.8m，优选L为0.6m，当然L也可以是0.65m、0.70m或0.75m，此处不做特殊限定。
在另一个实施例中，每个防护区域也可以包括多个等级区，该多个等级区的边缘线距离登机桥1的外形轮廓的最小距离依次递增。
上述实施例中的最小距离，本领域技术人员可以根据实际情况进行设定，例如根据飞机的型号、登机桥的型号，主要考虑容易发生碰撞的区域。
如图4所示，根据上述表格中的对应逻辑关系，分区Q01对应防护区域B01，该防护区域B01可以具有两个等级区，第一等级区A1和第二等级区A2，第一等级区A1也可以称为保护区，第二等级区A2也可以称为警告区。其中，如图4所示，第一等级区A1的边缘线S1距离登机桥靠近障碍物5一侧的外形轮廓具有一第一最小距离L，第二等级区A2的边缘线S2距离登机桥靠近障碍物5一侧的外形轮廓具有一第二最小距离 M，其中，第一最小距离L小于第二最小距离M，换句话说，第一等级区A1的边缘线S1更靠近登机桥1的靠近障碍物侧的外轮廓，即在第一等级区A1处发生碰撞的概率更高。其中，1.2m≤M≤1.6m，优选M＝1.2m，当然M还可以是1.3m、1.4m、1.5m，此处不做特殊限定。在本实施例中，第二等级区A2的等级比第一等级区A1的低，在A2发生碰撞的几率小于A1，例如，若障碍物5在第一等级区A1，说明比较靠近登机桥1，则产生第一警报信号，并控制登机桥1停止运行。若障碍物5在第二等级区A2，说明障碍物5距离登机桥1相对较远，则产生第二警报信号，并控制登机桥1减速，避免与障碍物5发生碰撞。
继续参考图4，每个防护区域的边缘线具有两个端点。由于碰撞几率较高的区域一般为登机桥1靠近飞机机翼或者引擎的一侧，且一般为该侧的行走机构14与接机口13的该侧面的前端，因此，在本实施例中，在边缘线的两个端点中，第一端点根据登机桥1的行走机构14的位置确定，例如第一端点正对行走机构14或在登机桥通道11上距离行走机构14某个所需距离的地方。第二端点正对接机口13的靠近障碍物一侧的前端的一前端点C。
另外，距离传感器20发出扫描线，扫描线的射出点与第一端点连接形成第一侧边缘线，扫描线的射出点依序与前端点C、第二端点连接形成第二侧边缘线，第一侧边缘线、边缘线和第二侧边缘线形成闭合的防护区域。由此，便建立了防护区域。其中，第一侧边缘线、边缘线和第二侧边缘线并不限于直线，如图4至5所示，边缘线是是根据登机桥外轮廓变化的折线(登机桥通道-圆台-接机口)，如图5所示，第一侧边缘线、第二侧边缘线也可为折线，如图4所示，第一侧边缘线也可以为直线。
如图4所示，接机口13转到分区Q01的中间位置，即接机口13转动到转角β为E+α/2的位置，防护区域B01的第一等级区A1的边缘线S1具有第一端点S11和第二端点S12，其中第二端点S12正对接机口的靠近障碍物一侧的前端的前端点C，则O-S11的连线为第一侧边缘线，O-C-S12的连线为第二侧边缘线。当防护区域B01具有两个等级区时，则第二等级区A2的边缘线S2具有第三端点为S21和第四端点S22，则O-S21的连线为第三侧边缘线，由图4可知，O-S21的连线是O-S11的连线加上该线段所在直线的延长线构成，O-C-S22的连线为第四侧边缘线，则S11-S21、S21-S22、S22-S12和S12-S11围成的区域为第二等级区A2。
另外，如图5所示，在防护区域远离接机口的一侧还可以设有边界线G，边界线G可以垂直于登机桥通道11的延伸方向F，且S21位于边界线G上，边界线G自S21向 靠近第一边缘线S1的方向延伸一距离处设有边界点R，如图5所示，R可以理解为O-S11延长线与该边界线G的交点，则此时第二等级区A2由S11-R-S21、S21-S22、S22-S12和S12-S11围成。
在另一实施例中，如图10所示，第二等级区A2由O-R-S21、S21-S22、S22-S12和S12-S11-O围成。边界线G自S21向靠近第一边缘线S1的方向延伸的距离可以为第二最小距离M减去第一最小距离L，即M-L。当然，也可以是其他值，另外，边界线G的选取位置也可以是其他位置，只要O-R的连线与行走机构不发生互相干涉即可，本领域技术人员可以根据实际情况进行选择，此处不做特殊限定。
