Method, device, boarding bridge, equipment and medium for detecting status of aircraft door

Abstract

This disclosure provides a method, apparatus, boarding bridge, electronic device, and computer-readable storage medium for detecting the status of an aircraft door, relating to the field of boarding bridge technology. The method includes: acquiring image data of the aircraft; acquiring contour data of the aircraft door based on the image data; and determining the open / closed state of the aircraft door based on the contour data. The method provided in this disclosure can detect the status of an aircraft door.

Description

Technical Field

[0001] This disclosure relates to the field of boarding bridge technology, and in particular to a method, apparatus, boarding bridge, electronic device, and computer-readable storage medium for detecting the status of an aircraft cabin door. Background Technology

[0002] Currently, the operation of boarding bridges docking with aircraft doors mainly relies on the operator's visual observation to determine the door's opening status. However, relying on human judgment affects the docking efficiency of boarding bridges, and human observation cannot meet the requirements for unmanned boarding bridge docking. Therefore, an automatic method for detecting the aircraft door's opening status is needed. Summary of the Invention

[0003] This disclosure provides a method, apparatus, boarding bridge, electronic device, and computer-readable storage medium for detecting the status of an aircraft cabin door, relating to the field of boarding bridge technology, and enabling the detection of the status of an aircraft cabin door.

[0004] This disclosure provides a method for detecting the state of an aircraft cabin door, including: acquiring image data of the aircraft; acquiring contour data of the aircraft cabin door based on the image data; and determining the open / closed state of the aircraft cabin door based on the contour data of the aircraft cabin door.

[0005] In one embodiment, determining the state of the aircraft door based on its contour data includes: detecting the contour data of the aircraft door; if there is no abrupt change in the contour data of the aircraft door, the aircraft door is in a closed state; if there is an abrupt change in the contour data of the aircraft door, the aircraft door is in a fully open or opening state.

[0006] In one embodiment, obtaining the contour data of the aircraft door based on the image data includes: projecting the scan points of the image data onto a first plane to obtain a first projection area; dividing the first projection area into multiple grids; obtaining the average value of the scan points in each grid in a first direction; obtaining a set of boundary grids based on the average value of the scan points in each grid in the first direction; and obtaining the contour data of the aircraft door based on the set of boundary grids.

[0007] In one embodiment, before obtaining the average value of the scan points in each grid in the first direction, the method further includes: when the coordinate value of the scan point in the first direction in the image data is greater than or equal to a first threshold, setting the coordinate value of the scan point in the first direction to a fixed value.

[0008] In one embodiment, obtaining the boundary cell set based on the average value of the scan points in each cell in the first direction includes: comparing the average values ​​of adjacent cells in the first direction among multiple cells, and obtaining cells whose difference after comparison is greater than a second threshold as the boundary cell set.

[0009] In one embodiment, obtaining the contour data of the aircraft door based on the boundary grid set includes: performing contour data fitting based on the grids in the boundary grid set to obtain the contour data of the aircraft door.

[0010] In one embodiment, the step of determining whether the aircraft door is fully open or in the process of opening if there is a sudden change in the outline data of the aircraft door includes: when the aircraft door is opening outwards, and the aircraft door outline data includes the opposing first and second outlines of the aircraft door and the opposing third and fourth outlines of the aircraft door opening, and the difference between the first distance between the first and second outlines and the second distance between the third and fourth outlines is less than a third threshold, the aircraft door is in a fully open state; or

[0011] When the aircraft cabin door is opening outwards, and the aircraft cabin door contour data includes the first and second opposing contours of the aircraft cabin door and the fourth contour of the aircraft door opening, wherein the fourth contour faces the second contour, and the difference between the first distance between the first and second contours and the second distance between the second and fourth contours is less than a third threshold, the aircraft cabin door is in a fully open state; or

[0012] When the aircraft cabin door is open outwards, and the aircraft cabin door contour data includes the first contour of the aircraft cabin door and the fourth contour of the aircraft door opening, and the difference between the third distance between the first contour and the fourth contour and the first reference distance is less than the fifth threshold, the aircraft cabin door is in a fully open state.

[0013] In one embodiment, the step of determining whether the aircraft door is fully open or in the process of opening if there is a sudden change in the outline data of the aircraft door includes: when the aircraft door is opening inward, the aircraft door outline data includes the third and fourth outlines of the aircraft door opening, and the difference between the second distance of the third outline and the fourth outline and the second reference distance is less than a third threshold, the aircraft door is in the fully open state.

[0014] In one embodiment, the method further includes: filtering the scan points in each cell to remove noise; wherein filtering the scan points in each cell to remove noise includes: obtaining a first average value of the scan points in the first cell in a first direction; comparing the coordinate value of each scan point in the first cell in the first direction with the first average value, and filtering out scan points whose coordinate value difference is greater than a fourth threshold.

