A method, system, and terminal for docking boarding bridge doors based on bridge body attributes.

Abstract

This invention belongs to the field of boarding bridge docking technology, and discloses a method, system, and terminal for docking boarding bridge doors based on bridge body attributes. The method includes: pre-calibrating the aircraft parking position; collecting bridge body attribute information through sensors; and calculating the wheel position angle of the boarding bridge docking path for the aircraft door based on the boarding bridge attribute information at the parking position, thereby obtaining the optimal wheel frame angle for controlling the boarding bridge docking and completing the docking. This invention does not rely on GPS positioning technology. Instead, it collects bridge body attributes through the boarding bridge's own sensors and pre-calibrates the aircraft parking position, recording the boarding bridge's own attributes at that position to calculate the wheel position angle of the boarding bridge docking path for the aircraft door, making the boarding bridge docking process for the aircraft door more reliable and efficient.

Description

Technical Field

[0001] This invention belongs to the field of boarding bridge docking technology, and particularly relates to a boarding bridge door docking method, system and terminal based on bridge body properties. Background Technology

[0002] A boarding bridge is a movable, liftable passageway used in airports to connect the terminal building to the aircraft. Each airport has multiple boarding bridges, which are bridge-like structures that connect the terminal building and the aircraft door. One end connects to a specific boarding gate in the terminal building, while the other end moves back and forth and rises up and down to engage with the aircraft door, allowing passengers to board the aircraft through the corresponding gate.

[0003] Currently, the docking and disembarking of boarding bridges are primarily performed manually by bridge operators in the control room. This requires a high level of skill, combining visual observation and manual control. The control angle of the bridges is largely estimated based on experience, making precise adjustments impossible. Furthermore, the operators in the control room must coordinate with at least one ground crew member to ensure the bridges are retracted to the designated angle. Research on boarding bridge operation includes methods for calculating and controlling wheel position angles using GPS positioning and navigation, and methods that analyze the positional relationship between the bridge and the aircraft to control wheel position angles.

[0004] Due to the special structure of boarding bridges, specialized operators are required to dock them with aircraft doors. Calculating the wheel position angle during docking is a complex issue. Even during automated boarding bridge docking, a wheel position angle needs to be calculated to ensure efficient docking along the shortest path. This invention proposes a wheel position angle calculation method based on boarding bridge attributes. By analyzing information such as the bridge's angle and length, the wheel position angle at the target point can be calculated. This invention can obtain the optimal wheel position control angle at the boarding bridge end in a single calculation. During the docking process, multiple calculations of the wheel position angle at the boarding bridge end can be performed using multiple sensors to reduce calculation and measurement errors, improve door docking accuracy, and avoid problems such as misalignment of the boarding bridge end or incorrect boarding bridge movement direction.

[0005] Based on the above analysis, the problems and shortcomings of the existing technology are as follows: Existing methods for calculating wheel position angles on boarding bridges rely on GPS positioning information. However, GPS signals are often affected by environmental factors and lack stability, making calculation methods based on GPS positioning information unreliable.

[0006] During the docking process between the boarding bridge and the aircraft, it is mostly handled manually by operators with professional skills. However, manual operation inevitably leads to differences in the docking angle due to individual variations, which in turn causes unnecessary wear and tear on the boarding bridge.

[0007] In special weather conditions, limited visibility in the control room, rain, fog, haze, or severe weather can obstruct the vision of manual operators, potentially causing damage to the aircraft or boarding bridge components during movement. In night vision conditions, manual operation may also lead to incorrect retraction distance or angle of the boarding bridge, resulting in unnecessary damage. Summary of the Invention

[0008] To address the problems existing in the prior art, this invention provides a method, system, and terminal for docking boarding bridge doors based on bridge body properties.

[0009] This invention is a boarding bridge door docking method based on bridge body properties. This invention obtains real-time length information such as the retraction and extension of the boarding bridge through an ultrasonic ranging sensor, obtains the angle information of the boarding bridge column at the corresponding length through an angle measuring sensor, and calculates the optimal wheel frame angle to control the docking and thus complete the docking.