需要说明的是，本公开中的“内”、“外”是表示相对位置关系的技术术语，以登机桥通道11的中轴线作为基准，向中轴线两侧远离该中轴线的则为向外，因此，可以认为，上述的边缘线S2位于S1的外侧。
承上，建立直角坐标系。以扫描线的射出点为原点，以扫描线所扫描的范围的对称中心线为Y轴，在扫描线的扫描面内建立直角坐标系，获取防护区域各点的坐标值。
扫描线是通过距离传感器射出的，其扫描面一般为扇形，因此，上述Y轴为扇形的扫描面的对称中心线，以在扫描面内垂直于Y轴的且过原点O(扫描线的射出点)的直线为X轴。当然，还可以扇形扫描面的其他圆心角出的半径对应的直线作为Y轴，此处并不限定。建立该直角坐标系，目的是为了获取防护区域的各个点的坐标以及障碍物5的坐标，将各个分区所对应的防护区域的坐标值配置到距离传感装置中，即将防护区域预先配置到距离传感装置中。
具体地，在一实施例中，请参考图3至图10，其分别示出了当距离传感装置2设置于接机口13的转动杆131上的登机桥1局部结构示意图以及由此确定的防护区域的直角坐标系。在此种情况下，距离传感装置2能够随着接机口13的转动而转动。该直角坐标系建立于距离传感装置2中，因此该直角坐标系的参照系为登机桥1的接机口13。如图7至9所示，分别示出了当接机口13旋转至分区Q01、Q08和Q16时的直角坐标系以及所对应的防护区域B01、B08和B16，将该防护区域在同一张图中示出，如图6所示。需说明的是，其中，实线部分代表防护区域的重叠部分。
当接机口13转到不同的分区Q01～Q16，获取对应分区直角坐标系下的防护区域的坐标值，进而实现配置具有不同坐标系的防护区域B01～B16。接机口13转动到某个分区时，调取与该分区对应的防护区域。
在另一实施例中，请参考图11至图12，其分别示出了当距离传感装置2设置于圆盘上时的登机桥1局部结构示意图以及由此确定的防护区域的直角坐标系。在此种情况下，距离传感装置2并不会随着接机口13的转动而转动，因此，该直角坐标系以地面为参照物。如图12所示，其示出了当接机口13旋转至分区Q01、Q08和Q16的分区时的直角坐标系以及所对应的防护区域B01、B08和B16，并将该防护区域在同一张图中示出，其中实线部分为重叠的区域。
当接机口13转到不同的分区Q01～Q16，获取对应分区直角坐标系下的防护区域的坐标值。当接机口13转动到某个分区时，调取与该分区对应的防护区域。
具体的调取过程为：当采集到接机口的转角β在(E+(m-1)*α,E+m*α]范围内时，根据表一中建立接机口的转角β与防护区域的对应逻辑关系，发送防护区域Bm的切换信号至距离传感装置2以切换到防护区域Bm，其中m为[1，n]之间的正整数。从而实现登机桥接机口12转动时，防护区域跟随转角β的变化而变化。
采用同样的方法，当接机口13分别转动到其他的分区的中间位置时，即将接机口13转动到转角β为E+((2m-1)α)/2的位置，其中m≤n(上述实施例中已经描述了B01、B08和B16的配置过程，此处的m可以为02、03～07、09～16)，然后分别完成距离传感装置2的防护区域B02到Bn的配置。
在步骤S400中，扫描并获取障碍物的位置，具体包括：
根据上述步骤中的对防护区域的配置，当接机口13转动到不同的分区时，调取与该分区对应的直角坐标系，并通过距离传感装置2获取障碍物5在该直角坐标系中的坐标值。
在步骤S600中，若障碍物落入所述防护区域，则产生警报信号，并控制登机桥进行防撞动作；若障碍物未落入防护区域，则继续进行扫描，具体包括：
在每个分区对应的直角坐标系下，判断障碍的坐标是否进入防护区域中，若进入该防护区域的第一等级区A1中，说明发生碰撞的危险几率较高，则产生警报信号，并控制登机桥1停止运动，若落入该防护区域的第二等级区A2中，说明发生碰撞的危险几率相对于第一等级区A1低，但是也有可能发生碰撞，则产生警报信号，可以控制登机桥1减速运动。因此，通过上述方法，能够实现登机桥1全方位的防撞保护，并且不需要收集障碍物(飞机或相邻登机桥1)的位置数据，而且能够实现多级安全。
