A method and system for controlling a boarding bridge

Abstract

The application discloses a kind of control method and system of boarding bridge.The method is executed by remote control terminal of the boarding bridge, the method includes: in response to instruction acquisition operation, determine the control instruction obtained by the instruction acquisition operation, the control instruction is used to control the boarding bridge movement;Image data associated with the boarding bridge collected by image acquisition device is obtained;By the way of artificial intelligence identification, according to the control instruction and the image data, it is determined whether the boarding bridge moves according to the indication of the control instruction, if so, make the boarding bridge continue to move according to the indication of the control instruction, if not, return to execute the operation of the operation in response to instruction acquisition operation.The above technical solution, by the way of artificial intelligence identification according to control instruction and image data, whether the boarding bridge moves according to the indication of the control instruction can be determined, which can improve the safety when the boarding bridge is controlled.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automatic control, and particularly relate to a control method and system of a boarding bridge. BACKGROUND

[0002] The boarding bridge can be a special equipment connecting the airplane and the terminal building. The boarding bridge is connected with the cabin door of the airplane at one end, and is connected with the terminal building at the other end, thereby providing a closed walking path for passengers to get on and off the airplane.

[0003] In the prior art, multiple cameras can be arranged inside and outside the boarding bridge to collect monitoring pictures, and the collected monitoring pictures are displayed on an interface for an operator to view, so that the operator can control the boarding bridge to move close to or away from the cabin door of the airplane in combination with the monitoring pictures. By controlling the boarding bridge in the above manner, the state of movement of the boarding bridge can only be determined by the operator viewing the monitoring pictures, and the control of the boarding bridge can be affected by the mood and state of the operator, thereby reducing safety. SUMMARY

[0004] The present application provides a control method and system of a boarding bridge, which can improve safety when the boarding bridge is controlled.

[0005] In a first aspect, an embodiment of the present application provides a control method of a boarding bridge, which is executed by a remote control end of the boarding bridge, and the method comprises:

[0006] In response to an instruction acquisition operation, a control instruction acquired by the instruction acquisition operation is determined, and the control instruction is used to control movement of the boarding bridge;

[0007] Image data associated with the boarding bridge, which is collected by an image collection device, is acquired;

[0008] By means of artificial intelligence recognition, it is determined whether the boarding bridge moves according to an indication of the control instruction according to the control instruction and the image data, if yes, the boarding bridge continues to move according to the indication of the control instruction, and if not, the operation of the response to the instruction acquisition operation is returned to be executed.

[0009] In a second aspect, an embodiment of the present application provides a control system of a boarding bridge, which comprises a remote control end of the boarding bridge executing the control method of the boarding bridge as described in the first aspect, an image collection device arranged on the boarding bridge, a sensor device arranged on the boarding bridge, a data transmission device arranged on the boarding bridge, and a controller arranged on the boarding bridge, the remote control end is in communication connection with the image collection device, the data transmission device and the controller respectively, and the data transmission device is in communication connection with the sensor device;

[0010] The image acquisition device is configured to acquire image data associated with the boarding bridge and transmit the image data to the remote control terminal.

[0011] The sensor device is configured to acquire sensor data associated with the boarding bridge and transmit the sensor data to the data transmission device.

[0012] The data transmission device is configured to transmit the received sensor data to the remote control terminal.

[0013] The remote control terminal is configured to generate control instructions based on the image data and / or the sensor data and transmit the control instructions to the controller.

[0014] The controller is configured to control the boarding bridge based on the received control instructions.

[0015] The embodiments of the present application provide a control method and system for a boarding bridge. The method is executed by a remote control terminal for controlling the boarding bridge, and the method comprises: in response to an instruction acquisition operation, determining control instructions acquired by the instruction acquisition operation, the control instructions being used to control movement of the boarding bridge; acquiring image data associated with the boarding bridge, which is acquired by an image acquisition device; and determining, by means of artificial intelligence recognition, whether the boarding bridge moves according to an indication of the control instructions based on the control instructions and the image data, and if so, causing the boarding bridge to continue to move according to the indication of the control instructions, and if not, returning to execute the operation in response to the instruction acquisition operation. The above technical solution can determine whether the boarding bridge moves according to the indication of the control instructions based on the control instructions and the image data by means of artificial intelligence recognition, and can improve safety when the boarding bridge is controlled.

[0016] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a flowchart of a control method for a boarding bridge according to an embodiment of the present application;

[0019] Figure 2is a flow chart of a control method of a boarding bridge according to Embodiment Two of the present application;

[0020] Figure 3 is a flow chart of a control method of a boarding bridge according to Embodiment Two of the present application;

[0021] Figure 4 is a flow chart of a control method of a boarding bridge according to Embodiment Three of the present application;

[0022] Figure 5 is a structural schematic diagram of a control system of a boarding bridge according to Embodiment Four of the present application. DETAILED DESCRIPTION

[0023] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", and the like in the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] It can be understood that before using the technical solutions disclosed in the embodiments of the present application, the type, use range and use scenario of personal information involved in the present disclosure should be informed to the user and the authorization of the user should be obtained according to relevant laws and regulations.

[0026] Embodiment One

[0027] Figure 1is a flowchart of a control method of a boarding bridge according to an embodiment of the present application. The embodiment can be applied to the case of controlling the boarding bridge. The control method of the boarding bridge provided by the embodiment of the present application is executed by a remote control terminal for controlling the boarding bridge. The remote control terminal can be a terminal for remotely controlling the boarding bridge. The remote control terminal is not arranged in the interior of the boarding bridge. The remote control terminal is connected to the boarding bridge through communication. The remote control terminal controls the movement of the boarding bridge. The remote control terminal can be a computer, a notebook computer or the like. The specific implementation is not limited.

[0028] As shown in Figure 1 , the method comprises:

[0029] S110, in response to the instruction acquisition operation, determining the control instruction acquired by the instruction acquisition operation. The control instruction is used to control the movement of the boarding bridge.

[0030] The control instruction can be an instruction for controlling the movement of the boarding bridge. The specific implementation is not limited. For example, the control instruction can control the opening or closing of the boarding bridge, control the direction of the movement of the running wheels of the boarding bridge, control the speed of the front-to-back direction or the left-to-right direction of the boarding bridge, control the lifting or lowering of the boarding bridge, control the left or right turning of the boarding port of the boarding bridge, control the lifting or lowering of the movable floor of the boarding bridge, control the automatic leveling of the boarding bridge, control the opening or closing of the automatic boarding of the boarding bridge, control the opening or closing of the automatic parking of the boarding bridge, and control the emergency stop of the boarding bridge. It can be understood that the movement of the boarding bridge is controlled by the control instruction, which means that the boarding bridge is controlled to approach or move away from the cabin door of the airplane by the control instruction.