[0010] The boarding bridge door docking method based on bridge body attributes includes: The aircraft docking position is pre-calibrated, the bridge body attribute information is collected by sensors, and the target wheel position angle of the boarding bridge docking aircraft door path is calculated based on the boarding bridge attribute information of the docking position, so as to obtain the optimal wheel frame angle for controlling docking and thus complete the docking.

[0011] Furthermore, the sensor includes: Multiple ultrasonic ranging sensors and angle measurement sensors.

[0012] The ultrasonic ranging sensors are installed on both sides of the boarding bridge and in the middle of the bridge body.

[0013] The angle measurement sensor is installed on the underside of the fixed column of the boarding bridge.

[0014] Furthermore, the attribute information includes: The distance between the center of the boarding bridge wheel frame and the center of the boarding bridge head is fixed.

[0015] The length of the boarding bridge changes in real time.

[0016] And the real-time changing angle of the boarding bridge approach.

[0017] Furthermore, the specific process of the boarding bridge door docking method based on bridge body attributes is as follows: Collect the distances between both sides of the boarding bridge head and the aircraft fuselage; read the angle information at the fixed non-moving point of the boarding bridge fixed column. Taking the boarding bridge fixed column as the origin O, use the ultrasonic distance measurement sensor and the angle measurement sensor installed on the boarding bridge body to read the boarding bridge length and the boarding bridge column angle information, and calculate the mathematical relationship between the boarding bridge length, the bridge head angle and the boarding bridge length.

[0018] The position of the bridge head before the boarding bridge moves is H, and the position of the wheel frame is M; after the boarding bridge moves, the target position of the docking position between the boarding bridge and the cabin door is , and the position of the wheel frame is , so the angle of the wheel position that the bridge head needs to offset is ∠ (that is, the wheel position angle required for rotation from the position before the boarding bridge column moves to the target position).

[0019] At the same time, use multiple ultrasonic distance measurement sensors to obtain the distance MH from the center of the wheel frame to the center of the boarding bridge head (a fixed length that cannot be contracted or extended), and the initial overall length of the bridge body (that is, the length of the bridge body before moving) is OH. Then use the angle measurement sensor installed at the bottom of the wheel frame to obtain the boarding bridge column angle information.

[0020] Judge the positional relationship of the wheel position angle to obtain the best wheel frame angle for normal docking and driving.

[0021] Furthermore, the range of the wheel position angle ∠ [[ID=​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​

[0025] In the formula, L represents the initial boarding bridge length, which is the distance OH from point O of the boarding bridge column to the bridge head position H; K represents the fixed length, which is the distance MH from point M of the boarding bridge wheel frame to the bridge head position H. represents the length of the boarding bridge after movement, which is the distance from point O of the boarding bridge column after movement to the target position distance ; is the boarding bridge wheel frame point to the target position distance ; The expression is:

[0026] In the formula, ∠A represents the fixed angle, which is the initial angle ∠YOM of the boarding bridge measured by the angle sensor of the boarding bridge column; represents the fixed angle, which is the initial angle ∠YOM of the boarding bridge measured by the angle sensor of the boarding bridge column .

[0027] At the same time, the optimal wheel frame angle ∠B is the exterior angle of ∠OMM The calculation formula is expressed as: .

[0028] Further, when ∠ > 90° and J < OC, the calculation process of the optimal wheel frame angle ∠B is: First, walk backward along the reverse direction of MM until point C. At this time, the wheel position angle at the wheel frame changes from a negative angle to within the range of [-90°, 90°]. Then, according to ∠ < -90° when the calculation process to obtain the optimal wheel frame angle, and complete the docking.