[0015] This disclosure provides an aircraft door status detection device, comprising: an acquisition unit for acquiring image data of an aircraft; the acquisition unit for acquiring contour data of the aircraft door based on the image data; and a judgment unit for judging the open / closed state of the aircraft door based on the contour data of the aircraft door.

[0016] This disclosure provides a boarding bridge that includes an operation detection device as described in the above embodiments.

[0017] This disclosure provides an electronic device, including: one or more processors; and a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the one or more processors to perform the method as described in any of the above embodiments.

[0018] This disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the above embodiments.

[0019] The method for detecting the status of an aircraft cabin door disclosed in this application involves acquiring image data of the aircraft; obtaining contour data of the aircraft cabin door based on the image data; and determining the opening and closing status of the aircraft cabin door based on the contour data, thereby enabling the detection of the aircraft cabin door status. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a method for detecting the status of an aircraft cabin door provided in an embodiment of this disclosure;

[0022] Figure 2A This is a flowchart of a method for determining the state of an aircraft door based on the contour data of the aircraft door, provided in an embodiment of this disclosure;

[0023] Figure 2B A schematic diagram showing an aircraft cabin door in a fully open state according to an embodiment of the present disclosure is provided.

[0024] Figure 2C A schematic diagram showing an aircraft cabin door in a fully open state according to an embodiment of the present disclosure is provided.

[0025] Figure 2D A schematic diagram showing an aircraft cabin door in a fully open state according to an embodiment of the present disclosure is provided.

[0026] Figure 3 This is a flowchart of a method for obtaining the outline data of an aircraft door based on the image data provided in this disclosure embodiment;

[0027] Figure 4 A schematic diagram illustrating the structure for detecting the state of an aircraft cabin door according to an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of a door scanning process for detecting the status of an aircraft door according to an embodiment of this application;

[0029] Figure 6 A schematic diagram illustrating data information on the open state of an aircraft cabin door according to an embodiment of this application;

[0030] Figure 7 This is a schematic diagram of the structure of an aircraft cabin door status detection device provided in an embodiment of this disclosure;

[0031] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0032] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0033] Figure 1 This is a flowchart of a method for detecting the status of an aircraft cabin door provided in an embodiment of this disclosure. The method provided in this embodiment can be executed by any computer terminal or server with computing capabilities, or interactively executed by a terminal or server.

[0034] like Figure 1 As shown in the embodiments of this disclosure, the method for detecting the status of an aircraft cabin door may include the following steps.

[0035] In step S110, image data of the aircraft is acquired.

[0036] In this step, the terminal or server can acquire image data of the aircraft. In one embodiment, 3D scanning data of the aircraft can be acquired using a 3D scanning sensor. The 3D scanning sensor, for example, scans an area including at least the aircraft door before and after opening, obtaining image data encompassing the 3D scanning data of the aircraft door area and the doorway area.

[0037] In step S120, the outline data of the aircraft door is obtained based on the image data.

[0038] In this step, the terminal or server can obtain the outline data of the aircraft door based on the image data. In one embodiment, the terminal or server can analyze the 3D scan data of the aircraft obtained by a 3D scanning sensor to obtain the outline data of the aircraft door. The outline data of the aircraft door may include, for example, the outline of the aircraft door when it is open outwards and the outline of the aircraft door opening after the aircraft door is opened.

[0039] In step S130, the opening and closing status of the aircraft door is determined based on the outline data of the aircraft door.

[0040] In this step, the terminal or server determines the opening or closing state of the aircraft door based on the outline data of the aircraft door. In one embodiment, the terminal or server can determine whether the aircraft door is closed, opening, or fully open based on the distance between the outline of the aircraft door and the aircraft door opening in the obtained outline data of the aircraft door.

[0041] Figure 1 The method for detecting the status of an aircraft cabin door involves acquiring image data of the aircraft; obtaining contour data of the aircraft cabin door based on the image data; and determining the open / closed state of the aircraft cabin door based on the contour data, thereby enabling the detection of the aircraft cabin door status.

[0042] Figure 2A This is a flowchart of a method for determining the state of an aircraft door based on the contour data of the aircraft door, provided in an embodiment of this disclosure. Figure 2A The method provided in the embodiments can be executed by any computer terminal or server with computing capabilities, or interactively executed by a terminal or server.

[0043] like Figure 2A As shown in the embodiments of this disclosure, the method for determining the state of an aircraft door based on the outline data of the aircraft door may include the following steps.

[0044] In step S210, the contour data of the aircraft door is detected.

[0045] In this step, the terminal or server can detect the outline data of the aircraft door.

[0046] In step S220, if there is no abrupt change in the outline data of the aircraft door, the aircraft door is in a closed state.

[0047] In this step, if the aircraft door's contour data does not exhibit any abrupt changes, the terminal or server indicates that the aircraft door is in a closed state. For example, before the aircraft door is opened, the image data obtained by the 3D scanning sensor is a continuous curved surface with no abrupt changes in contour data; however, after the door is opened, the image data obtained by the 3D scanning sensor changes from a continuous curved surface to a discontinuous curved surface, resulting in abrupt changes in contour data.

