Boarding bridge anti-collision method, device, equipment, medium and program product

Abstract

The invention provides a boarding bridge anti-collision method, device and equipment, a medium and a program product, and relates to the technical field of airport ground equipment safety. The method comprises the following steps: acquiring environment scanning data of an environment where a boarding bridge is located; obtaining pose data of the boarding bridge in the moving process; the environment scanning data and the pose data are converted into a pre-constructed three-dimensional space model, an updated three-dimensional space model is obtained, and the three-dimensional space model comprises environment information and a boarding bridge three-dimensional model; determining a collision risk assessment result of the boarding bridge; and outputting a control instruction according to the collision risk assessment result of the boarding bridge. The safety in the docking process of the boarding bridge can be improved, and collision accidents are reduced.

Description

Background Art

[0002] An air bridge is a mobile structure used in airports to connect the terminal building and the aircraft, allowing passengers to board and disembark the aircraft without being affected by the weather. With the rapid development of the aviation industry, as a key device connecting the terminal building and the aircraft, the safety and efficiency of the air bridge are particularly important.

[0003] In the related art, during the movement of a traditional air bridge, it often relies on manual operation and visual judgment to avoid collisions. However, training an air bridge operator not only has a high time cost and depends on personal experience accumulation, but also there are problems of misjudgment and reaction lag relying solely on manual judgment. At this time, if an obstacle suddenly appears on the apron or an obstacle that cannot be recognized by the human eye in time, it may cause the air bridge to collide with the aircraft, other equipment, and personnel, etc., posing a safety hazard.

[0004] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present disclosure, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0005] The present disclosure provides an air bridge anti-collision method, device, equipment, medium, and program product, which at least to some extent overcomes the problem that collisions cannot be avoided in time during the docking process of the air bridge in the related art.

[0006] Other features and advantages of the present disclosure will become apparent through the following detailed description, or be learned in part through the practice of the present disclosure.

[0007] According to one aspect of the present disclosure, there is provided an air bridge anti-collision method, including: obtaining environmental scan data of the environment where the air bridge is located; obtaining pose data of the air bridge during movement; converting the environmental scan data and the pose data into a pre-constructed three-dimensional space model to obtain an updated three-dimensional space model, wherein the three-dimensional space model includes environmental information and an air bridge three-dimensional model; determining a collision risk assessment result of the air bridge; and outputting a control instruction according to the collision risk assessment result of the air bridge.

[0008] In some embodiments, the determining the collision risk assessment result of the air bridge includes: calculating distance values between a plurality of marked points on the outer surface of the air bridge three-dimensional model and a plurality of scan points in the environmental information; extracting the minimum distance value among the respective distance values; and determining the collision risk assessment result of the air bridge by judging whether the minimum distance value is less than or equal to a threshold.

[0009] In some embodiments, the marked points are: the outer surface of the air bridge three-dimensional model is segmented into a plurality of segmented surfaces of different sizes according to different precision requirements, and the center point of each segmented surface is used as a marked point.

[0010] In some embodiments, after extracting the minimum distance value among the respective distance values, the method further includes: obtaining the special point and area information corresponding to the minimum distance value, where the special point and area information includes: the scan points in the environmental information corresponding to the minimum distance value, the area within a first preset range near the scan points, the marked points on the outer surface of the boarding bridge three-dimensional model corresponding to the scan points, the dividing surface on the outer surface of the boarding bridge three-dimensional model corresponding to the scan points, and the area within a second preset range near the dividing surface; analyzing the movement trend of the boarding bridge according to the pose data during the movement of the boarding bridge; and analyzing and calculating the change trend of the special point and area information corresponding to the minimum distance value in combination with the movement trend of the boarding bridge and the special point and area information corresponding to the minimum distance value.

[0011] In some embodiments, according to the collision risk assessment result of the boarding bridge, a control instruction is output, including: when the minimum distance value is less than the threshold, re-planning the path.