[0029] Further, when ∠ > 90° and J > OC, the calculation process of the optimal wheel frame angle is: First, walk around point O in an arc with the limit boarding bridge length J as the radius. The wheel position angle at the wheel frame changes from a negative angle to within the range of [-90°, 90°], and then recalculate to obtain the optimal wheel position forward angle.

[0030] In △ONM formed by point O of the boarding bridge column, the limit position N point reached by the boarding bridge, and point M of the boarding bridge wheel frame, the expression of NM is calculated according to the cosine theorem as:

[0031] According to, , the limit distance This yields the following expression:

[0032] In the formula, ∠C represents the limit angle, which is the value ∠YON read by the angle measuring sensor when the limit distance is reached.

[0033] In △ONM, the expression for ∠NMO is obtained by the Law of Cosines as follows:

[0034] When the boarding bridge is in its extreme position, when moving around point O in a circular arc with the extreme boarding bridge length J as the radius, the rotation angle is ∠. , △ If it is an isosceles triangle, then △ The expression for the perpendicular OC is:

[0035] ∠ The calculation process is as follows:

[0036]

[0037] therefore,

[0038] Finally, according to ∠ The calculation process for angles less than 90° yields the optimal wheel frame angle, allowing for normal docking and driving.

[0039] Another object of the present invention is to provide a boarding bridge door docking system based on bridge body attributes, the boarding bridge door docking system based on bridge body attributes includes: (1) Data acquisition module, used to collect information on the distance between the two sides of the boarding bridge head and the aircraft fuselage, the length of the boarding bridge, and the angle of the boarding bridge column.

[0040] (2) Calculation module, used to calculate the wheel position angle ∠ The optimal wheel frame angle was calculated by considering the relationship between the boarding bridge's maximum length J and the vertical line OC to complete the docking.

[0041] Another objective of this invention is to provide an information data processing terminal for implementing the boarding bridge door docking system based on bridge body attributes.

[0042] Based on the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions protected by this invention are as follows: (1) The present invention can calculate the rotation direction and forward direction of the wheel position angle at the wheel frame position in one calculation and accurately calculates them.

[0043] (2) The present invention uses multiple sensors to measure the real-time position of the boarding bridge and the aircraft door. It can not only calculate the route in a static state, but also sample in stages in a moving state to realize real-time monitoring of the route. If it is found that the forward angle exceeds the error range during the docking process, the forward angle calculated in real time can be sent directly to ensure safety and realize the docking of the boarding bridge head and the aircraft door.

[0044] (3) This invention does not rely on GPS positioning technology. Instead, it collects the properties of the boarding bridge body through its own sensors, pre-calibrates the aircraft parking position, records the properties of the boarding bridge itself at that position, and calculates the wheel position angle of the boarding bridge docking path with the aircraft door, making the process of the boarding bridge docking with the aircraft door more reliable and efficient.

[0045] (4) The expected benefits and commercial value of the technical solution of the present invention after transformation are as follows: The present invention can obtain the optimal control angle of the wheel position of the boarding bridge head through one calculation. During the process of driving control docking, the wheel position angle of the boarding bridge head can also be calculated multiple times by multiple sensors to reduce calculation error and measurement error, improve the accuracy of door docking, and avoid problems such as misalignment of the boarding bridge head or incorrect movement direction of the boarding bridge. It has great commercial value.

[0046] (5) The technical solution of the present invention fills the technical gap in the domestic and foreign industry: the existing method for calculating the wheel position angle of boarding bridges requires GPS positioning information for calculation. The present invention proposes a method for controlling the optimal wheel position angle of boarding bridge docking with aircraft door, which can calculate the optimal forward angle of boarding bridge wheel position without relying on GPS positioning technology, thus filling this technical gap.