如图13所示，其示了利用上述实施例中的方法，登机桥1与飞机舱门对接的示意图，由于采用了多级防护以及大范围的保护，有效避免了登机桥1与飞机机翼或引擎的碰撞。
综上，本公开的登机桥防撞方法，通过获取预先配置的登机桥1防护区域，能够将登机桥1的具有较高碰撞几率的周围全部预先包含在该防护区域中，再通过判断障碍物5是否落入防护区域，控制登机桥1进行防撞动作，实现了当障碍物5落入防护区域中，就能够控制登机桥1动作，避免碰撞，因此实现了对登机桥1全方位的防撞保护，同时提高了防撞的精确度，避免产生防撞死角。
根据本公开的另一方面，提供了一种登机桥防撞系统，以执行上述实施例中的防撞方法。
如图14所示，该登机桥防撞系统包括：登机桥1、距离传感装置2以及登机桥控制装置3。
如图2所示，该登机桥1包括：依序连接的登机桥通道11、圆台12和接机口13。登机桥通道11能够进行伸缩，在登机桥通道11下方设有行走机构14，即能够通过该行走机构14推动登机桥1运动。接机口13的下方设有转动杆131，转动杆131的一端与圆台12底部连接，另一端与接机口13连接，使接机口13能够绕圆台12转动，以实现对舱门的灵活对接。
如图3、11、15和17所示，该登机桥防撞系统中，距离传感装置2设于所述圆台12底部，用于获取预先配置的登机桥1防护区域，扫描并获取障碍物5的位置，并判断若障碍物5位于防护区域，则产生警报信号并发出，若障碍物未位于防护区域，则继续进行扫描。如图14所示，登机桥控制装置3用于接收警报信号，并控制登机桥进行防撞动作。
如图16所示，该等级防撞系统还可以包括转角测量传感器4，设于接机口13，并与登机桥控制装置3电连接，用于采集接机口13的转角范围以及接机口13的转角，并发送至登机桥控制装置3。
继续参考图16，距离传感装置2包括：距离传感器20、防护区域配置模块21和坐标系建立模块22。其中，距离传感器20用于扫描并获取障碍物5的位置；防护区域配置模块21用于将转角范围等分为n个分区，其中，n为正整数，且n≥1，并且用于当接机口13转动至各个分区的中间位置时，根据登机桥1的外形轮廓，绘制各个分区的防护区域，以获得预先配置的登机桥防护区域。坐标系建立模块22用于以扫描线的射出 点为原点，以距离传感器20所发射的扫描线的射出点为原点，以扫描线所扫描的范围的对称中心线为Y轴，在扫描线的扫描面内建立直角坐标系，获取所述防护区域各点的坐标值。
此外，该距离传感装置2还包括控制器23。控制器23分别与距离传感器20和登机桥控制装置3电连接，当转角测量传感器4采集到接机口13的转角时，例如，转角β在(E+(m-1)*α,E+m*α]范围内时，所对应的防护区域为Bm，登机桥控制装置3根据其存储的表一中的对应逻辑关系，向控制器23发送防护区域Bm的切换信号，控制器23接收该切换信号后转换至防护区域Bm，控制距离传感器20扫描并获取障碍物5的在该防护区域Bm对应的直角坐标系的坐标。从而实现当登机桥1的接机口13转动时，防护区域跟随变化，做到更加全面的防撞保护。
登机桥控制装置3还包括防撞控制模块31，用于控制登机桥1进行防撞动作，例如，当距离传感器20扫描到障碍物5后，将其位置信息发送至控制器23，控制器23得到该障碍物5在对应的防护区域中的坐标，判断该坐标是否落入防护区域的第一等级区A1中，若落入，则产生第一警报信号，并发送至登机桥控制装置3中的防撞控制模块31，防撞控制模块31进而控制登机桥停止运行。若判断到该障碍物5的坐标落入第二等级区A2中，则产生第二警报信号，发送至防撞控制模块31，防撞控制模块31进而控制登机桥减速运行。