[0031] The remote control terminal can display a man-machine interaction interface. In the man-machine interaction interface, the user (i.e. the operator of the boarding bridge) can interact with the remote control terminal through a man-machine interaction device such as a mouse or a keyboard. In the man-machine interaction interface, there can be a region for setting the control instruction. In this region, the user can input the control instruction through an input box. Alternatively, different control instructions and corresponding confirmation controls of the control instructions can be displayed. The corresponding confirmation control of the control instruction can be a control for confirming the setting of the control instruction.

[0032] In one embodiment, the man-machine interaction interface can also display an image associated with the boarding bridge and data collected by the sensor arranged in the boarding bridge, so that the user can set the required control instruction based on the displayed image and / or data.

[0033] The instruction acquisition operation can be an operation for acquiring the control instruction. The instruction acquisition operation can be an operation in which the user inputs the control instruction through an input box on the man-machine interaction interface. Alternatively, the instruction acquisition operation can be an operation in which the user selects the control instruction by triggering the confirmation control on the man-machine interaction interface. The specific implementation can be determined according to actual needs.

[0034] In response to the instruction acquisition operation, the control instruction acquired by the instruction acquisition operation is determined. It can be understood that, in response to the instruction acquisition operation of the user on the man-machine interface, the control instruction triggered by the instruction acquisition operation is determined as the control instruction acquired by the instruction acquisition operation.

[0035] In response to the instruction acquisition operation, the control instruction acquired by the instruction acquisition operation is determined. It can be understood that, in response to the instruction acquisition operation of the user on the man-machine interface, the control instruction triggered by the instruction acquisition operation is determined as the control instruction acquired by the instruction acquisition operation.

[0036] S120, acquiring image data associated with the boarding bridge collected by the image acquisition device.

[0037] The image acquisition device can be a device for acquiring image data associated with the boarding bridge. The number of image acquisition devices can be multiple. Multiple image acquisition devices can be arranged at different positions inside and outside the boarding bridge, the running wheels and / or the docking port of the boarding bridge, so as to acquire image data associated with the boarding bridge. The image acquisition device can be a camera or a video camera, etc.

[0038] The image data associated with the boarding bridge can include images related to the boarding bridge, such as the environment within a set range outside the boarding bridge, the environment inside the boarding bridge, the running wheels of the boarding bridge and / or the docking port of the boarding bridge. Among them, the environment within the set range outside the boarding bridge, such as the environment within a circular area with the boarding bridge as the center and a set distance (such as 20 meters) as the radius, is not limited by the set range and the set distance; the environment inside the boarding bridge, such as the moving channel of the boarding bridge, is not limited in detail.

[0039] Acquiring the image data associated with the boarding bridge collected by the image acquisition device, such as the remote control terminal in communication connection with the image acquisition device, acquiring the image data collected by the image acquisition device. When acquiring the image data associated with the boarding bridge collected by the image acquisition device, all image data collected by the image acquisition device can be acquired, and part of the image data collected by the image acquisition device can also be acquired according to actual application needs, which is not limited in detail.

[0040] S130, in an artificial intelligence identification manner, determining whether the boarding bridge moves according to the indication of the control instruction according to the control instruction and the image data, if yes, making the boarding bridge continue to move according to the indication of the control instruction, if not, returning to execute the operation of responding to the instruction acquisition operation.

[0041] In an artificial intelligence (AI) identification manner, whether the boarding bridge moves according to the indication of the control instruction is determined according to the control instruction and the image data. Specifically, the control instruction and the image data associated with the control instruction can be input into a preset model, and whether the boarding bridge moves according to the indication of the control instruction is determined through the output of the preset model.

[0042] In one embodiment, the image data associated with the control instruction can be determined based on the part of the boarding bridge involved in different control instructions. For example, when the control instruction controls the direction of the walking wheel of the boarding bridge, the image data associated with the control instruction can include the walking wheel of the boarding bridge; for example, when the control instruction controls the left or right turning of the boarding bridge, the image data associated with the control instruction can include the boarding bridge.

[0043] The preset model can be a model for artificial intelligence identification learned and trained in advance according to actual application needs. For different control instructions, the preset model can be learned and trained based on the control instruction, the image data of the boarding bridge when executing the control instruction (which can be understood as the image data associated with the control instruction), and the result of the boarding bridge moving according to the indication of the control instruction. After training is completed, the preset model can output the result indicating whether the boarding bridge moves according to the indication of the control instruction for the control instruction and the image data input into the preset model.

[0044] If it is determined that the boarding bridge moves according to the indication of the control instruction, it can be determined that the boarding bridge receives the control instruction issued by the remote control end and can move according to the indication of the control instruction; if it is determined that the boarding bridge does not move according to the indication of the control instruction, it can be determined that the boarding bridge does not receive the control instruction issued by the remote control end, or receives the control instruction issued by the remote control end but does not move according to the indication of the control instruction, then the operation of responding to the instruction acquisition operation can be returned to execute, and the control instruction of the boarding bridge can be reset.

[0045] The embodiment of the present application provides a kind of control method and system of boarding bridge.The method is executed by the remote control end of the boarding bridge, the method includes: in response to instruction acquisition operation, the control instruction obtained by the instruction acquisition operation is determined, the control instruction is used to control the boarding bridge movement;Image data associated with the boarding bridge collected by image acquisition device is acquired;By the way of artificial intelligence identification, according to the control instruction and the image data, it is determined whether the boarding bridge moves according to the indication of the control instruction, if yes, then make the boarding bridge continue to move according to the indication of the control instruction, if not, then return to execute the operation of the operation in response to instruction acquisition operation.The above technical scheme, by the way of artificial intelligence identification according to control instruction and image data, whether the boarding bridge moves according to the indication of the control instruction can be determined, the safety when the boarding bridge is controlled can be improved.

[0046] Embodiment two

[0047] The embodiment of the present application is based on the above-mentioned embodiment, and the boarding bridge is determined whether to move according to the indication of the control instruction by the way of artificial intelligence identification according to the control instruction and the image data.