[0012] In some embodiments, the re-planning of the path includes: if the minimum distance value at the path point is less than or equal to the threshold, determining the scan point corresponding to the minimum distance value at the path point as the collision point, where the path point is a point obtained by dividing the target path according to a first preset length; moving the path point in the direction of increasing the minimum distance value according to a second preset length until the distance value between the marked point on the outer surface of the boarding bridge three-dimensional model at the moved path point and the collision point is greater than the threshold; and adjusting the target path based on the moved path point.

[0013] According to another aspect of the present disclosure, there is also provided a boarding bridge anti-collision device, including: an environmental scan data acquisition module for acquiring environmental scan data of the environment where the boarding bridge is located; a pose data acquisition module for acquiring the pose data of the boarding bridge during movement; a three-dimensional space model update module for converting the environmental scan data and the pose data into a pre-constructed three-dimensional space model to obtain an updated three-dimensional space model, where the three-dimensional space model includes environmental information and a boarding bridge three-dimensional model; a collision risk assessment module for determining the collision risk assessment result of the boarding bridge; and a control instruction output module for outputting a control instruction according to the collision risk assessment result of the boarding bridge.

[0014] According to another aspect of the present disclosure, there is also provided an electronic device, which includes: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the boarding bridge anti-collision method according to any one of the above through executing the executable instructions.

[0015] According to another aspect of the present disclosure, there is also provided a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the anti-collision method for the boarding bridge described in any one of the above is implemented.

[0016] According to another aspect of the present disclosure, there is also provided a computer program product, including a computer program. When the computer program is executed by a processor, the anti-collision method for the boarding bridge described in any one of the above is implemented.

[0017] In the embodiments of the present disclosure, the anti-collision method, device, equipment, medium, and program product for the boarding bridge respectively obtain the environmental scan data of the environment where the boarding bridge is located and the pose data during the movement along the target path, determine the collision risk assessment result of the boarding bridge according to the obtained data, and then according to the assessment result, output a control instruction including determining whether it is necessary to adjust the target path. The embodiments of the present disclosure can improve the safety during the docking process of the boarding bridge and reduce the occurrence of collision accidents.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Show a flowchart of an anti-collision method for a boarding bridge in an embodiment of the present disclosure;

[0021] Figure 2 Show a schematic structural diagram of an anti-collision system for a boarding bridge in an embodiment of the present disclosure;

[0022] Fig. 3(a) shows a visual view of an empty apron;

[0023] Fig. 3(b) shows a laser point cloud map of an empty apron;

[0024] Fig. 4(a) shows a visual view of an aircraft parked on the apron;

[0025] Fig. 4(b) shows a laser point cloud map of an aircraft parked on the apron;

[0026] Figure 5 Show a schematic diagram of an anti-collision device for a boarding bridge in an embodiment of the present disclosure;

[0027] Figure 6 The structural block diagram of an electronic device in an embodiment of the present disclosure is shown. Detailed implementation manners

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more complete and comprehensive, and will fully convey the concept of the example embodiments to those skilled in the art. The features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments.

[0029] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0030] For ease of understanding, before introducing the embodiments of the present disclosure, several terms involved in the embodiments of the present disclosure are explained as follows:

[0031] SLAM: Simultaneous Localization And Mapping, simultaneous localization and mapping.

[0032] The following will describe in detail the specific implementation manners of the embodiments of the present disclosure with reference to the accompanying drawings.

[0033] Figure 1 The flowchart of a boarding bridge anti-collision method in an embodiment of the present disclosure is shown. As Figure 1 shown, the method includes the following steps:

[0034] S102, obtaining environmental scan data of the environment where the boarding bridge is located.

[0035] In an embodiment of the present disclosure, the environmental scan data may be obtained by real-time scanning of an environmental perception module, and the environmental perception module may be composed of multiple different sensor arrays. Specifically, the sensor array may be a multi-sensor array composed of lidar, millimeter-wave radar, and high-definition cameras, etc., and can be set at appropriate positions on the boarding bridge according to actual situations to achieve all-round and high-precision real-time scanning of the environment around the boarding bridge. By utilizing the complementary advantages of each sensor and through a data fusion algorithm, the accuracy and robustness of environmental perception can be improved.