如图3和图11所示，接机口13包括转动杆131，位于圆台12的下方，与圆台12和接机口13连接。如图3所示，距离传感装置2设于转动杆131上，以随接机口13转动。如图11所示，距离传感装置2设于圆台12上，此时，距离传感装置2不会随着接机口13转动而转动。上述距离传感装置2设置于不同的位置，其所建立的直角坐标系的参考系会有所不同，由于在方法实施例中已经详细介绍了不同直角坐标系的建立以及防护区域的坐标值的获取，系统实施例中也基于相同的发明构思，方法实施例的相关内容可引入到系统实施例中，此处不再赘述。
在上述实施例中的防撞系统中，可以设置一个、两个或三个距离传感装置2。
当设置两个距离传感装置2时，可以分别为第一距离传感装置和第二距离传感装置。其中，第一距离传感装置可以包括第一距离传感器201，第一距离传感装置安装于转动杆31或圆台12上，该第一距离传感器201发出由所有扫描线形成的第一扫描面I1为水平面。即通过该第一距离传感器201所获取的防护区域位于水平面内。
但是，由于飞机机翼的边缘部分通常为圆弧面，如果仅仅设置在水平面扫描，则可能会发生不能扫描到并非位于该扫描面内的障碍物5的情况，仍然存在发生碰撞的风险。
因此，本公开中还设置了上述第二距离传感装置，第二距离传感装置位于第一距离传感装置的下方或上方，第二距离传感装置包括第二距离传感器202。当第二距离传感装置安装于第一距离传感装置的下方时，第二距离传感器202设于第一距离传感器201下方，第二距离传感器202发出的第二扫描面I2相对于所述第一扫描面I1倾斜向下；或者当第二距离传感装置安装与第一距离传感装置的上方时，第二距离传感器202位于第一距离传感器201的上方，第二距离传感器202发出的第二扫描面I2相对于第一扫描面倾斜向上。即，第二扫描面I2于第二扫描面I2之间具有一夹角，该夹角的范围可以为0°～30°，当然也可以是其他角度，本领域技术人员可以根据飞机的实际情况进行选择，此处不做特殊限定。
当然，该登机桥防撞系统还可以包括第三距离传感装置，该第三距离传感装置包括第三距离传感器(图中未示出)，在上述实施例的基础上，第一距离传感器201的设置同上，第二距离传感器202设于第一距离传感器201下方，第二距离传感器202发出的第二扫描面I2相对于所述第一扫描面I1倾斜向下，即，第二扫描面I2与第一扫描面I1之间具有一夹角，该夹角的范围可以为0°～30°。第三距离传感器可以设于第一距离传感器201的上方，第三距离传感器发出的第三扫描面(图中未示出)相对于第一扫描面I1倾斜向上，即，第三扫描面与第一扫描面I1之间具有一夹角，该夹角的范围可以为0°～30°，当然该夹角的范围并不限定于此。因此，三个距离传感器能够对障碍物5做到更全面的扫描。
上述实施例中的距离传感装置2可以为激光扫描器，其扫描面的圆心角可以为250°～360°，具体地，可以为270°、280°、300°或320°，因而能够实现大范围检测，并且通过在距离传感装置2中设置直角坐标系，该距离传感装置2能够对检测区域自适应，即根据接机口13的转角调取对应的直角坐标系以及相应的防护区域的坐标，使操作更加准确简便。
另外，如上述实施例，设置了三个距离传感装置2，则三个距离传感装置2中具有不同的直角坐标系，且三个距离传感装置的位置不同，其防护区域也会有所不同，但只要其中一个距离传感装置2感应到障碍物5落入第一等级区A1，则可以通过登机桥控制装置控制登机桥停止；这种情况包括：至少一个距离传感装置2感应到障碍物5位于其防护区域的第一等级区A1，若其他距离传感装置2同时检测到该障碍物5位于其防 护区域的第二等级区A2，则优先确定为该障碍物5位于第一等级区A1，登机桥控制装置3控制登机桥1停止运行。当然，若三个距离传感装置2均感应到障碍物5位于第一等级区A1，则确定障碍物5位于第一等级区A1。
若三个距离传感装置2均未感应到该障碍物5位于其防护区域的第一等级区A1，而是位于第二等级区A2，或者至少一个距离传感装置2检测到该障碍物5位于其防护区域的第二等级区A2，其他距离传感装置2感应到该障碍物5未位于其防护区域内时，则优先确定该障碍物5位于第二等级区A2，则登机桥控制装置3控制该登机桥1减速运行。也就是说，只要感应到障碍物5出现在第一等级区A1，则优先确定为第一等级区A1，登机桥控制装置3控制登机桥1停止运行；若未出现第一等级区A1，只要出现第二等级区A2，则优先确定为第二等级区A2，登机桥控制装置3控制登机桥1减速运行。