[0047] (6) Does the technical solution of this invention solve a technical problem that people have long desired to solve but have never been able to successfully solve? Due to the special structure of the boarding bridge, professional operators are required to operate the boarding bridge to dock with the aircraft door. Calculating the wheel position angle of the boarding bridge when docking with the aircraft door is a complex problem. This invention proposes a method for controlling the optimal wheel position angle of the boarding bridge when docking with the aircraft door. By modeling the horizontal movement of the boarding bridge when docking with the aircraft door, and by using sensors to obtain the initial angle and length of the boarding bridge, the optimal wheel position angle of the boarding bridge is calculated, thereby realizing the docking of the boarding bridge with the aircraft door and effectively solving this technical problem.

[0048] (7) Does the technical solution of the present invention overcome technical bias? Existing boarding bridge wheel position angle calculation methods often rely on GPS positioning information for calculation. GPS signals are often interfered with by environmental factors and have insufficient signal stability. The present invention does not rely on GPS positioning technology. It collects the properties of the boarding bridge body through the boarding bridge's own sensors and calculates the wheel position angle of the boarding bridge's docking path with the aircraft door, making the boarding bridge docking process with the aircraft door more reliable and efficient, thus overcoming this technical bias. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the installation of the ultrasonic ranging sensor at the boarding bridge head provided in an embodiment of the present invention.

[0050] Figure 2 This is a sensor installation location diagram provided in an embodiment of the present invention.

[0051] Figure 3 This is a schematic diagram of the first type of docking model analysis provided in the embodiments of the present invention.

[0052] Figure 4 This is a schematic diagram of the second type of docking model analysis provided in the embodiments of the present invention.

[0053] Figure 5 This is a schematic diagram of the third type of docking model analysis provided in the embodiments of the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0055] To enable those skilled in the art to fully understand how the present invention is specifically implemented, this section provides an explanatory description of the embodiments that expand upon the technical solutions of the claims.

[0056] The boarding bridge door docking method based on bridge body attributes provided in this embodiment of the invention includes: The aircraft docking position is pre-calibrated, the bridge body attribute information is collected by sensors, and the target wheel position angle of the boarding bridge docking aircraft door path is calculated based on the boarding bridge attribute information of the docking position, so as to obtain the optimal wheel frame angle for controlling docking and thus complete the docking.

[0057] like Figure 1 As shown, the sensor includes: multiple ultrasonic ranging sensors and an angle measuring sensor; The ultrasonic ranging sensors are installed on both sides of the boarding bridge and in the middle of the bridge body.

[0058] The angle measurement sensor is installed on the underside of the fixed column of the boarding bridge.

[0059] Furthermore, the attribute information includes: The distance between the center of the boarding bridge wheel frame and the center of the boarding bridge head is fixed.

[0060] The length of the boarding bridge changes in real time.

[0061] And the real-time changing angle of the boarding bridge approach.

[0062] Furthermore, the specific process of the boarding bridge door docking method based on bridge body attributes is as follows: Collect the distances between the two sides of the boarding bridge head and the aircraft fuselage. Measure these distances to make the distance between the boarding bridge head and the aircraft fuselage equal, and obtain the target docking point of the boarding bridge.

[0063] Depend on Figure 2 As shown, the angle information is read at the fixed point on the boarding bridge column, with the column as the origin O, as follows. Figure 3 As shown, the length of the boarding bridge and the angle of the boarding bridge columns are read by the distance measuring sensor and the angle measuring sensor installed on the boarding bridge. Finally, the specific length of the boarding bridge and the mathematical relationship between the angle and the length of the boarding bridge are calculated.

[0064] Based on the target wheel position angle ∠ The size and the relationship between the maximum contraction length J of the boarding bridge and the vertical line OC can be divided into the following three cases: (1) ∠ <90° (2) ∠ >90° and J <OC (3) ∠ >90° and J>OC.

[0065] Then, three types of docking models are used to solve the problem, and finally a reasonable forward direction and wheel position angle are obtained for normal docking and driving.