[0048] Figure 2 is a flow chart of a boarding bridge control method according to the embodiment two of the present application, Figure 2 The image data involved in the embodiment includes a first image, and the first image is an image displayed on an operation table arranged on the boarding bridge, as shown in the figure, Figure 2 The method comprises:

[0049] S201, in response to instruction acquisition operation, the control instruction obtained by the instruction acquisition operation is determined, and the control instruction is used to control the boarding bridge movement.

[0050] S202, image data associated with the boarding bridge collected by image acquisition device is acquired.

[0051] S203, the control instruction and the first image are input into identification identification model, and the identification identification model is used to identify the identification contained in the first image.

[0052] S204, by the identification identification model, if the identification contained in the first image is identified, and the identification contained is consistent with the instruction identification corresponding to the control instruction, it is determined that the boarding bridge moves according to the indication of the control instruction, otherwise, it is determined that the boarding bridge does not move according to the indication of the control instruction.

[0053] The steps S203 and S204 are described as follows:

[0054] The first image is an image displayed by an operation table arranged on the boarding bridge. The operation table arranged on the boarding bridge can be an operation table arranged in the interior of the boarding bridge and used for operating the boarding bridge. In the embodiment of the present application, the image displayed by the operation table can be acquired by the image acquisition device as the first image.

[0055] In the embodiment of the present application, different control instructions can correspond to different instruction identifiers uniquely. The instruction identifier can be an identifier used for distinguishing different control instructions. The instruction identifier can be a serial number representing the control instruction or a literal description representing the control instruction. The specific implementation is not limited.

[0056] When the boarding bridge moves according to the indication of a control instruction, the instruction identifier corresponding to the control instruction can be displayed on the operation table on the boarding bridge. Therefore, whether the boarding bridge moves according to the indication of the control instruction can be determined by identifying whether the identifier is included in the first image and whether the identifier included in the first image is consistent with the instruction identifier corresponding to the control instruction.

[0057] The identifier identification model can be a model used for identifying the identifier included in the first image. The identifier identification model can be one of the preset models in the above embodiment. When the control instruction and the first image are input into the identifier identification model, the identifier identification model can determine the instruction identifier corresponding to the input control instruction and determine whether the identifier is included in the first image and whether the identifier included in the first image is consistent with the instruction identifier corresponding to the control instruction.

[0058] If it is determined by the identifier identification model that the instruction identifier corresponding to the control instruction input into the identifier identification model is included in the first image, it is determined that the boarding bridge moves according to the indication of the control instruction. Otherwise, it is determined that the boarding bridge does not move according to the indication of the control instruction.

[0059] S205, if it is determined that the boarding bridge moves according to the indication of the control instruction, the boarding bridge continues to move according to the indication of the control instruction. If it is determined that the boarding bridge does not move according to the indication of the control instruction, the operation of acquiring the instruction in response to the instruction is performed.

[0060] Figure 3 is a flowchart of a control method of a boarding bridge according to the second embodiment of the present application, Figure 3 The image data involved in the embodiment of the present application includes a first image and a second image. The first image is an image displayed by an operation table arranged on the boarding bridge. The second image includes an environment in a set range outside the boarding bridge, an environment inside the boarding bridge, a running wheel of the boarding bridge and / or a boarding port of the boarding bridge. Figure 3 The method includes:

[0061] S301, in response to the instruction acquisition operation, determine the control instruction acquired by the instruction acquisition operation, the control instruction is used to control the movement of the boarding bridge.

[0062] S302, acquire image data collected by the image collection device associated with the boarding bridge.

[0063] S303, input the control instruction and the first image into the identification recognition model, and the identification recognition model is used to identify the identification contained in the first image.

[0064] S304, through the identification recognition model, if the identification recognition model is identified in the first image, and the identification contained is consistent with the instruction identification corresponding to the control instruction, it is determined that the boarding bridge receives the control instruction.

[0065] If the identification recognition model is determined that the first image includes the instruction identification corresponding to the control instruction input into the identification recognition model, it is determined that the boarding bridge receives the control instruction issued by the remote control end, and further determines whether the boarding bridge moves according to the received control instruction according to steps S305 and S306.

[0066] S305, input the control instruction and the second image into the state recognition model, and the state recognition model is used to identify the state of the boarding bridge movement.

[0067] S306, through the state recognition model, if the state of the boarding bridge movement in the second image is identified, and the state of the boarding bridge movement in the second image is consistent with the state of the boarding bridge movement in the second image, it is determined that the boarding bridge moves according to the indication of the control instruction; otherwise, it is determined that the boarding bridge does not move according to the indication of the control instruction.

[0068] The steps S305 and S306 are described as follows:

[0069] Among them, the second image includes the environment in the set range outside the boarding bridge, the environment inside the boarding bridge, the walking wheel of the boarding bridge and / or the boarding port of the boarding bridge. In the embodiment of the application, the image can be collected by the plurality of image collection devices arranged in the interior, exterior, walking wheel and / or boarding port of the boarding bridge, and the collected image is used as the second image.

[0070] The state recognition model can be a model for identifying the state of the boarding bridge movement. The state recognition model can be one of the pre-set models in the above embodiment. The control instruction and the second image are input into the state recognition model, and the state recognition model can determine whether the state of the boarding bridge in the second image is consistent with the state of the boarding bridge when moving according to the indication of the control instruction.

[0071] If it is determined by the state recognition model that the state of the boarding bridge in the second image is consistent with the state of the boarding bridge when moving according to the indication of the control instruction, it is determined that the boarding bridge moves according to the indication of the control instruction; otherwise, it is determined that the boarding bridge does not move according to the indication of the control instruction.

[0072] The state of the movement of the boarding bridge may be, for example, the direction of the movement of the running wheels of the boarding bridge, the rising or falling of the boarding bridge, the left or right turning of the docking port of the boarding bridge, etc. Correspondingly, when determining whether the state of the movement of the boarding bridge in the second image is consistent with the state of the boarding bridge when moving according to the indication of the input control instruction, the second image may be acquired at different continuous time points, and the state of the movement of the boarding bridge may be determined in combination with the second images at the multiple time points.

[0073] In S307, if it is determined that the boarding bridge moves according to the indication of the control instruction, the boarding bridge continues to move according to the indication of the control instruction; if it is determined that the boarding bridge does not move according to the indication of the control instruction, the operation of acquiring the instruction in response to the instruction is performed again.