另外，如图2所示，本公开中的登机桥防撞系统还可以包括：至少一保护传感装置6，设于登机桥1。该保护传感装置6包括保护传感器601，该保护传感器601发出的扫描面朝向障碍物5，且该扫描线的扫描区域为一三维锥体，即该保护传感器601可以在立体空间扫描。另外，该保护传感装置6的其他部件同上述距离传感装置2，即也包括防护区域配置模块、坐标系建立模块以及控制器等，能够获取预先配置的防护区域，以及获取与防护区域对应的坐标系，并且通过控制器与登机桥控制装置实现信号的传输等，此处不再赘述。
另外，当保护传感装置6与距离传感装置2均感应到障碍物5时，关于等级区的确定同上述三个距离传感装置2，即当保护传感装置6与距离传感装置2感应到该障碍物5时确定等级区，只要出现第一等级区A1，则优先确定为第一等级区A1，登机桥控制装置3控制登机桥1停止运行，若未出现第一等级区A1，只要出现第二等级区A2，则优先确定为第二等级区A2，登机桥控制装置3控制登机桥1减速运行。
具体地，如图17所示，该保护传感器601可以是电磁波传感器601’和/或超声波传感器601”。在一实施例中，如图2和图17所示，电磁波传感器601’设于登机桥1行走机构14的前方，超声波传感器601”设于接机口13的底部，并且，电磁波传感器601’和超声波传感器601”的检测面(扫描面)都朝向障碍物5(即飞机机翼或引擎或相邻登机桥)的方向。当电磁波传感器601’和/或超声波传感器601”检测到障碍物5时，保护传感装置6其会将障碍物5的信号发送给登机桥控制装置3，登机桥控制装置3的防撞 控制模块32出发并给登机桥1发送停止指令，使登机桥1停止运动，从而实现防撞的目的。
如图17所示，由于保护传感器601的扫描区域为立体空间的锥体，如电磁波传感器601’的第一扫描区域H1与第一距离传感器201第一扫描面I1形成立体式检测，超声波传感器601”的第二扫描区域H2与第二距离传感器202第二扫描面I2也形成立体式检测，因此，电磁波传感器601’的防护区域、超声波传感器601”的防护区域与第一距离传感器201的防护区域、第二距离传感器202的防护区域形成在三维空间的立体式检测，即实现与上述距离传感装置2配合检测，只要其中一个传感器感应到障碍物，则包含该传感器的传感装置可以通过登机桥控制装置控制登机桥停止或者减速，因此能够更加准确地检测到障碍物5。在登机桥1靠近飞机的舱门或撤桥过程中，电磁波传感器601’、超声波传感器601”、第一距离传感器201、第二距离传感器202和第三距离传感器中的任一个检测到障碍物5落入防护区域中时，防撞功能都会被出发，从而大幅度提高了登机桥1防撞功能的可靠性。
另外，各个传感器之间也能够形成冗余保护，即，在某种传感器失效时，登机桥1的防撞系统仍能够发挥防撞功能。
在一实施例中，如图18所示，上述各个距离传感装置和/或保护传感装置可以通过支架7设置于圆台12或转动杆131上。该支架7可以进行X轴、Y轴、Z轴三个方向的旋转调节，从而使上述各个传感器可以进行X轴、Y轴、Z轴方向的调节。支架7能够起到对距离传感器的微调的作用，以克服制造精度或安装公差带来的问题。在进行扫描前，将通过该支架7对距离传感器进行调节，之后将距离传感器定位，并进行后续的扫描。
本公开中的登机桥防撞系统，不仅能够用于登机桥1与飞机之间的防撞，也能可以用于登机桥P1与登机桥P2、登机桥1与周围障碍物5之间的防撞。如图19所示，其示出了两个登机桥P1、P2之间的防撞示意图。其中，在登机桥P1和P2运动过程中，当登机桥P1的距离传感器20感应到防撞分区Bm内有障碍物5时，会将感应到的警告信号或保护信号传送给运动的登机桥P1或P2，运动登机桥P1或P2根据接收到的感应信号类型进行减速或停止，从而实现登机桥与相邻登机桥间的防撞。