[0066] Assuming the current position (before the boarding bridge moves), i.e., the position of the boarding bridge end, is H, and the wheel frame position is M, and the target position for the boarding bridge to dock with the cabin door (after the boarding bridge moves) is... The wheel frame position is ,Depend on Figure 3 It can be seen that ∠ This refers to the optimal wheel position forward angle that the bridgehead needs to offset, defined as the target forward angle ∠B. Due to the structural limitations of the boarding bridge itself, the wheel position angle movement range is within [-90°, 90°], and it is artificially defined that a wheel position on the left is a positive angle and a wheel position on the right is a negative angle. The docking model is as follows: Figure 3 As shown.

[0067] Furthermore, when ∠ When the angle is less than 90°, the calculation process for the optimal wheel frame angle ∠B is as follows: The sensor reads known quantities: 1) Initial position of the boarding bridge The distance OH from point O on the boarding bridge pillar to the bridgehead position H is denoted as the initial boarding bridge length L.

[0068] The distance MH from point M on the boarding bridge wheel frame to point H at the bridgehead is denoted as the fixed length K.

[0069] The boarding bridge column angle sensor measures the initial angle ∠YOM of the boarding bridge, which is denoted as the fixed angle ∠A.

[0070] 2) The location of the boarding bridge in the target location status From point O on the boarding bridge pillar to the bridgehead Distance O Record as the initial boarding bridge length .

[0071] Boarding bridge wheel frame Click on the bridgehead distance Recorded as a fixed length .

[0072] The boarding bridge column angle sensor measures the initial angle ∠ of the boarding bridge. denoted as a fixed angle ∠ .

[0073] First, calculate △OMM The length of the third side is MM According to the Law of Cosines: .

[0074] The specific calculation process is as follows: Because the length expression is:

[0075]

[0076] Therefore, the MM expression is as follows:

[0077] And because in △OMM It can be read in Chinese Figure 3 The target wheel position angle is known to be That is, ∠OMM The formula for calculating the exterior angle can be expressed as:

[0078] in:

[0079] The ∠ > 90° and J < OC, the calculation process of the optimal wheel carrier angle is as follows: The docking model is as Figure 4 shown. First, move backward along the opposite direction of MM to point C. At this time, the wheel position angle at the wheel carrier changes from a negative angle to within the range of [-90°, 90°]. Then, recalculate according to the process of Case 1 to obtain a reasonable forward direction wheel position angle for normal docking travel.

[0080] The ∠ > 90° and J > OC, the calculation process of the optimal wheel carrier angle is as follows: At this time, the moving direction of the wheel position angle should be as Figure 5 shown. The walking direction should be moved in the opposite angle according to the direction of ∠FMH. Since the boarding bridge first retracts and then extends during docking, the wheel carrier position will reach the perpendicular line OC. Therefore, the angle calculation process is as follows: The sensor reads the known quantities: The position of the boarding bridge in the initial position state.

[0081] The distance OH from point O of the boarding bridge column to the bridge head position H is recorded as the initial boarding bridge length L.

[0082] The distance MH from point M of the boarding bridge wheel carrier to the bridge head position H is recorded as the fixed length K.

[0083] The boarding bridge column angle sensor measures the initial angle ∠YOM of the boarding bridge and is recorded as the fixed angle ∠A.

[0084] The boarding bridge reaches the limit position, which is represented by point N as Figure 5 shown: Assume that the minimum distance between the origin of the boarding bridge and the limit of the wheel position point is recorded as the limit distance J. When reaching the limit distance, the value read by the angle measurement sensor is ∠YON, which is recorded as the limit angle ∠C.

[0085] Given the above conditions as the calculation premise, first, the distance of OC needs to be expressed. The calculation result is as follows: First, rotate around point O in a circular arc with the limit boarding bridge length J as the radius. The wheel position angle at the wheel carrier changes from a negative angle to within the range of [-90°, 90°], and then recalculate to obtain the optimal wheel position forward angle.

[0086] In △ONM formed by point O of the boarding bridge column, the limit position N of the boarding bridge reached, and point M of the boarding bridge wheel carrier, according to the cosine theorem, the expression of NM is calculated as:

[0087] According to, Limit distance This yields the following expression:

[0088] In the formula, ∠C represents the limit angle, which is the value ∠YON read by the angle measurement sensor when the limit distance is reached.