[0074] The technical scheme of the embodiment of the application may input the control instruction and the first image into the identification recognition model, determine that the first image includes the instruction identification corresponding to the control instruction input into the identification recognition model, and determine that the boarding bridge moves according to the indication of the control instruction. In addition, the identification recognition model may be used to determine that the boarding bridge receives the control instruction issued by the remote control terminal, the control instruction and the second image are input into the state recognition model, the state of the boarding bridge in the second image is determined to be consistent with the state of the boarding bridge when moving according to the indication of the control instruction, and it is determined that the boarding bridge moves according to the indication of the control instruction. By inputting the control instruction and the image data into the identification recognition model or the identification recognition model and the state recognition model, it can be determined automatically whether the boarding bridge moves according to the indication of the control instruction, without the need to determine the state of the movement of the boarding bridge by an operator viewing a monitoring picture, and the safety of controlling the boarding bridge can be improved.

[0075] In one embodiment, after the boarding bridge continues to move according to the indication of the control instruction, the method further includes:

[0076] The third image collected by the image collection device is acquired, and the third image includes the environment in a set range outside the boarding bridge.

[0077] The sensor data associated with the boarding bridge collected by the sensor device is acquired, and the sensor data includes the length of the boarding bridge, the height of the boarding bridge, and the angle of the rotating platform of the boarding bridge.

[0078] inputting the third image and the sensor data into an obstacle identification model, the obstacle identification model being configured to identify whether there is an obstacle within a set range outside the boarding bridge;

[0079] through the obstacle identification model, if it is identified that there is an obstacle in the third image, generating a stop instruction and a first warning signal;

[0080] controlling the boarding bridge to stop moving through the stop instruction.

[0081] After the boarding bridge is caused to continue moving according to the indication of the control instruction, the boarding bridge can be caused to continue approaching or moving away from the door of the aircraft according to the indication of the control instruction. In this process, the boarding bridge can be determined whether to encounter an obstacle when approaching or moving away from the door of the aircraft, i.e., whether a safety problem will occur in the boarding bridge during the travel, through the third image and the sensor data collected in combination with the obstacle identification model. The obstacle can be a person, a stone or a vehicle encountered by the boarding bridge during the travel, and the specific type is not limited.

[0082] The third image includes the environment within a set range outside the boarding bridge, and the third image collected by the image collection device can be obtained in a manner of being in communication connection with the image collection device.

[0083] The sensor device can be a device for collecting sensor data associated with the boarding bridge, and the number of sensor devices can be multiple. The multiple sensor devices can be arranged at different positions inside and / or outside the boarding bridge, and the specific type is not limited.

[0084] In an embodiment, the sensor device can include one or more of a boarding bridge length sensor (for measuring the length of the boarding bridge), a boarding bridge height sensor (for measuring the height of the boarding bridge), a rotating platform angle sensor (for measuring the angle of the rotating platform of the boarding bridge), a docking port angle sensor (for measuring the angle of the docking port of the boarding bridge), a walking wheel angle sensor (for measuring the angle of the walking wheel of the boarding bridge), a movable floor angle sensor (for measuring the angle of the movable floor of the boarding bridge), and a laser ranging sensor (for measuring the distance between the boarding bridge and the obstacle).

[0085] The sensor data associated with the boarding bridge can include the data of the sensors output by different sensor devices, such as the length of the boarding bridge output by the boarding bridge length sensor, the height of the boarding bridge output by the boarding bridge height sensor, the angle of the rotating platform of the boarding bridge output by the rotating platform angle sensor, and the specific type is not limited.

[0086] The sensor data collected by the sensor device associated with the boarding bridge is acquired, for example, the remote control terminal is in communication connection with the sensor device, and the sensor data collected by the sensor device is acquired; or for example, the data transmission device is in communication connection with the sensor device and the remote control terminal respectively, the data transmission device acquires the sensor data collected by the sensor device, and transmits the acquired sensor data to the remote control terminal. The data transmission device can be a device capable of transmitting the sensor data collected by the sensor device to the remote control terminal.

[0087] The obstacle recognition model can be a model for recognizing obstacles pre-learned and trained according to actual application needs. The obstacle recognition model can be learned and trained based on obstacles that the boarding bridge will encounter within a set range outside the boarding bridge when the boarding bridge approaches the door of the aircraft or moves away from the door of the aircraft, images and sensor data associated with the boarding bridge when the obstacles are encountered or not encountered, and the result of whether the boarding bridge encounters the obstacles. After training is completed, the obstacle recognition model can output a result indicating whether the boarding bridge encounters obstacles when approaching the door of the aircraft or moving away from the door of the aircraft, for the third image and sensor data input into the obstacle recognition model.

[0088] If it is identified through the obstacle recognition model that there is an obstacle in the third image, it is determined that a safety problem will occur during the movement of the boarding bridge, a stop instruction and a first warning signal are generated, and the movement of the boarding bridge is controlled to stop through the stop instruction. Specifically, the stop instruction can be issued to the controller included in the boarding bridge, and the movement of the boarding bridge is controlled to stop through the controller. The stop instruction can be an instruction for instructing the boarding bridge to stop moving.

[0089] The first warning signal can be a signal for reminding a user that an obstacle is encountered within a set range outside the boarding bridge when the boarding bridge approaches the door of the aircraft or moves away from the door of the aircraft. The form of the first warning signal can be the form of a buzzer sound, or can be displayed in the form of a text indicating that an obstacle is encountered on a human-computer interaction interface. The specific form is not limited.

[0090] In one embodiment, the method further comprises:

[0091] The time when the first warning signal is generated is determined as the time when the obstacle within the set range outside the boarding bridge is found.

[0092] The time when the first warning signal is generated is determined as the time when the obstacle within the set range outside the boarding bridge is found, so that the time when the obstacle is encountered is determined through the time when the first warning signal is generated, and the time and reason (i.e., at which time point the obstacle is encountered) for stopping the movement of the boarding bridge through the stop instruction are analyzed.

[0093] In one embodiment, the method further comprises:

[0094] After the docking door of the boarding bridge is connected with the cabin door of the corresponding aircraft, a fourth image collected by the image collection device is acquired, the fourth image including personnel in the active channel of the boarding bridge and the operation table on the boarding bridge;

[0095] The fourth image is input into a behavior recognition model, the behavior recognition model being configured to recognize the behavior of the personnel in the active channel;

[0096] If the personnel in the active channel are identified to operate the operation table by the behavior recognition model, a second alarm signal is generated.