综上，本公开的登机桥防撞系统，能够实现更加精确的防撞，且操作更加简便。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途 或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由所附的权利要求指出。

Claims (21)

  1. 一种登机桥防撞方法，包括：
    获取预先配置的登机桥的防护区域；
    扫描并获取障碍物的位置；
    若所述障碍物位于所述防护区域，则产生警报信号，并控制所述登机桥进行防撞动作；若所述障碍物未位于所述防护区域，则继续进行扫描。
  2. 根据权利要求1所述的登机桥防撞方法，还包括：
    采集所述登机桥的接机口的转角范围，并将所述转角范围等分为n个分区，其中，n为正整数，且n≥1；
    当所述接机口转动至各个所述分区的中间位置时，根据所述登机桥的外形轮廓，绘制各个所述分区的防护区域，以获得所述预先配置的登机桥防护区域。
  3. 根据权利要求2所述的登机桥防撞方法，其中，以所述登机桥的延伸方向为0°基准，确定所述登机桥的接机口的转角范围为[E，F]，并将所述转角范围等分为16个分区，其中，-30°≤E＜F≤90°。
  4. 根据权利要求2所述的登机桥防撞方法，其中，所述防护区域包括一个第一等级区，所述第一等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓具有一最小距离。
  5. 根据权利要求2所述的登机桥防撞方法，其中，所述防护区域包括多个等级区，所述多个等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓的最小距离依次递增。
  6. 根据权利要求4或5所述的登机桥防撞方法，其中，每个所述防护区域的边缘线具有两个端点，其中的第一端点根据所述登机桥的行走机构的位置确定，第二端点正对所述接机口的靠近所述障碍物一侧的前端的一前端点；
    用于扫描并获取障碍物位置的扫描线的射出点与所述第一端点连接形成第一侧边缘线，所述扫描线的射出点依序与所述前端点、所述第二端点连接形成第二侧边缘线，所述第一侧边缘线、所述边缘线和所述第二侧边缘线形成闭合的所述防护区域。
  7. 根据权利要求6所述的登机桥防撞方法，其中，以所述扫描线的射出点为原点，以所述扫描线所扫描的范围的对称中心线为Y轴，在所述扫描线的扫描面内建立直角坐标系，获取所述防护区域各点的坐标值。
  8. 根据权利要求7所述的登机桥防撞方法，其中，所述直角坐标系以所述登机桥的接机口为参照系，当所述接机口旋转至一所述分区的中间位置时，获取与所述分区对应的所述防护区域的各点的坐标值。
  9. 根据权利要求7所述的登机桥防撞方法，其中，所述直角坐标系以地面为参照系，当所述接机口旋转至一所述分区的中间位置时，获取与所述分区对应的所述防护区域的各点的坐标值。
  10. 根据权利要求7所述的登机桥防撞方法，其中，所述扫描线所扫描的范围为一扇形，所述扇形的圆心角为250°～360°。
  11. 根据权利要求7所述的登机桥防撞方法，还包括：
    建立所述接机口的转角与所述防护区域的对应逻辑关系，所述对应逻辑关系为：当所述转角处于(E+(m-1)*α,E+m*α]时，所述防护区域为Bm；其中1≤m≤n，且m为正整数；
    当采集到所述接机口的转角β在(E+(m-1)*α,E+m*α]范围内时，发送切换信号以切换到所述防护区域Bm。
  12. 根据权利要求5所述的登机桥防撞方法，其中，所述多个等级区包括第一等级区和第二等级区，其中，所述第一等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓具有一第一最小距离；所述第二等级区的边缘线距离所述登机桥靠近所述障碍物一侧的外形轮廓具有一第二最小距离；所述第二最小距离大于所述第一最小距离；
    当所述障碍物位于所述第一等级区时，产生第一警报信号，并控制所述登机桥停止运行；当所述障碍物位于所述第二等级区时，产生第二警报信号，并控制所述登机桥减速运行。