[0089] In △ONM, the expression for ∠NMO is obtained by the Law of Cosines as follows:

[0090] When the boarding bridge is in its extreme position, when moving around point O in a circular arc with the extreme boarding bridge length J as the radius, the rotation angle is ∠. , △ If it is an isosceles triangle, then △ The expression for the perpendicular OC is:

[0091] ∠ The calculation process is as follows:

[0092]

[0093] therefore,

[0094] In this case, first circle around point O with the maximum boarding bridge length J as the radius, and after circling the arc, the wheel position angle at the wheel frame changes from a negative angle to the range of [-90°, 90°]. Finally, according to ∠ The calculation process for angles less than 90° yields the optimal wheel frame angle, allowing for normal docking and driving.

[0095] The boarding bridge door docking system based on bridge body attributes provided in this embodiment of the invention specifically includes: (1) Data acquisition module, used to collect information on the distance between the two sides of the boarding bridge head and the aircraft fuselage, the length of the boarding bridge, and the angle of the boarding bridge column.

[0096] (2) Calculation module, used to calculate the wheel position angle ∠ The optimal wheel frame angle was calculated by considering the relationship between the boarding bridge's maximum length J and the vertical line OC to complete the docking.

[0097] like Figure 3 , 4 The process of establishing the relative coordinates XOY of 5 is shown below: Taking the fixed column of the boarding bridge as the origin O, since the boarding bridge's rotatable angle range is [-90°, 90°], it can be understood that within this range, the fixed column's rotatable angle range is [0°, 180°]. This means the boarding bridge can rotate within [0°, 180°] in the relative coordinate system (as shown in the attached diagram, within the first and second quadrants) and perform docking operations. An angle measuring sensor that meets this condition is selected based on its rotation angle range. During angle measurement, the minimum value read by the angle measuring sensor is chosen as 0° relative to the positive X-axis of the relative coordinate system, the maximum value read as 180° relative to the negative X-axis, and the median value read as 90° relative to the positive Y-axis.

[0098] To demonstrate the inventiveness and technical value of the technical solution of this invention, this section provides specific product or related technology application examples of the technical solution claimed.

[0099] The inventiveness and technical value of the present invention are as follows: (1) The present invention can calculate the rotation direction and forward direction of the wheel position angle at the wheel frame position in one calculation and accurately calculates them.

[0100] (2) The present invention uses multiple sensors to measure the real-time position of the boarding bridge and the aircraft door. It can not only calculate the route in a static state, but also sample in stages in a moving state to realize real-time monitoring of the route. If it is found that the forward angle exceeds the error range during the docking process, the forward angle calculated in real time can be sent directly to correct the forward trajectory. Under the premise of ensuring safety, the docking of the boarding bridge head and the aircraft door can be realized.

[0101] (3) This invention does not rely on GPS positioning technology. Instead, it collects the properties of the boarding bridge body through sensors installed on the boarding bridge itself, and pre-calibrates the aircraft parking position and records the properties of the boarding bridge itself at that position to calculate the wheel position angle of the boarding bridge docking with the aircraft door, making the process of the boarding bridge docking with the aircraft door more reliable and efficient.

[0102] The embodiments of the present invention have achieved some positive results during the research and development or use process, and have indeed great advantages compared with the prior art. The following content describes the experimental process with data, charts and other information.

[0103] (1) The expected benefits and commercial value of the technical solution of this invention after transformation are as follows: This invention can obtain the optimal control angle of the wheel position of the boarding bridge in a single calculation. During the navigation control docking process, multiple sensors can be used to calculate the wheel position angle of the boarding bridge multiple times to reduce calculation and measurement errors and improve the accuracy of door docking.