[0036] S104. Obtain the pose data of the boarding bridge during movement.

[0037] In an embodiment of the present disclosure, the pose data may include but is not limited to: the coordinates, Euler angles, length, height, bridge body angle, and bridge head angle of the boarding bridge, etc. The pose data can be obtained through the above multi-sensor array.

[0038] S106. Convert the environmental scan data and pose data into a pre-constructed three-dimensional space model to obtain an updated three-dimensional space model, where the three-dimensional space model includes environmental information and a three-dimensional model of the boarding bridge.

[0039] In an embodiment of the present disclosure, the pre-constructed three-dimensional coordinate system can be calibrated according to the sensor installation position and the pose of the boarding bridge. Taking a fixed point on the apron surface as the origin, using the apron surface as the XOY plane, and the direction perpendicular to the apron surface upward as the Z axis, a three-dimensional coordinate system of the apron surface space is established. It should be noted that once this coordinate system is established, it does not change with the position of the boarding bridge.

[0040] S108. Determine the collision risk assessment result of the boarding bridge.

[0041] In an embodiment of the present disclosure, the environmental scan data and pose data can be obtained in real time according to a preset period, and the environmental information and the three-dimensional model of the boarding bridge in the pre-constructed three-dimensional space model can be updated according to the real-time obtained environmental scan data and pose data, and then the collision risk assessment result of the boarding bridge can be determined. It should be noted that the environmental information and the three-dimensional model of the boarding bridge in this three-dimensional space model can be obtained from the initial data obtained when the boarding bridge is in the starting position, or can be updated according to the data obtained in the previous period.

[0042] It should be noted that the preset period can be set according to the actual situation, and the embodiments of the present disclosure do not make specific limitations on this.

[0043] S110. Output a control instruction according to the collision risk assessment result of the boarding bridge.

[0044] In an embodiment of the present disclosure, corresponding control instructions are output in advance for different collision risk assessment results. That is, according to the collision risk assessment result of the boarding bridge, it is determined whether to adjust the target path. The target path can be the initial path pre-planned by the boarding bridge according to the obtained data at the starting position, or the path updated according to the data obtained in the previous period.

[0045] As described above, the embodiments of the present disclosure respectively obtain the environmental scan data of the boarding bridge's environment and the pose data during the movement along the target path, determine the collision risk assessment result of the boarding bridge based on the obtained data, and then output a control instruction according to the assessment result, including determining whether it is necessary to adjust the target path. The embodiments of the present disclosure can improve the safety during the docking of the boarding bridge and reduce the occurrence of collision accidents.

[0046] In an embodiment of the present disclosure, when the boarding bridge is at the starting position, it can obtain the initial environmental scan data according to various sensors on the boarding bridge and convert the initial environmental scan data into a pre-constructed three-dimensional coordinate system to obtain an initial three-dimensional space model. Then, it obtains the initial pose data according to various sensors on the boarding bridge and converts the initial pose data into the initial three-dimensional space model to obtain the initial three-dimensional model of the boarding bridge in the initial three-dimensional space model.

[0047] In an embodiment of the present disclosure, the above S108 includes: calculating the distance values between multiple marked points on the outer surface of the boarding bridge three-dimensional model and multiple scanned points in the environmental information; extracting the minimum distance value among each distance value; determining the collision risk assessment result of the boarding bridge by judging whether the minimum distance value is less than or equal to the threshold.

[0048] In an embodiment of the present disclosure, the marked points are: the outer surface of the boarding bridge three-dimensional model is divided into multiple divided surfaces of different sizes according to different precision requirements, and the center points of each divided surface are used as marked points.