[0097] The determination that the docking door of the boarding bridge is connected with the cabin door of the corresponding aircraft can be that, when the distance between the docking door and the cabin door is determined to be less than a set distance by range finders installed at the left and right ends of the docking door, and a touch switch indicating that the docking door is connected with the cabin door is triggered, it is determined that the docking door of the boarding bridge is successfully connected with the cabin door of the corresponding aircraft.

[0098] After it is determined that the docking door of the boarding bridge is connected with the cabin door of the aircraft, a fourth image collected by the image collection device is acquired, the fourth image including personnel in the active channel of the boarding bridge and an operation table on the boarding bridge, so as to subsequently determine whether the personnel in the active channel of the boarding bridge operate the operation table on the boarding bridge, i.e., whether the personnel in the active channel of the boarding bridge have dangerous behavior, by the fourth image.

[0099] The behavior recognition model can be a model pre-learned and trained according to actual application needs to recognize the behavior of the personnel in the active channel. The behavior of the personnel in the active channel can be the behavior of the personnel in the active channel operating the operation table on the boarding bridge, such as touch control of the operation table. The learning and training of the behavior recognition model can be performed based on images of the personnel in the active channel operating and not operating the operation table on the boarding bridge, and results of whether the personnel in the active channel operate the operation table on the boarding bridge. After the training is completed, the behavior recognition model can output a result indicating whether the personnel in the active channel operate the operation table on the boarding bridge for the fourth image input into the behavior recognition model.

[0100] If the personnel in the active channel are identified to operate the operation table by the behavior recognition model, a second alarm signal is generated. The second alarm signal can be a signal for reminding a user that the personnel in the active channel of the boarding bridge operate the operation table. The form of the second alarm signal can be the form of a buzzer sound, or can be displayed in the form of text indicating that the personnel in the active channel of the boarding bridge operate the operation table on a human-computer interaction interface, without limitation.

[0101] In one embodiment, the method further comprises:

[0102] obtaining a fifth image captured by the image capturing device, the fifth image comprising the docking port of the boarding bridge, when a bridge-retraction signal transmitted by the aircraft corresponding to the boarding bridge is received, the bridge-retraction signal indicating that the docking port of the boarding bridge is controlled to move away from the hatch of the corresponding aircraft;

[0103] inputting the fifth image into a hatch recognition model, the hatch recognition model being configured to recognize whether the hatch is closed;

[0104] generating a keep-connected instruction when a first recognition result output by the hatch recognition model indicates that the hatch is not closed;

[0105] controlling the docking port of the boarding bridge to keep connected with the hatch of the corresponding aircraft by the keep-connected instruction.

[0106] The bridge-retraction signal can be a signal transmitted by the aircraft corresponding to the boarding bridge, indicating that the docking port of the boarding bridge is controlled to move away from the hatch of the corresponding aircraft. When the bridge-retraction signal is received, it indicates that the docking port of the boarding bridge needs to be moved away from the hatch of the corresponding aircraft. At this time, the fifth image comprising the docking port of the boarding bridge needs to be obtained to determine whether the hatch of the aircraft is closed.

[0107] The hatch recognition model can be a model pre-learned and trained according to actual application needs to recognize whether the hatch is closed. The hatch recognition model can be learned and trained based on images of the hatch of the aircraft being closed or not closed, and results of the hatch of the aircraft being closed or not closed. After the training is completed, the hatch recognition model can output a result indicating whether the hatch of the aircraft is closed or not closed for the fifth image input into the hatch recognition model.

[0108] When the hatch recognition model outputs a first recognition result indicating that the hatch of the aircraft is not closed, a keep-connected instruction is generated. The docking port of the boarding bridge is controlled to keep connected with the hatch of the corresponding aircraft by the keep-connected instruction. Specifically, the keep-connected instruction can be sent to a controller included in the boarding bridge, and the docking port of the boarding bridge is controlled to keep connected with the hatch of the corresponding aircraft by the controller. The keep-connected instruction can be an instruction indicating that the docking port of the boarding bridge is controlled to keep connected with the hatch of the corresponding aircraft.

[0109] In an embodiment, the method further comprises:

[0110] obtaining a sixth image captured by the image capturing device, the sixth image comprising the movable passage of the boarding bridge, when a second recognition result output by the hatch recognition model indicates that the hatch is closed;

[0111] inputting the sixth image into a personnel recognition model, the personnel recognition model being configured to recognize whether there is a person in the movable passage;

[0112] The keep-connection instruction is generated when the personnel identification model outputs a third identification result, the third identification result indicating that there is a person in the active channel;

[0113] The keep-connection instruction is generated when the personnel identification model outputs a third identification result, the third identification result indicating that there is a person in the active channel;

[0114] When the cabin door identification model outputs a second identification result, it indicates that the cabin door of the aircraft is closed, at which time a sixth image including the active channel of the boarding bridge needs to be obtained to determine whether there is a person who has not left in the active channel.

[0115] The personnel identification model can be a model pre-learned and trained according to actual application needs for identifying whether there is a person in the active channel, and can be based on images of the active channel having a person or not having a person and results of the active channel having a person or not having a person to learn and train the personnel identification model. After training is completed, the personnel identification model can output a result indicating whether there is a person in the active channel for the sixth image input into the personnel identification model.

[0116] When the personnel identification model outputs a third identification result, it indicates that there is a person who has not left in the active channel, and a keep-connection instruction is generated to control the docking port of the boarding bridge to keep connected with the cabin door of the corresponding aircraft.

[0117] In an embodiment, the method further comprises:

[0118] The keep-connection instruction is generated when the personnel identification model outputs a third identification result, the third identification result indicating that there is a person in the active channel;

[0119] When the personnel identification model outputs a fourth identification result, it indicates that there is no person who has not left in the active channel, and a confirmation retreat instruction is generated. The confirmation retreat instruction indicates information for confirming control of the docking port of the boarding bridge to move away from the cabin door of the corresponding aircraft. The form of the confirmation retreat instruction can be in the form of text indicating that the docking port of the boarding bridge can move away from the cabin door of the corresponding aircraft, displayed on a human-computer interaction interface, for a user to determine to allow the boarding bridge to retreat, without limitation.

[0120] Through the above scheme, in the process of controlling the docking port of the boarding bridge to approach the cabin door of the corresponding aircraft, the boarding bridge to walk for passengers to get on and off the aircraft, and controlling the docking port of the boarding bridge to move away from the cabin door of the corresponding aircraft, the interior and / or exterior of the boarding bridge can be monitored by artificial intelligence identification, so as to timely control the boarding bridge to avoid the occurrence of safety problems.