[0048] In step S230, if there is a sudden change in the outline data of the aircraft door, the aircraft door is either fully open or in the process of opening.

[0049] In this step, if there is a sudden change in the outline data of the aircraft door, the terminal or server indicates that the aircraft door is fully open or in the process of opening.

[0050] In one embodiment, if there is a sudden change in the outline data of the aircraft door, then the aircraft door being fully open or in the process of opening includes the following: when the aircraft door is opening outwards, the aircraft door outline data includes the opposing first and second outlines of the aircraft door and the opposing third and fourth outlines of the aircraft door opening, that is, when the second outline of the aircraft door does not obstruct the third outline of the aircraft door opening, and the difference between the first distance between the first and second outlines and the second distance between the third and fourth outlines is less than a third threshold, the aircraft door is in a fully open state. The outlines of the aircraft door and the aircraft door opening can be either vertical or horizontal, and this disclosure is not limited to this.

[0051] Figure 2B A schematic diagram showing an aircraft cabin door in a fully open state according to an embodiment of the present disclosure is provided.

[0052] refer to Figure 2BWhen the aircraft cabin door 202 is open outward, the aircraft cabin door contour data includes the opposing first contour 2021 and second contour 2022 of the aircraft cabin door 202 and the opposing third contour 2011 and fourth contour 2012 of the aircraft door opening 201. That is, when the second contour 2022 of the aircraft cabin door 202 does not obstruct the third contour 2011 of the aircraft door opening 201, and the difference between the first distance between the first contour 2021 and the second contour 2022 and the second distance between the third contour 2011 and the fourth contour 2012 is less than a third threshold, the aircraft cabin door 202 is in a fully open state.

[0053] In another embodiment, if there is a sudden change in the outline data of the aircraft door, then the aircraft door being fully open or in the process of opening includes: when the aircraft door is opening outwards, and the outline data of the aircraft door includes the first outline and the second outline of the aircraft door and the fourth outline of the aircraft door opening, at this time the second outline of the aircraft door obscures the third outline of the aircraft door opening, the fourth outline faces the second outline, and the difference between the first distance between the first outline and the second outline and the second distance between the second outline and the fourth outline is less than a third threshold, then the aircraft door is in the fully open state.

[0054] Figure 2C A schematic diagram showing an aircraft cabin door in a fully open state according to an embodiment of the present disclosure is provided.

[0055] refer to Figure 2C When the aircraft cabin door 202 is open outwards, and the aircraft cabin door contour data includes the first contour 2021 and the second contour 2022 of the aircraft cabin door 202 and the fourth contour 2012 of the aircraft door opening 201, at this time, the second contour 2022 of the aircraft cabin door 202 blocks the third contour of the aircraft door opening, the fourth contour 2012 faces the second contour 2022, and the difference between the first distance between the first contour 2021 and the second contour 2022 and the second distance between the second contour 2022 and the fourth contour 2012 is less than a third threshold, the aircraft cabin door is in a fully open state.

[0056] In another embodiment, when the aircraft door is open outwards, and the aircraft door contour data includes a first contour of the aircraft door and a fourth contour of the aircraft door opening, and the difference between a third distance between the first contour and the fourth contour and a first reference distance is less than a fifth threshold, the aircraft door is in a fully open state. The first reference distance can, for example, be the distance between the first contour of the aircraft door and the fourth contour of the aircraft door opening when the aircraft door is fully open, stored in the background.

[0057] Figure 2D A schematic diagram showing an aircraft cabin door in a fully open state according to an embodiment of the present disclosure is provided.

[0058] refer to Figure 2D When the aircraft cabin door 202 is open outwards, and the aircraft cabin door contour data includes the first contour 2021 of the aircraft cabin door 202 and the fourth contour 2012 of the aircraft door opening 201, and the difference between the third distance between the first contour 2021 and the fourth contour 2012 and the first reference distance is less than a fifth threshold, the aircraft cabin door 202 is in a fully open state. Figure 2D In one embodiment, the second contour 2022 of the aircraft door 202 does not obscure the third contour 2011 of the aircraft door opening 201; in other embodiments, the second contour 2022 of the aircraft door 202 may also obscure the third contour 2011 of the aircraft door opening 201.

[0059] The first and second contours can be, for example, the left and right door frames of the aircraft door after it is opened. The first distance is the distance between the left and right door frames of the aircraft door, which is also the width of the aircraft door. The third and fourth contours can be, for example, the left and right door frames of the aircraft door opening after the aircraft door is opened. When the right door frame of the aircraft door does not obstruct the left door frame of the aircraft door opening, the second distance is the width between the left and right door frames of the aircraft door opening. Comparing the first and second distances is, for example, comparing the width of the aircraft door and the width of the aircraft door opening. If the difference between the two is within a certain threshold range, the aircraft door is determined to be in a fully open state. The third threshold can be the difference between the width of the aircraft door opening and the width of the aircraft door after it is fully opened. When the right door frame of the aircraft door obstructs the left door frame of the aircraft door opening, the first distance is the distance between the left and right door frames of the aircraft door, which is also the width of the aircraft door; the second distance is the width between the right door frame of the aircraft door and the right door frame of the aircraft door opening. Specifically, when the difference between the third distance between the left door frame and the right door frame of the aircraft door opening after the aircraft door is opened and the first reference distance is less than the fifth threshold, the aircraft door is in a fully open state; the first reference distance may be, for example, the distance between the left door frame and the right door frame of the aircraft door opening when the aircraft door is fully open.