[0104] (2) Compared with manual docking and docking using GPS positioning, the method of the present invention avoids the following problems: Misalignment of boarding bridge heads or incorrect direction of boarding bridge movement; unnecessary losses caused by insufficient or excessive retraction angle of boarding bridges due to human error; unstable GPS positioning and docking signals, resulting in long waiting times; compared with the above methods, it can be seen that the present invention has great commercial value.

[0105] (3) The technical solution of this invention fills a technical gap in the industry both domestically and internationally: Existing methods for calculating the wheel position angle of boarding bridges rely on GPS positioning information. This invention proposes a method for controlling the optimal wheel position angle when boarding bridges connect to aircraft doors. This method can calculate the optimal wheel position angle of boarding bridges without relying on GPS positioning technology, thus filling this technological gap.

[0106] (4) Whether the technical solution of the present invention solves the technical problem that people have long wanted to solve but have never been able to solve successfully: Due to the special structure of boarding bridges, specialized operators are required to dock them with aircraft doors. Calculating the wheel position angle during docking is a complex problem. This invention proposes a method for controlling the optimal wheel position angle when docking a boarding bridge with an aircraft door. By modeling the horizontal movement of the boarding bridge during docking, and using sensors to acquire the initial angle and length of the boarding bridge, the optimal wheel position angle is calculated, thereby achieving docking between the boarding bridge and the aircraft door and effectively solving this technical challenge.

[0107] It should be noted that embodiments of the present invention can be implemented using hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented using hardware circuitry such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., or using software executed by various types of processors, or using a combination of the above-described hardware circuitry and software, such as firmware.

[0108] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for docking boarding bridge doors based on bridge body properties, characterized in that, The boarding bridge door docking method based on bridge body attributes includes: The aircraft parking position is pre-calibrated, and the bridge's attribute information is collected through sensors. Based on the bridge's attribute information at the parking position, the wheel position angle of the boarding bridge's docking path with the aircraft door is calculated to obtain the optimal wheel frame angle for controlling the boarding bridge docking and completing the docking; including: The distances between the two sides of the boarding bridge and the aircraft fuselage are collected; the angle information is read at the fixed point of the boarding bridge's fixed column; with the boarding bridge's fixed column as the origin O, the boarding bridge length and the angle information of the boarding bridge column are read using the ultrasonic ranging sensor and angle measuring sensor installed on the boarding bridge body; and the boarding bridge length and the mathematical relationship between the bridge head angle and the boarding bridge length are calculated. Before the boarding bridge was moved, the bridgehead height was H and the wheel frame position was M; after the boarding bridge was moved, the target position for the boarding bridge to dock with the cabin door was [missing information]. The wheel frame position is Therefore, the wheel position angle that the bridgehead needs to be offset by is ∠ ; Meanwhile, multiple ultrasonic ranging sensors are used to obtain the distance MH from the center of the wheel frame to the center of the boarding bridge head and the overall length of the bridge body OH. An angle measurement sensor is then used to obtain the angle information of the boarding bridge columns. Determine the positional relationship of the wheel position angles to obtain the optimal wheel frame angle for normal docking and driving; The wheel position angle of the boarding bridge The physical range is [-90°, 90°]. The positional relationship of the target wheel position angle of the boarding bridge includes three cases: ∠ <90°, ∠ >90° and J < OC, and ∠ >90° and J > OC, where J represents the extreme length ON of the boarding bridge, and OC represents the length of the perpendicular line segment from the origin O to ; The said ∠ > 90° and when J < OC, the calculation process of the optimal wheel carrier angle is as follows: First along Walk backward in the direction to point C, and change the wheel position angle at the wheel frame from the opposite angle to the range of [-90°, 90°], then follow the ∠... The calculation process for angles less than 90° yields the optimal wheel frame angle, completing the docking. The ∠ When the angle is >90° and J>OC, the calculation process for the optimal wheel frame angle is as follows: Walking direction first according to ∠ The direction is reversed and the angle is moved to the limit position N. Then, it moves around point O in a circle with the limit boarding bridge length J as the radius. The wheel position angle at the wheel frame changes from the reverse angle to the range of [-90°, 90°]. Then, the optimal wheel position forward angle is recalculated. In the triangle ONM formed by point O of the boarding bridge column, point N of the boarding bridge's extreme position, and point M of the boarding bridge wheel frame, the expression for NM, calculated using the law of cosines, is as follows: according to, Limit distance This yields the following expression: In the formula, ∠C represents the limit angle, which is the value ∠YON read by the angle measurement sensor when the limit distance is reached; L represents the initial boarding bridge length, K represents the fixed length, and ∠A represents the fixed angle; In △ONM, the expression for ∠NMO is obtained by the Law of Cosines as follows: When the boarding bridge is in its extreme position, when it moves around point O in a circular arc with the extreme boarding bridge length J as the radius, the rotation angle is ∠. , △ If it is an isosceles triangle, then △ The expression for the length of the perpendicular segment OC is: ∠ The calculation process is as follows: therefore, Finally, according to the stated ∠ The calculation process for angles less than 90° yields the optimal wheel frame angle, allowing for normal docking and driving.