[0121] Embodiment three

[0122] Figure 4 is a flow chart of a control method of a boarding bridge according to embodiment three of the present application, and the embodiment is an exemplary description of the above-mentioned embodiments, as shown in the figure, the method comprises: Figure 4

[0123] Based on the camera image data (i.e. image data associated with the boarding bridge) and the boarding bridge state: length (i.e. the length of the boarding bridge), height (i.e. the height of the boarding bridge), angle (i.e. the angle of the rotating platform), the remote operator issues a control instruction, i.e. the remote operator issues a control instruction through a human-computer interaction interface based on the image data associated with the boarding bridge and the sensor data;

[0124] Based on the camera image recognition data, it is determined whether the control instruction is correctly executed through image recognition, i.e. through artificial intelligence recognition, according to the control instruction and the image data, it is determined whether the boarding bridge moves according to the indication of the control instruction, if yes, the boarding bridge continues to move according to the indication of the control instruction, if not, the control instruction is reissued; the image recognition in the embodiment of the present application can be regarded as a kind of way of artificial intelligence recognition;

[0125] Based on the camera image recognition data (i.e. the third image) and the boarding bridge state: length, height, angle (i.e. sensor data), it is determined whether there is a safety problem in the process of moving, i.e. through the obstacle recognition model, it is determined whether there is an obstacle within the set range outside the boarding bridge, if yes, the problem reason is analyzed and marked (i.e. a first alarm signal is generated), the image segment is marked, and the boarding bridge activity is stopped (i.e. the boarding bridge is controlled to stop moving through a stop instruction), if not, the boarding bridge continues to move;

[0126] Close to the cabin door is completed;

[0127] Based on the camera image recognition data (i.e. the fourth image), it is detected whether there is dangerous behavior of passengers in the passage, i.e. through the behavior recognition model, it is determined whether the personnel in the active passage of the boarding bridge operate the operation table, if yes, the alarm response is generated (i.e. a second alarm signal is generated), if not, it is detected whether the bridge withdrawal signal is received;

[0128] After confirming that the bridge withdrawal signal is received, based on the arrival port camera image recognition data (i.e. the fifth image), it is detected whether the cabin door has been closed, i.e. through the cabin door recognition model, it is determined whether the cabin door is closed, if not, the bridge withdrawal prohibition instruction is generated (i.e. the connection maintaining instruction is generated);

[0129] ​If it is determined that the cabin door has been closed, whether the passengers have all exited the bridge is detected based on the passage camera image recognition data (i.e., the sixth image), i.e., whether there is a person in the active passage is identified by a person recognition model, if the passengers have not all exited the bridge, a bridge exit prohibition instruction (i.e., a keep connected instruction) is generated, and if the passengers have all exited the bridge, the bridge exit is allowed (i.e., bridge exit confirmation information is generated);

[0130] After allowing the bridge exit, based on the camera image data and the boarding bridge state: length, height, angle, a remote operator issues a control instruction;

[0131] Based on the camera image recognition data, it is determined whether the control instruction is correctly executed by image recognition, if so, the boarding bridge continues to move according to the indication of the control instruction, and if not, the control instruction is reissued;

[0132] Based on the camera image recognition data and the boarding bridge state: length, height, angle, it is determined whether a safety problem occurs during the travel, if so, the problem cause is analyzed, labeled, and the image segment is labeled, and the boarding bridge is stopped, and if not, the boarding bridge continues to move until the aircraft is connected.

[0133] The technical scheme of the embodiment of the application can reduce the risk of errors of remote operators by using image recognition algorithms to control the boarding bridge; the execution of each control instruction of the boarding bridge can be monitored by using image recognition algorithms, and timely feedback and emergency control can be given, which greatly improves the safety; the risk of passenger misoperation can be reduced by using image recognition algorithms to monitor the non-safe behavior of passengers; the maintenance cost can be reduced by analyzing and labeling the fault video; remote automatic aircraft connection can be realized by matching an automatic aircraft connection system; the convenience and safety of remote control of the boarding bridge are greatly improved.

[0134] The technical scheme of the embodiment of the application can detect the safety of passengers inside the boarding bridge by using image recognition algorithms and behavior recognition algorithms, and the execution results of each control instruction of the boarding bridge can be fed back by using image recognition algorithms and similar triangle algorithms, and abnormal situations can be monitored, and emergency treatment and corresponding situations can be fed back when a safety hazard occurs.

[0135] Embodiment Four

[0136] Figure 5 is a structural schematic diagram of a boarding bridge control system according to Embodiment Four of the application. Figure 5As shown, a control system of a boarding bridge includes a remote control terminal 51 for executing a control method of the boarding bridge, an image acquisition device 52 arranged on the boarding bridge, a sensor device 53 arranged on the boarding bridge, a data transmission device 54 arranged on the boarding bridge, and a controller 55 arranged on the boarding bridge. The remote control terminal 51 is communicatively connected to the image acquisition device 52, the data transmission device 54, and the controller 55, respectively. The data transmission device 54 is communicatively connected to the sensor device 53.

[0137] The image acquisition device 52 is configured to acquire image data associated with the boarding bridge and transmit the image data to the remote control terminal 51.

[0138] The sensor device 53 is configured to acquire sensor data associated with the boarding bridge and transmit the sensor data to the data transmission device 54.

[0139] The data transmission device 54 is configured to transmit the received sensor data to the remote control terminal 51.

[0140] The remote control terminal 51 is configured to generate a control instruction according to the image data and / or the sensor data and transmit the control instruction to the controller 55.

[0141] The controller 55 is configured to control the boarding bridge according to the received control instruction.

[0142] The image acquisition device 52 can be a camera, and the number of image acquisition devices 52 can be multiple. The image data associated with the boarding bridge can include images related to the boarding bridge, such as the environment within a specified range outside the boarding bridge, the environment inside the boarding bridge, the running wheels of the boarding bridge, and / or the boarding port of the boarding bridge. The image acquisition device 52 can acquire image data and transmit the acquired image data to the remote control terminal 51.