  13. 一种登机桥防撞系统，包括登机桥，所述登机桥包括：依序连接的登机桥通道、圆台和接机口，所述接机口相对于所述圆台可旋转，还包括：
    距离传感装置，设于所述圆台底部，用于获取预先配置的登机桥的防护区域，扫描并获取障碍物的位置，并判断到若所述障碍物位于所述防护区域时，则产生警报信号并发出，若所述障碍物未位于所述防护区域，则继续扫描；
    登机桥控制装置，接收所述警报信号，并控制所述登机桥进行防撞动作。
  14. 根据权利要求13所述的登机桥防撞系统，还包括：
    转角测量传感器，设于所述接机口，并与所述登机桥控制装置电连接，用于采集所述接机口的转角范围以及所述接机口的转角，并发送至所述登机桥控制装置。
  15. 根据权利要求14所述的登机桥防撞系统，其中，所述距离传感装置还包括：
    距离传感器，用于扫描并获取障碍物的位置；
    防护区域配置模块，用于将所述转角范围等分为n个分区，其中，n为正整数，且n≥1，并且用于当所述接机口转动至各个所述分区的中间位置时，根据所述登机桥的外形轮廓，绘制各个所述分区的防护区域，以获得所述预先配置的登机桥防护区域；
    坐标系建立模块，用于以所述距离传感器所发射的扫描线的射出点为原点，以所述扫描线所扫描的范围的对称中心线为Y轴，在所述扫描线的扫描面内建立直角坐标系，获取所述防护区域各点的坐标值。
  16. 根据权利要求15所述的登机桥防撞系统，其中，
    所述登机桥控制装置中存储有所述接机口的转角与所述防护区域的对应逻辑关系，所述对应逻辑关系为：当所述转角处于(E+(m-1)*α,E+m*α]时，所述防护区域为Bm；其中1≤m≤n，且m为正整数；
    所述距离传感装置还包括：
    控制器，分别与所述距离传感器和所述登机桥控制装置电连接，当所述转角测量传感器采集到所述接机口的转角β在(E+(m-1)*α,E+m*α]范围内时，所述登机桥控制装置根据所述对应逻辑关系向所述控制器发送防护区域Bm的切换信号，所述控制器接收所述切换信号后转换至所述防护区域Bm，控制所述距离传感器扫描并获取障碍物的在所述防护区域Bm对应的直角坐标系中的位置坐标，并判断所述位置坐标是否位于所述防护区域中，若是，则产生所述警报信号。
  17. 根据权利要求16所述的登机桥防撞系统，其中，所述登机桥控制装置还包括防撞控制模块，用于控制所述登机桥进行防撞动作。
  18. 根据权利要求13所述的登机桥防撞系统，其中，
    所述接机口包括转动杆，位于所述圆台的下方，与所述圆台和所述接机口连接；
    所述距离传感装置设于所述转动杆上，以随所述接机口转动；或
    所述距离传感装置设于所述圆台上。
  19. 根据权利要求15所述的登机桥防撞系统，其中，所述登机桥防撞系统包括两个所述距离传感装置，两个所述距离传感装置分别为：
    第一距离传感装置，包括第一距离传感器，所述第一距离传感器所发射的所有第一扫描线形成第一扫描面，所述第一扫描面为水平面；
    第二距离传感装置，位于所述第一距离传感装置的下方，所述第二距离传感装置包括 第二距离传感器，所述第二距离传感器发射的所有第二扫描线形成第二扫描面，所述第二扫描面相对于所述第一扫描面向下倾斜。
  20. 根据权利要求19所述的登机桥防撞系统，其中，所述登机桥防撞系统还包括：
    第三距离传感装置，位于所述第一距离传感装置的上方，所述第三距离传感装置包括第三距离传感器，所述第三距离传感器发射的第三扫描线形成第三扫描面，所述第三扫描面相对于所述第一扫描面向上倾斜。
  21. 根据权利要求19或20所述的登机桥防撞系统，其中，所述登机桥防撞系统还包括：
    至少一保护传感装置，包括保护传感器，设于所述登机桥，所述保护传感器发出的所有扫描线朝向所述障碍物，且所述扫描线的扫描区域为一三维锥体。
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