[0060] In one embodiment, determining whether the aircraft door is fully open or in the process of opening if there is a sudden change in the aircraft door's outline data includes: when the aircraft door is opening inwards, if the aircraft door outline data includes the third and fourth outlines of the aircraft door opening, and the difference between the second distance between the third and fourth outlines and a set second reference distance is less than a third threshold, then the aircraft door is in a fully open state. The third and fourth outlines are, for example, the left and right door frames of the aircraft door opening after the door is opened, and the second distance is the width between the left and right door frames of the aircraft door opening. The second reference distance can be the width data of the aircraft door stored in the background and can be obtained through background access.

[0061] Figure 2A The method for determining the state of an aircraft door based on its outline data involves detecting the outline data of the aircraft door; if there is no abrupt change in the outline data of the aircraft door, the aircraft door is in a closed state; if there is an abrupt change in the outline data of the aircraft door, the aircraft door is in a fully open or opening state, thereby enabling the determination of the aircraft's state.

[0062] Figure 3 This is a flowchart of a method for obtaining the outline data of an aircraft door based on the image data provided in this embodiment of the disclosure. Figure 3 The method provided in the embodiments can be executed by any computer terminal or server with computing capabilities, or interactively executed by a terminal or server.

[0063] like Figure 3 As shown in the embodiments of this disclosure, the method for obtaining the contour data of the aircraft door based on the image data may include the following steps.

[0064] In step S310, the scan points of the image data are projected onto a first plane to obtain a first projection area.

[0065] In this step, the terminal or server can project the scanned points of the image data onto a first plane to obtain a first projection area. The image data may include multiple scanned points, each with three-dimensional coordinates, and these multiple scanned points constitute point cloud data. The first plane may, for example, be a plane with three-dimensional coordinates.

[0066] In one embodiment, before step S310, the method may further include: when the coordinate value of the scan point in the image data in the first direction is greater than or equal to a first threshold, setting the coordinate value of the scan point in the first direction to a fixed value. The first threshold is greater than the maximum coordinate value in the first direction of the image data obtained by the 3D scanning sensor before the aircraft door is opened.

[0067] In step S320, the first projection is divided into multiple grids.

[0068] In this step, the terminal or server can divide the first projection into multiple grids. For example, the terminal or server can divide the first projection into multiple identical grids.

[0069] In step S330, the average value of the scan points in each grid in the first direction is obtained.

[0070] In this step, the terminal or server can obtain the average value of the scanned points in each cell in a first direction, such as the average value of the coordinates in the first direction. The first direction can be, for example, the direction scanned by the 3D scanning sensor, such as the Y-axis direction of the 3D coordinate system.

[0071] In step S340, the boundary grid set is obtained based on the average value of the scan points in the first direction of each grid.

[0072] In this step, the terminal or server can obtain a set of boundary cells based on the average value of the scan points in each cell in the first direction. In one embodiment, for example, the average values ​​of adjacent cells in the first direction can be compared, and cells whose difference after comparison is greater than a second threshold can be used as the set of boundary cells. The second threshold is, for example, less than the height or depth of the aircraft door protruding from the aircraft after it is opened.

[0073] In step S350, the outline data of the aircraft door is obtained based on the boundary grid set.

[0074] In this step, the terminal or server can obtain the contour data of the aircraft door based on the set of boundary grids. In one embodiment, the contour data of the aircraft door can be obtained, for example, by fitting the contour data based on the grids in the set of boundary grids.

[0075] In one embodiment, Figure 3 The method further includes filtering the scan points in each cell to remove noise; wherein, filtering the scan points in each cell to remove noise includes: obtaining a first average value of the scan points in the first cell in a first direction; comparing the coordinate value of each scan point in the first cell in the first direction with the first average value, and filtering out scan points whose coordinate value difference is greater than a fourth threshold. The fourth threshold needs to be set reasonably to avoid normal points being filtered out. The first cell can be any one of multiple cells.

[0076] Figure 3The method involves projecting the scan points of the image data onto a first plane to obtain a first projection area; dividing the first projection area into multiple grids; obtaining the average value of the scan points in each grid in a first direction; obtaining a set of boundary grids based on the average value of the scan points in each grid in the first direction; and obtaining the outline data of the aircraft door based on the set of boundary grids. This method enables the acquisition of the outline data of the aircraft door from the image data.