[0143] The sensor device 53 can include one or more of a boarding bridge length sensor (for measuring the length of the boarding bridge), a boarding bridge height sensor (for measuring the height of the boarding bridge), a rotating platform angle sensor (for measuring the angle of the rotating platform of the boarding bridge), a docking port angle sensor (for measuring the angle of the docking port of the boarding bridge), a walking wheel angle sensor (for measuring the angle of the walking wheel of the boarding bridge), a movable floor angle sensor (for measuring the angle of the movable floor of the boarding bridge), and a laser ranging sensor (for measuring the distance between the boarding bridge and an obstacle). Correspondingly, the sensor data associated with the boarding bridge can be the data collected by the above-mentioned sensors. The sensor device 53 can collect sensor data and transmit the collected sensor data to the data transmission device 54, and the data transmission device 54 transmits the received sensor data to the remote control terminal 51.

[0144] The remote control terminal 51 can generate control instructions according to the received image data and / or sensor data, and transmit the generated control instructions to the controller 55 to control the boarding bridge based on the control instructions through the controller 55.

[0145] Further, the remote control terminal, specifically for:

[0146] In response to the instruction acquisition operation, determining the control instructions obtained by the instruction acquisition operation, the control instructions being used to control the movement of the boarding bridge;

[0147] Obtaining image data associated with the boarding bridge collected by an image collection device;

[0148] According to the control instructions and the image data, determining whether the boarding bridge moves according to the indication of the control instructions by means of artificial intelligence recognition. If yes, the boarding bridge continues to move according to the indication of the control instructions. If not, returning to execute the operation in response to the instruction acquisition operation.

[0149] Further, the image data includes a first image, and the first image is an image displayed on an operation table arranged on the boarding bridge. Correspondingly, the remote control terminal, specifically for:

[0150] Inputting the control instructions and the first image into an identification recognition model, the identification recognition model being used to identify the identification contained in the first image;

[0151] Through the identification recognition model, if the identification recognition model identifies that the first image contains identification, and the contained identification is consistent with the instruction identification corresponding to the control instructions, it is determined that the boarding bridge moves according to the indication of the control instructions. Otherwise, it is determined that the boarding bridge does not move according to the indication of the control instructions.

[0152] Different control instructions correspond to different instruction identifiers.

[0153] Further, the image data includes a first image and a second image, the first image is an image displayed by an operation platform arranged on the boarding bridge, and the second image includes an environment within a set range outside the boarding bridge, an environment inside the boarding bridge, a running wheel of the boarding bridge, and / or a boarding gate of the boarding bridge. Correspondingly, the remote control terminal is specifically used for:

[0154] Inputting the control instruction and the first image into an identifier identification model, the identifier identification model being used for identifying an identifier included in the first image.

[0155] Through the identifier identification model, if it is identified that the first image includes an identifier, and the included identifier is consistent with an instruction identifier corresponding to the control instruction, it is determined that the boarding bridge receives the control instruction.

[0156] Inputting the control instruction and the second image into a state identification model, the state identification model being used for identifying a motion state of the boarding bridge.

[0157] Through the state identification model, if it is identified that the motion state of the boarding bridge in the second image matches a motion state of the boarding bridge when executing the control instruction included in the state identification model, it is determined that the boarding bridge moves according to the indication of the control instruction; otherwise, it is determined that the boarding bridge does not move according to the indication of the control instruction.

[0158] Further, the remote control terminal is further used for:

[0159] After causing the boarding bridge to continue to move according to the indication of the control instruction, acquiring a third image collected by an image collection device, the third image including an environment within a set range outside the boarding bridge.

[0160] Acquiring sensor data associated with the boarding bridge collected by a sensor device, the sensor data including a length of the boarding bridge, a width of the boarding bridge, and an angle of a rotating platform of the boarding bridge.

[0161] Inputting the third image and the sensor data into an obstacle identification model, the obstacle identification model being used for identifying whether there is an obstacle within the set range outside the boarding bridge.

[0162] Through the obstacle identification model, if it is identified that there is an obstacle in the third image, a stop instruction and a first alarm signal are generated.

[0163] The boarding bridge is controlled to stop moving through the stop instruction.

[0164] Further, the remote control terminal is further configured to:

[0165] determine a time when the first alarm signal is generated as a time when an obstacle existing within a set range outside the boarding bridge is discovered.

[0166] Further, the remote control terminal is further configured to:

[0167] after the docking port of the boarding bridge is connected with the cabin door of the corresponding aircraft, acquire a fourth image collected by an image collection device, the fourth image including personnel in the active channel of the boarding bridge and an operation table on the boarding bridge;

[0168] input the fourth image into a behavior recognition model, the behavior recognition model being configured to recognize a behavior of the personnel in the active channel;

[0169] if the behavior recognition model recognizes that the personnel in the active channel operate the operation table, generate a second alarm signal.

[0170] Further, the remote control terminal is further configured to:

[0171] after receiving a bridge withdrawal signal transmitted by the aircraft corresponding to the boarding bridge, acquire a fifth image collected by an image collection device, the fifth image including the docking port of the boarding bridge, the bridge withdrawal signal indicating that the docking port of the boarding bridge is controlled to move away from the cabin door of the corresponding aircraft;

[0172] input the fifth image into a cabin door recognition model, the cabin door recognition model being configured to recognize whether the cabin door is closed;

[0173] when the cabin door recognition model outputs a first recognition result indicating that the cabin door is not closed, generate a keep connected instruction;

[0174] control the docking port of the boarding bridge to keep connected with the cabin door of the corresponding aircraft through the keep connected instruction.

[0175] Further, the remote control terminal is further configured to:

[0176] when the cabin door recognition model outputs a second recognition result indicating that the cabin door is closed, acquire a sixth image collected by an image collection device, the sixth image including the active channel of the boarding bridge;

[0177] input the sixth image into a personnel recognition model, the personnel recognition model being configured to recognize whether personnel exist in the active channel;

[0178] When the personnel identification model outputs a third identification result, the keep-connection instruction is generated, the third identification result indicating that there is personnel in the active channel;

[0179] The keep-connection instruction is used to control the aircraft door of the boarding bridge to keep connection with the hatch of the corresponding aircraft.

[0180] Further, the remote control end is further used for:

[0181] When the personnel identification model outputs a fourth identification result, the confirmation retreat bridge information is generated, the confirmation retreat bridge information indicating information for confirming that the aircraft door of the boarding bridge is controlled to be away from the hatch of the corresponding aircraft, the fourth identification result indicating that there is no personnel in the active channel.