[0049] In an embodiment of the present disclosure, an appropriate segmentation precision can be selected according to the actual situation, and after obtaining the minimum distance value, the segmentation precision can be adjusted according to actual needs to divide the outer surface of the boarding bridge model for more accurate analysis and judgment. The embodiments of the present disclosure do not specifically limit the size of the preset area.

[0050] In an embodiment of the present disclosure, after extracting the minimum distance value among each distance value, the method further includes: obtaining the special point and area information corresponding to the minimum distance value, where the special point and area information includes: the scanned point in the environmental information corresponding to the minimum distance value, the area within the first preset range near the scanned point, the marked point on the outer surface of the boarding bridge three-dimensional model corresponding to the scanned point, the divided surface on the outer surface of the boarding bridge three-dimensional model corresponding to the scanned point, and the area within the second preset range near the divided surface; analyzing the movement trend of the boarding bridge according to the pose data during the movement of the boarding bridge; combining the movement trend of the boarding bridge and the special point and area information corresponding to the minimum distance value to analyze and calculate the change trend of the special point and area information corresponding to the minimum distance value.

[0051] In one embodiment of the present disclosure, the above S110 includes: when the minimum distance value is less than the threshold, re-planning the path.

[0052] In one embodiment of the present disclosure, re-planning the path includes: if the minimum distance value at the path point is less than or equal to the threshold, determining the scan point corresponding to the minimum distance value at the path point as the collision point, where the path point is the point obtained by dividing the target path according to the first preset length; moving the path point in the direction of increasing the minimum distance value according to the second preset length until the distance value between the marked point on the outer surface of the boarding bridge three-dimensional model at the moved path point and the collision point is greater than the threshold; adjusting the target path based on the moved path point.

[0053] It should be noted that the second preset length can have any size relationship with the first preset length, and the first preset length and the second preset length should be adjusted according to the actual situation. Generally, the second preset length can be greater than the first preset length, and the embodiments of the present disclosure do not make specific limitations on this.

[0054] In one embodiment of the present disclosure, before obtaining the minimum distance value at the path point, the projection position of the center point of the wheel frame of the boarding bridge on the apron plane can be used as the reference point to calculate the pose data of the boarding bridge at the path point; then, according to the attitude data of the boarding bridge at the path point, when simulating the movement of the boarding bridge on the current target path, the three-dimensional model of the boarding bridge corresponding to the path point is obtained; finally, the minimum distance value at the path point is obtained through the above method.

[0055] In one embodiment of the present disclosure, the threshold can include a deceleration threshold and / or a stop threshold, and the real-time minimum distance value can also be compared with the deceleration threshold and the stop threshold respectively, where the real-time minimum distance value is the minimum distance value corresponding to the path point where the boarding bridge is located at the current moment, and the deceleration threshold is greater than the stop threshold; if the real-time minimum distance value is greater than the deceleration threshold, the boarding bridge travels normally along the target path; if the real-time minimum distance value is less than or equal to the deceleration threshold and greater than the stop threshold, the boarding bridge travels at a reduced speed along the target path; if the real-time minimum distance value is less than or equal to the stop threshold, the boarding bridge stops traveling.

[0056] In one embodiment of the present disclosure, in addition to the planned target path, during the movement of the boarding bridge, to avoid collisions with suddenly appearing moving obstacles, the collision risk should be monitored in real time during the movement of the boarding bridge. Specifically, a deceleration threshold and a stop threshold can be set to control the traveling speed and direction of the boarding bridge, and the target path can be adjusted immediately when a collision is about to occur to reduce the occurrence of collision accidents.

[0057] Figure 2 The structural schematic diagram of a boarding bridge anti-collision system in an embodiment of the present disclosure is shown, as Figure 2As shown in the figure, the system includes: an environmental perception module 201, a Simultaneous Localization and Mapping (SLAM) module 202, a collision risk assessment module 203, and a path planning and obstacle avoidance module 204.