[0077] The method for detecting the status of aircraft cabin doors disclosed herein will be explained below with specific examples:

[0078] Figure 4 This is a schematic diagram illustrating the structure of an aircraft door status detection according to an embodiment of this application.

[0079] like Figure 4 As shown, a door opening detection device 403 is installed at the arrival port of boarding bridge 401. The door opening detection device 403 can use 3D (three-dimensional) detection method to detect the opening and closing status of the aircraft door 4021.

[0080] First, the hatch opening detection device 403 includes at least one sensor 4031 with 3D scanning capability, such as... Figure 4 As shown, sensor 4031 is located above the boarding bridge gate.

[0081] Figure 5 This is a schematic diagram of a door scan for detecting the state of an aircraft door according to an embodiment of this application.

[0082] like Figure 5 As shown, the scanning range S of sensor 4031 must include at least the following three features after the boarding bridge is correctly docked with aircraft 402: first, the door opening 4021 portion when aircraft door 4022 is open; second, the aircraft door 4022 portion when aircraft door is open; and third, the upper edge portion of aircraft door.

[0083] When the boarding bridge is correctly docked with aircraft 402, sensor 4031 can obtain point cloud data D of aircraft 402 within the scanning range S through 3D scanning. When the aircraft door 4022 is closed, aircraft 402 is a continuous curved surface within the scanning range S, and the point cloud data D scanned by the sensor will not show any abrupt changes. Figure 5 As shown, when the aircraft door 4022 is open, the aircraft 402 within the scanning range S can be divided into three discontinuous parts: the scanned part A of the outer surface of the aircraft 402, the scanned part B of the door 4022, and the scanned part C of the doorway 4021. The point cloud data D scanned by the sensor will show abrupt changes at the junctions of A and B, A and C, and B and C. By analyzing the point cloud data D, the open or closed state of the aircraft door 4022 can be determined.

[0084] The point cloud data analysis of this application can be divided into three links: preprocessing, feature extraction, and feature recognition:

[0085] Preprocessing link: First, perform regional segmentation. As Figure 4 and Figure 5 shown, a coordinate system of the sensor 4031 can be established, where the Y-axis direction is the scanning direction of the sensor 4031, the X-axis direction is the left-right direction of the sensor 4031, and the Z-axis direction is the up-down direction of the sensor 4031. When the sensor 4031 performs a 3D scan on the aircraft 402, the coordinate values (x k , y k , z k ) of the aircraft 402 at each scan point D k will be obtained, and the data of all scan points form the point cloud data D.

[0086] Figure 6 Schematic diagram of data information showing the open state of the aircraft cabin door in an embodiment of this application. As Figure 6 shown, project the scanning range S onto the XOZ plane to obtain the scanning range projection area S', and divide S' into m×n small grids G of equal size. Each grid is represented as G(i,j), where 0 < i ≤ m, 0 < j ≤ n, and i, j are positive integers. In this way, the projections of each scan point D k of the point cloud data D on the XOZ plane will fall within each small grid G(i,j), and the set of scan points whose projections fall within G(i,j) is marked as D(i,j).

[0087] As Figure 4 and Figure 5 shown, La is the maximum distance from the scanned part A of the outer surface of the aircraft 402 within the scanning range S to the sensor 4031. Therefore, the coordinate values of the scan points D k of the sensor 4031 on the scanned part A of the outer surface of the aircraft 402 and the scanned part B of the cabin door 4021 in the Y direction will be less than or equal to L a , and the scanned part C of the door opening 4021 is the interior of the aircraft 2. Therefore, the coordinate values of the scan points D k of the sensor 4031 on the scanned part of the door opening 4021 in the Y direction will be significantly greater than L a . And the features within the door opening 4021 are useless features, so assimilation processing can be performed. That is, when comparing the Y-direction coordinate value y k of the scan point D k in the point cloud data D with L b (set distance parameter), if y k > L b , then the Y-direction coordinate value y of this scan point D k ofk Change to L b L b >L a L a For example, the first threshold.

[0088] Next, the point cloud data D is filtered to remove noisy points. The average value of the point set D(i, j) in the Y-direction coordinate is calculated. Points D in the point set D(i,j) k The coordinate value y in the Y direction k Compared with the average In comparison, if Then it is considered that D k Points that are considered noisy are removed from the point set D(i,j), and the average value of the point set D(i,j) after filtering out noisy points is recalculated in the Y-direction. and average Assign it to the small cell G(i,j), that is F is, for example, the fourth threshold. The threshold F needs to be set reasonably to avoid normal points being filtered out as noise.

[0089] Feature extraction: The value of cell G(i,j) is compared with the values ​​of its neighboring cells. If the comparison result is greater than a certain set value H (second threshold), it indicates that the cell is a data mutation boundary, and the cell is marked as P(i,j). That is, if |G(i,j)-G(i+1,j)|>H or |G(i,j)-G(i,j+1)|>H, then G(i,j) is marked as the boundary cell P(i,j), where 0 <i<m,0<j<n,H> The value of H must be 0 and less than the protrusion depth of aircraft door 4022 relative to aircraft 402 after it is opened. To accurately extract the features after the aircraft door is opened, the H value must be set reasonably. The set of all boundary cells P(i,j) is labeled as feature P.