[0182] The remote control end included in the control system of the boarding bridge provided by the embodiments of the present application can execute the control method of the boarding bridge provided by any of the embodiments of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0183] It should be understood that the various forms of flow shown above can be reordered, added or deleted steps. For example, each step described in the present application can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0184] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method of controlling a boarding bridge, characterized in that The method is executed by a remote control terminal controlling the boarding bridge, and the method comprises: in response to an instruction acquisition operation, determining a control instruction acquired by the instruction acquisition operation, the control instruction being used to control movement of the boarding bridge; acquiring image data associated with the boarding bridge, the image data being acquired by an image acquisition device; determining, by means of artificial intelligence recognition, whether the boarding bridge moves according to an indication of the control instruction based on the control instruction and the image data, and if so, causing the boarding bridge to continue to move according to the indication of the control instruction, and if not, returning to perform the operation in response to the instruction acquisition operation.

2. The method of claim 1, wherein, The image data comprises a first image, the first image being an image displayed by an operating table arranged on the boarding bridge, and accordingly, determining, by means of artificial intelligence recognition, whether the boarding bridge moves according to an indication of the control instruction based on the control instruction and the image data comprises: inputting the control instruction and the first image into an identification recognition model, the identification recognition model being used to identify an identification contained in the first image; if the identification recognition model identifies that the first image contains an identification, and the contained identification is consistent with an instruction identification corresponding to the control instruction, determining that the boarding bridge moves according to the indication of the control instruction, and otherwise, determining that the boarding bridge does not move according to the indication of the control instruction. Different control instructions correspond to different instruction identifications.

3. The method of claim 1, wherein, The image data comprises a first image and a second image, the first image being an image displayed by an operating table arranged on the boarding bridge, and the second image comprising an environment within a set range outside the boarding bridge and an environment inside the boarding bridge; the environment within the set range outside the boarding bridge comprises a running wheel of the boarding bridge and / or a boarding port of the boarding bridge, and accordingly, determining, by means of artificial intelligence recognition, whether the boarding bridge moves according to an indication of the control instruction based on the control instruction and the image data comprises: inputting the control instruction and the first image into an identification recognition model, the identification recognition model being used to identify an identification contained in the first image; if the identification recognition model identifies that the first image contains an identification, and the contained identification is consistent with an instruction identification corresponding to the control instruction, determining that the boarding bridge receives the control instruction; inputting the control instruction and the second image into a state recognition model, the state recognition model being used to identify a state of movement of the boarding bridge; if the state recognition model identifies that the state of movement of the boarding bridge in the second image matches a state of movement of the boarding bridge when executing the control instruction included in the state recognition model, determining that the boarding bridge moves according to the indication of the control instruction, and otherwise, determining that the boarding bridge does not move according to the indication of the control instruction.

4. The method of claim 1, wherein, After causing the boarding bridge to continue to move according to the indication of the control instruction, the method further comprises: acquiring a third image, the third image comprising an environment within a set range outside the boarding bridge, the environment within the set range outside the boarding bridge being acquired by an image acquisition device. obtaining sensor data collected by a sensor device associated with the boarding bridge, the sensor data comprising a length of the boarding bridge, a height of the boarding bridge, and an angle of a rotating platform of the boarding bridge; inputting the third image and the sensor data into an obstacle identification model, the obstacle identification model being configured to identify whether an obstacle exists within a set range outside the boarding bridge; generating, by the obstacle identification model, a stop instruction and a first warning signal if the obstacle is identified in the third image; controlling the boarding bridge to stop moving by the stop instruction.

5. The method of claim 4, wherein, Further comprising: determining a time when the first warning signal is generated as a time when the obstacle within the set range outside the boarding bridge is found.

6. The method of claim 1, wherein, Further comprising: obtaining a fourth image collected by an image collection device after a passenger door of the boarding bridge is connected to a cabin door of the corresponding aircraft, the fourth image comprising personnel in a moving channel of the boarding bridge and an operation platform on the boarding bridge; inputting the fourth image into a behavior identification model, the behavior identification model being configured to identify a behavior of the personnel in the moving channel; generating a second warning signal if the personnel in the moving channel are identified to operate the operation platform by the behavior identification model.

7. The method of claim 1, wherein, Further comprising: obtaining a fifth image collected by an image collection device when a retreat bridge signal transmitted by the corresponding aircraft of the boarding bridge is received, the fifth image comprising a passenger door of the boarding bridge, the retreat bridge signal indicating that the passenger door of the boarding bridge is controlled to move away from the cabin door of the corresponding aircraft; inputting the fifth image into a cabin door identification model, the cabin door identification model being configured to identify whether the cabin door is closed; generating a keep connected instruction when a first identification result indicating that the cabin door is not closed is output by the cabin door identification model; controlling the passenger door of the boarding bridge to keep connected to the cabin door of the corresponding aircraft by the keep connected instruction.

8. The method of claim 7, wherein, Further comprising: obtaining a sixth image collected by an image collection device when a second identification result is output by the cabin door identification model, the sixth image comprising a moving channel of the boarding bridge, the second identification result indicating that the cabin door is closed; inputting the sixth image into a personnel identification model, the personnel identification model being configured to identify whether personnel exist in the moving channel; generating the keep connected instruction when a third identification result indicating that the personnel exist in the moving channel is output by the personnel identification model; controlling the passenger door of the boarding bridge to keep connected to the cabin door of the corresponding aircraft by the keep connected instruction.

9. The method of claim 8, wherein, Further comprising: generating confirmation retreat bridge information indicating information for confirming that the passenger door of the boarding bridge is controlled to move away from the cabin door of the corresponding aircraft when a fourth identification result indicating that the personnel do not exist in the moving channel is output by the personnel identification model.

10. A control system for a boarding bridge, characterized in that The remote control terminal for executing the control method of the boarding bridge as claimed in any one of claims 1-9, the image acquisition device arranged on the boarding bridge, the sensor device arranged on the boarding bridge, the data transmission device arranged on the boarding bridge, and the controller arranged on the boarding bridge, the remote control terminal being communicatively connected with the image acquisition device, the data transmission device, and the controller respectively, and the data transmission device being communicatively connected with the sensor device; The image acquisition device is configured to acquire image data associated with the boarding bridge and transmit the image data to the remote control terminal; The sensor device is configured to acquire sensor data associated with the boarding bridge and transmit the sensor data to the data transmission device; The data transmission device is configured to transmit the received sensor data to the remote control terminal; The remote control terminal is configured to generate control instructions according to the image data and / or the sensor data and transmit the control instructions to the controller; The controller is configured to control the boarding bridge according to the received control instructions.

Images