[0058] In an embodiment of the present disclosure, the environmental perception module 201 includes a multi-sensor array composed of a lidar, a millimeter-wave radar, and a high-definition camera installed on the boarding bridge to achieve an all-round and high-precision real-time scan of the environment around the boarding bridge. The multi-sensor array can utilize the complementary advantages of each sensor and improve the accuracy and robustness of environmental perception through a data fusion algorithm.

[0059] In an embodiment of the present disclosure, Fig. 3(a) shows a visual map of an empty apron. As shown in Fig. 3(a), according to the high-definition camera installed on the boarding bridge, high-resolution color or black-and-white images of the apron area can be captured to facilitate object recognition and analysis, and then monitor the traffic flow on the apron, optimize scheduling, and adjust the target path. In actual situations, to ensure comprehensive coverage, multiple cameras are usually arranged to capture the apron from different angles. It should be noted that cameras can be installed at appropriate positions on the boarding bridge according to actual situations, and the number and installation positions of cameras are not specifically limited in the embodiments of the present disclosure.

[0060] In an embodiment of the present disclosure, Fig. 3(b) shows a laser point cloud map of an empty apron. As shown in Fig. 3(b), according to the lidar installed on the boarding bridge, laser pulses are emitted and the reflection time is measured to construct a three-dimensional point cloud map, providing accurate distance information. The high-density point cloud can describe the environmental geometric structure in detail, including the ground, buildings, vehicles, etc. For example, Fig. 3(b) is a top-down view, and the area within the square frame is the identified aircraft docking position, which is convenient for modeling and dynamic monitoring, and then detecting potential collision risks to ensure the safety of equipment and personnel.

[0061] In an embodiment of the present disclosure, combining the visual map and the laser point cloud map can ensure the alignment of data from different sensors in the same coordinate system. Combining visual features (such as color, texture, etc.) and geometric features (such as shape, distance, etc.) can perform more complex object recognition and classification. At the same time, when a certain sensor fails, the other sensor can be used as a backup to ensure the robustness of the system.

[0062] In an embodiment of the present disclosure, Fig. 4(a) shows a visual map of an aircraft parked on the apron. As shown in Fig. 4(a), the appearance information, basic position information, and orientation information of the aircraft can be obtained to facilitate positioning the docking target position of the boarding bridge. The positions of some ground markings and ground service vehicles can also be obtained.

[0063] In an embodiment of the present disclosure, FIG. 4(b) shows a laser point cloud map of an aircraft parked on the apron. As shown in FIG. 4(b), the general outline of the aircraft, the nose direction, and the parking position of the aircraft can be identified. By providing precise three-dimensional space information through the point cloud map, it can be applied to scenarios such as automated guidance systems and airport ground service automation.

[0064] In an embodiment of the present disclosure, the SLAM module 202 is first used to construct a three-dimensional coordinate system. Specifically, according to the installation position of the sensor on the boarding bridge (such as the base, joint, bridge head, etc.) and the pose of the boarding bridge, calibration is performed. Taking a fixed point on the apron surface as the origin, using the apron surface as the XOY plane, and the direction perpendicular to the apron surface upward as the Z axis, a three-dimensional coordinate system of the apron surface space is established.

[0065] In an embodiment of the present disclosure, the SLAM module 202 is also used to receive the environmental scan data of the current position obtained by the sensor and convert it into the three-dimensional coordinate system, thereby obtaining a three-dimensional space model.

[0066] In an embodiment of the present disclosure, the SLAM module 202 is also used to convert the received pose data obtained by the sensor into the three-dimensional space model. Combining the inherent structure of the boarding bridge, the spatial coordinates corresponding to the outer surface of the three-dimensional model of the boarding bridge are converted into the three-dimensional space model. Then, according to the actual situation, different precisions are selected, and the outer surface of the three-dimensional model of the boarding bridge is divided into multiple divided surfaces according to a preset area. Among them, each divided surface uses the center point as a marking point.