[0090] Feature recognition stage: The extracted features P are fitted and recognized as feature contours, such as... Figure 6 As shown, after the aircraft door is opened, the right door frame obscures the left door frame of the aircraft door opening. If the fitted contour includes features L1, L2, L3 (second contour), L4 (first contour), and L5 (fourth contour), it indicates that the aircraft door 4022 is in the open state. If the distance M from L3 (second contour) to L4 (first contour) is... 3-4 The distance M from L3 (second contour) to L5 (fourth contour) 3-5 The difference is less than R, i.e., |M 3-4 -M 3-5If < R, it indicates that the aircraft cabin door 21 has reached the fully opened state, where R (the third threshold) is the set fully opened threshold for the aircraft cabin door 4022. It should be noted that in this embodiment, 5 features are used as the judgment criteria for the opening of the aircraft cabin door; however, only 3 of these features can also be used to judge the opening situation of the aircraft cabin door. For example, when the fitted contour includes features L1, L2, and L3, it represents that the aircraft cabin door 21 is in the opened state. Moreover, when the aircraft cabin door opens inward, only features L2, L3, and L5 need to be judged.

[0091] Figure 6 It shows the situation where the right doorframe after the opening of the aircraft cabin door blocks the left doorframe of the aircraft door opening. However, when the right doorframe after the opening of the aircraft cabin door does not block the left doorframe of the aircraft door opening, when the difference between the first distance between the first contour (L4) and the second contour (L3) and the second distance between the third contour (the left doorframe of the aircraft door opening) and the fourth contour (L5) is less than the third threshold, the aircraft cabin door is in the fully opened state.

[0092] In addition, regardless of whether the right doorframe after the opening of the aircraft cabin door blocks the left doorframe of the aircraft door opening, when the difference between the third distance between the first contour (L4) and the fourth contour (L5) and the first reference distance is less than the fifth threshold, it is judged that the aircraft cabin door is in the fully opened state. Here, the first reference distance can be, for example, the distance between the left doorframe of the aircraft cabin door and the right doorframe of the aircraft door opening when the aircraft cabin door is fully opened.

[0093] Processing when some features are blocked by people or objects during the detection of the opening of the aircraft cabin door 4022. When the registration bridge docking is completed, the sensor scans the position of the cabin door and records the point cloud data D0, obtaining D0(i, j). The occlusion can be divided into two situations: 1. L1, L3, or L4 is blocked. When L1, L3, or L4 is blocked, compare the difference between D k in the Y-axis direction and D0 in the Y-axis direction. When the difference is greater than the protruding depth K of the aircraft cabin door 4022 relative to the aircraft 402 after opening, that is, when |y k - y0| > K, it indicates that there is an occluding object. 2. L2 or L5 is blocked. When L2 or L5 is blocked, because there is no influence of the aircraft cabin door, the value of D k in the Y-axis direction does not have a decreasing data, so when the distance of D k in the Y-axis direction is less than the distance of D0 in the Y-axis direction, that is, y0 - y k > A, where A is the set minimum difference for maintaining smoothness, it indicates that there is an occluding object.

[0094] Figure 7 It is a schematic structural diagram of a detection device for the state of an aircraft cabin door provided by an embodiment of the present disclosure.

[0095] like Figure 7 As shown, the aircraft door status detection device 700 provided in this embodiment may include:

[0096] Acquisition unit 710 is used to acquire image data of the aircraft;

[0097] The acquisition unit 710 is also used to acquire the outline data of the aircraft door based on the image data;

[0098] The judgment unit 720 is used to determine the opening and closing status of the aircraft door based on the outline data of the aircraft door.

[0099] Figure 7 The aircraft door status detection device includes an acquisition unit for acquiring aircraft image data; the acquisition unit is also used to acquire the outline data of the aircraft door based on the image data; and a judgment unit is used to judge the opening and closing state of the aircraft door based on the outline data of the aircraft door, thereby realizing the detection of the aircraft door status.

[0100] In one embodiment, the determination unit 720 is further configured to detect the contour data of the aircraft door; if there is no abrupt change in the contour data of the aircraft door, the aircraft door is in a closed state; if there is an abrupt change in the contour data of the aircraft door, the aircraft door is in a fully open or opening state.

[0101] In one embodiment, the acquisition unit 710 is further configured to project the scan points of the image data onto a first plane to obtain a first projection area; divide the first projection area into multiple grids; obtain the average value of the scan points in each grid in a first direction; obtain a set of boundary grids based on the average value of the scan points in each grid in the first direction; and obtain the contour data of the aircraft door based on the set of boundary grids.

[0102] In one embodiment, the acquisition unit 710 is further configured to set the coordinate value of the scan point in the first direction to a fixed value when the coordinate value of the scan point in the first direction is greater than or equal to a first threshold.