2. The boarding bridge door docking method based on bridge body properties as described in claim 1, characterized in that, The sensor includes: multiple ultrasonic ranging sensors and an angle measurement sensor; The ultrasonic ranging sensors are installed on both sides of the boarding bridge abutment and in the middle of the bridge body; The angle measurement sensor is installed on the underside of the fixed column of the boarding bridge.

3. The boarding bridge door docking method based on bridge body attributes as described in claim 1, characterized in that, The attribute information includes: A fixed distance is maintained between the center of the boarding bridge wheel frame and the center of the boarding bridge abutment. The length of the boarding bridge changes in real time. And the real-time changing angle of the boarding bridge approach.

4. The boarding bridge door docking method based on bridge body properties as described in claim 1, characterized in that, When ∠ When the angle is less than 90°, the calculation process for the optimal wheel frame angle ∠B is as follows: Calculate the origin O, the position M of the front wheel carrier without movement, and the position of the rear wheel carrier with movement. The constructed △OMM The length of the third side According to the Law of Cosines: length The expression is: In the formula, L represents the initial length of the boarding bridge, and the distance from point O of the boarding bridge column to point H at the bridgehead is OH; K represents the fixed length, and the distance from point M of the boarding bridge wheel frame to point H at the bridgehead is MH; This indicates the length of the boarding bridge after movement, and the distance from point O on the boarding bridge post to the target position after movement. Distance is ; Indicates fixed length, boarding bridge wheel frame Click to target location Distance is ; The expression is: In the formula, ∠A represents a fixed angle, and the initial angle of the boarding bridge is measured by the boarding bridge column angle sensor as ∠YOM; This represents the fixed angle after transformation. The boarding bridge column angle sensor measures the initial angle of the boarding bridge. Y is the Y-axis of the established coordinate system, and the direction of the Y-axis is the direction of rotating 90° counterclockwise from the 0° angle of the boarding bridge. The optimal wheel frame angle ∠B is The exterior angle is calculated using the following formula: 。 5. A boarding bridge door docking system based on bridge body attributes, implementing the boarding bridge door docking method based on bridge body attributes as described in any one of claims 1-4, characterized in that, The boarding bridge door docking system based on bridge body properties includes: The data acquisition module is used to collect information on the distance between the two sides of the boarding bridge and the aircraft fuselage, the length of the boarding bridge, and the angle of the boarding bridge columns. The calculation module is used to calculate the target wheel position angle ∠ of the boarding bridge. The optimal wheel frame angle for docking is calculated by considering the relationship between the maximum length J of the boarding bridge and the length of the perpendicular segment OC.

6. An information data processing terminal, characterized in that, The information data processing terminal is used to implement the boarding bridge door docking system based on bridge body attributes as described in claim 5.

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