[0067] It should be noted that the preset area can be one or more, such as 2.5 cm * 2.5 cm, 5 cm * 5 cm, 10 cm * 10 cm, etc. Different preset areas can be used for division at different positions of the boarding bridge, or the same preset area can be used for division. Specifically, it can be adjusted according to actual needs, and the embodiments of the present disclosure do not make specific limitations on this.

[0068] In an embodiment of the present disclosure, the SLAM module 202 is also used to traverse the spatial distances between all the scan data points (i.e., the above-mentioned scan points) with heights higher than the apron surface (i.e., the XOY plane) in the three-dimensional space model and the marking points on the outer surface of the three-dimensional model of the boarding bridge. Sort the spatial distances in a preset order to obtain the minimum distance value D, and mark the scan data point corresponding to D and its nearby area K, as well as the divided surface and the nearby area S where the marking point on the outer surface of the corresponding three-dimensional model of the boarding bridge is located.

[0069] It should be noted that the above-mentioned preset order can be sorted in ascending order or descending order, and can be set according to the actual situation. The embodiments of the present disclosure do not make specific limitations on this.

[0070] In an embodiment of the present disclosure, the SLAM module 202 is further configured to analyze the movement trend of the boarding bridge according to the current position of the boarding bridge. Specifically, it is possible to consider whether there may be a collision risk when the boarding bridge moves along the current target path, or it is also possible to consider whether there is a collision risk at the current position of the boarding bridge, and adjust the target path or change the moving direction of the boarding bridge according to the collision risk assessment result, that is, analyze and calculate whether the distance between the current nearest point and the surrounding area continues to decrease or increase.

[0071] In an embodiment of the present disclosure, the SLAM module 202 may obtain the environmental scan data of the position where the boarding bridge is located and the current pose data of the boarding bridge at a preset period, and then update the three-dimensional space model to evaluate the collision risk of the boarding bridge, so as to improve the safety during the docking process of the boarding bridge in a complex and changeable airport environment and reduce the occurrence of collision accidents.

[0072] It should be noted that the preset period can usually be set to 0.1 s, or the time of the preset period can be adjusted according to the actual situation, and the embodiments of the present disclosure do not make specific limitations on this.

[0073] In an embodiment of the present disclosure, the collision risk assessment module 203 is configured to obtain the currently minimum distance value D calculated at the position where the boarding bridge is located, and compare D with a preset deceleration threshold D1 and a preset stop threshold D2 set by the system. When D is less than or equal to D1 and D is greater than D2, the boarding bridge moves at a reduced speed along the current target path; when D is less than or equal to D2, the boarding bridge stops moving in the direction that continues to decrease D, and at this time, it can move in the direction that increases D. At the same time, the scale of the dividing surface on the outer surface of the three-dimensional model of the boarding bridge can be further reduced within S as needed to perform more accurate analysis and judgment.

[0074] In an embodiment of the present disclosure, the path planning and obstacle avoidance module 204 is configured to analyze whether an obstacle is in the current moving space of the boarding bridge according to the docking target position of the boarding bridge and the position of the obstacle detected by scanning that is higher than the apron surface. Specifically, this moving space may refer to the space occupied by the outer surface of the three-dimensional model of the boarding bridge during the walking process of the boarding bridge wheels in the XOY plane in the three-dimensional space model. At this time, the projection position of the center of the boarding bridge wheel frame in the XOY plane is used as the center point, and the target path is divided according to a first preset length to obtain a plurality of path points, and the length, height, bridge body angle, and bridge head angle of the boarding bridge at each path point are calculated. For example, the first preset length may be 0.2 m, and at this time, the path points are denoted as P i (i = 1, 2, 3…).

[0075] In one embodiment of the present disclosure, the path planning and obstacle avoidance module 204 is further configured to adjust the target path if there is an obstacle in the moving space such that the minimum distance between the outer surface of the boarding bridge three-dimensional model and the obstacle is less than or equal to D2. Specifically, according to the pose data of the boarding bridge at each path point calculated above, a three-dimensional model of the boarding bridge at each path point can be simulated, and then the minimum distance value between the outer surface of the boarding bridge three-dimensional model and the scanning point at each path point is determined. Whether to adjust the target path is determined based on whether the minimum distance value is less than or equal to a preset stop threshold.