[0103] In one embodiment, the acquisition unit 710 is further configured to compare the average values ​​of adjacent cells in a first direction among multiple cells, and acquire cells whose difference after comparison is greater than a second threshold as a boundary cell set.

[0104] In one embodiment, the acquisition unit 710 is further configured to perform contour data fitting based on the grids in the boundary grid set to obtain the contour data of the aircraft door.

[0105] In one embodiment, the determining unit 720 is further configured to: when the aircraft cabin door is opening outwards, and the aircraft cabin door contour data includes opposing first and second contours of the aircraft cabin door and opposing third and fourth contours of the aircraft door opening, and the difference between the first distance between the first contour and the second contour and the second distance between the third contour and the fourth contour is less than a third threshold, the aircraft cabin door is in a fully open state; or when the aircraft cabin door is opening outwards, and the aircraft cabin door contour data includes opposing first and second contours of the aircraft cabin door and the fourth contour of the aircraft door opening, and the fourth contour faces the second contour, and the difference between the first distance between the first contour and the second contour and the second distance between the second contour and the fourth contour is less than a third threshold, the aircraft cabin door is in a fully open state; or when the aircraft cabin door is opening outwards, and the aircraft cabin door contour data includes the first contour of the aircraft cabin door and the fourth contour of the aircraft door opening, and the difference between the third distance between the first contour and the fourth contour and the first reference distance is less than a fifth threshold, the aircraft cabin door is in a fully open state.

[0106] In one embodiment, the determining unit 720 is further configured to determine that when the aircraft cabin door is in an inward opening state, the aircraft cabin door contour data includes the third and fourth contours of the aircraft door opening, and the difference between the second distance between the third and fourth contours and the second reference distance is less than a third threshold, the aircraft cabin door is in a fully open state.

[0107] In one embodiment, the acquisition unit 710 is further configured to filter the scan points in each cell to remove noise; acquire a first average value of the scan points in the first cell in a first direction; compare the coordinate value of each scan point in the first cell in the first direction with the first average value, and filter out scan points whose coordinate value difference is greater than a fourth threshold.

[0108] This application also provides a boarding bridge, including, as follows: Figure 7 The device shown is for detecting the status of the aircraft cabin door.

[0109] The boarding bridge of this application can detect the status of the aircraft cabin door, thereby enabling the boarding bridge to automatically receive passengers.

[0110] See Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device 800 provided in an embodiment of this disclosure. For example... Figure 8As shown, the electronic device in this embodiment may include one or more processors 801, a memory 802, and an input / output interface 803. The processor 801, memory 802, and input / output interface 803 are connected via a bus 804. The memory 802 stores a computer program, which includes program instructions. The input / output interface 803 receives and outputs data, such as for data interaction between a host machine and an electronic device, or for data interaction between various virtual machines within the host machine. The processor 801 executes the program instructions stored in the memory 802.

[0111] The processor 801 can perform the following operations:

[0112] Acquire image data of the aircraft; acquire contour data of the aircraft door based on the image data; determine the open / closed state of the aircraft door based on the contour data of the aircraft door.

[0113] In some feasible implementations, the processor 801 may be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0114] The memory 802 may include read-only memory and random access memory, and provides instructions and data to the processor 801 and the input / output interface 803. A portion of the memory 802 may also include non-volatile random access memory. For example, the memory 802 may also store device type information.

[0115] In practice, the electronic device can execute the implementation methods provided by the steps in the above embodiments through its built-in functional modules. For details, please refer to the implementation methods provided by the steps in the above embodiments, which will not be repeated here.

[0116] This disclosure provides an electronic device including a processor, an input / output interface, and a memory. The processor retrieves a computer program from the memory and executes the steps of the method shown in the above embodiments to perform a transmission operation.

[0117] This disclosure also provides a computer-readable storage medium storing a computer program adapted to be loaded by a processor and execute the methods provided in the steps of the above embodiments. Specific implementations of the steps in the above embodiments can be found therein and will not be repeated here. Furthermore, the beneficial effects of using the same method will not be repeated here either. For technical details not disclosed in the embodiments of the computer-readable storage medium involved in this disclosure, please refer to the description of the method embodiments of this disclosure. As an example, the computer program can be deployed to execute on an electronic device, or on multiple electronic devices located at one location, or on multiple electronic devices distributed across multiple locations and interconnected via a communication network.

[0118] The computer-readable storage medium can be the apparatus provided in any of the foregoing embodiments or the internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the electronic device. The computer-readable storage medium is used to store the computer program and other programs and data required by the electronic device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0119] This disclosure also provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the methods provided in the various alternative embodiments described above.

[0120] The terms "first," "second," etc., used in the specification, claims, and drawings of this disclosure are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0121] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0122] The methods and related apparatuses provided in this disclosure are described with reference to the method flowcharts and / or structural diagrams provided in this disclosure. Specifically, each block of the method flowchart and / or structural diagram, as well as combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions are provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable transmission device to create a machine, such that the instructions, which execute via the processor of the computer or other programmable transmission device, generate instructions for implementing the process. Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable transmission device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable transmission device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 A process or multiple processes and / or structures illustrate the steps of the functions specified in one or more boxes.

[0123] The above-disclosed embodiments are merely preferred embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Therefore, any equivalent variations made in accordance with the claims of this disclosure shall still fall within the scope of this disclosure.

Claims

1. A method of detecting the status of an aircraft door, characterized in that, The method comprises: acquiring image data of an aircraft; acquiring profile data of a cabin door of the aircraft according to the image data; judging an open or closed state of the cabin door according to the profile data of the cabin door; wherein the acquiring of the profile data of the cabin door according to the image data comprises: projecting scanning points of the image data onto a first plane to obtain a first projection area; dividing the first projection area into a plurality of grids; acquiring an average value of the scanning points in each grid in a first direction; acquiring a boundary grid set according to the average value of the scanning points in each grid in the first direction; and acquiring the profile data of the cabin door according to the boundary grid set. wherein the acquiring of the average value of the scanning points in each grid in the first direction further comprises: setting a coordinate value of a scanning point in the first direction as a fixed value when the coordinate value of the scanning point in the first direction in the image data is greater than or equal to a first threshold value.

2. The method of claim 1, wherein, The judging of the state of the cabin door according to the profile data of the cabin door comprises: detecting the profile data of the cabin door; if the profile data of the cabin door has no mutation, the cabin door is in a closed state; if the profile data of the cabin door has a mutation, the cabin door is in a completely open or opening state.

3. The method of claim 1, wherein, The acquiring of the boundary grid set according to the average value of the scanning points in each grid in the first direction comprises: comparing the average values of adjacent grids in the first direction to obtain grids with a difference greater than a second threshold value as the boundary grid set.

4. The method of claim 1, wherein, The acquiring of the profile data of the cabin door according to the boundary grid set comprises: fitting the profile data according to the grids in the boundary grid set to obtain the profile data of the cabin door.

5. The method of claim 2, wherein, The acquiring of the boundary grid set according to the average value of the scanning points in each grid in the first direction comprises: if the cabin door is outwardly opened, the profile data of the cabin door comprises first and second profiles of the cabin door and third and fourth profiles of an aircraft door hole, and a difference between a first distance between the first and second profiles and a second distance between the third and fourth profiles is less than a third threshold value, the cabin door is in a completely open state; or if the cabin door is outwardly opened, the profile data of the cabin door comprises first and second profiles of the cabin door and a fourth profile of the aircraft door hole, the fourth profile is opposite to the second profile, and a difference between a first distance between the first and second profiles and a second distance between the second and fourth profiles is less than a third threshold value, the cabin door is in a completely open state; or if the cabin door is outwardly opened, the profile data of the cabin door comprises a first profile of the cabin door and a fourth profile of the aircraft door hole, and a difference between a third distance between the first and fourth profiles and a first reference distance is less than a fifth threshold value, the cabin door is in a completely open state.

6. The method of claim 2, wherein, if the profile data of the aircraft door has a mutation, the aircraft door is in a fully open or opening state, including: if the aircraft door is inward opening, the profile data of the aircraft door includes a third profile and a fourth profile of the aircraft door hole, and a difference between the second distance of the third profile and the fourth profile and the second reference distance is less than a third threshold value, the aircraft door is in a fully open state.

7. The method of claim 1, wherein, Further comprising: filtering the scanning points in each grid to filter out noise points; wherein the filtering the scanning points in each grid to filter out noise points includes: obtaining a first average value of the scanning points in the first grid in the first direction; comparing the coordinate value of each scanning point in the first grid in the first direction with the first average value, and filtering out the scanning point whose coordinate value difference is greater than a fourth threshold value.

8. An apparatus for detecting the status of an aircraft door, characterized by including: an acquisition unit configured to acquire image data of an aircraft; the acquisition unit is further configured to acquire profile data of the aircraft door according to the image data; a judgment unit configured to judge the opening and closing state of the aircraft door according to the profile data of the aircraft door; the acquisition unit is further configured to project the scanning points of the image data to a first plane to obtain a first projection area; divide the first projection area into a plurality of grids; obtain the average value of the scanning points in each grid in the first direction; obtain a boundary grid set according to the average value of the scanning points in each grid in the first direction; and acquire the profile data of the aircraft door according to the boundary grid set; the acquisition unit is further configured to set the coordinate value of the scanning point in the first direction as a fixed value when the coordinate value of the scanning point in the first direction in the image data is greater than or equal to a first threshold value.

9. A boarding bridge, characterized in that The detection device as claimed in claim 8.

10. An electronic device, comprising: including: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

11. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: The computer program is executed by the processor to implement the method as claimed in any one of claims 1 to 7. The computer program is executed by the processor to implement the method as claimed in any one of claims 1 to 7.

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