[0076] In one embodiment of the present disclosure, the target path adjustment method may be: Denote the scanning point corresponding to the minimum distance value less than or equal to the preset stop threshold as the collision point P n (n = 1, 2, 3…), move the path point in the direction of increasing distance value by a second preset length until each minimum distance value meets the safety distance, that is, is greater than the preset stop threshold, and then adjust the target path according to the positions of the existing path points. For example, the second preset length may be 0.3 m.

[0077] It should be noted that the numerical values of the above first preset length and second preset length are only for illustrative purposes. Generally, the second preset length is greater than the first preset length, and it can also be adjusted according to actual situations. The embodiments of the present disclosure do not make specific limitations on this.

[0078] Based on the same inventive concept, an embodiment of the present disclosure also provides a boarding bridge anti-collision device as described in the following embodiments. Since the principle of solving problems in this device embodiment is similar to that of the above method embodiment, the implementation of this device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be described again.

[0079] In one embodiment of the present disclosure, through this boarding bridge anti-collision system, the safety during the docking process of the boarding bridge can be significantly improved, and the occurrence of collision accidents can be reduced. It has a high degree of automation, reduces the burden on operators, and improves work efficiency. At the same time, this system has strong adaptability, can cope with complex and changeable airport environments, and has higher adaptability.

[0080] Figure 5 Show a schematic diagram of a boarding bridge anti-collision device in an embodiment of the present disclosure, as Figure 5 shown, the device includes: an environmental scan data acquisition module 501, a pose data acquisition module 502, a three-dimensional space model update module 503, a collision risk assessment module 504, and a control instruction output module 505.

[0081] Among them, the environmental scan data acquisition module 501 is used to acquire the environmental scan data of the environment where the boarding bridge is located; the pose data acquisition module 502 is used to acquire the pose data of the boarding bridge during the movement process; the three-dimensional space model update module 503 is used to convert the environmental scan data and the pose data into a pre-constructed three-dimensional space model to obtain an updated three-dimensional space model, where the three-dimensional space model includes environmental information and the three-dimensional model of the boarding bridge; the collision risk assessment module 504 is used to determine the collision risk assessment result of the boarding bridge; the control instruction output module 505 is used to output a control instruction according to the collision risk assessment result of the boarding bridge.

[0082] As can be seen from the above, in the embodiments of the present disclosure, the environmental scan data of the environment where the boarding bridge is located and the pose data during the movement along the target path are respectively acquired, the collision risk assessment result of the boarding bridge is determined according to the acquired data, and then a control instruction is output according to the assessment result, including determining whether it is necessary to adjust the target path. The embodiments of the present disclosure can improve the safety during the docking process of the boarding bridge and reduce the occurrence of collision accidents.

[0083] In an embodiment of the present disclosure, when the boarding bridge is at the starting position, the initial environmental scan data can be acquired according to various sensors on the boarding bridge, and the initial environmental scan data is converted into a pre-constructed three-dimensional coordinate system to obtain an initial three-dimensional space model. Then, the initial pose data is acquired according to various sensors on the boarding bridge, and the initial pose data is converted into the initial three-dimensional space model to obtain the initial three-dimensional model of the boarding bridge in the initial three-dimensional space model.

[0084] In an embodiment of the present disclosure, the above-mentioned collision risk assessment module 504 is further used to calculate the distance values between multiple marked points on the outer surface of the three-dimensional model of the boarding bridge and multiple scanned points in the environmental information; extract the minimum distance value among the respective distance values; determine the collision risk assessment result of the boarding bridge by judging whether the minimum distance value is less than or equal to the threshold.

[0085] In an embodiment of the present disclosure, the marked points are: the outer surface of the three-dimensional model of the boarding bridge is divided into multiple divided surfaces of different sizes according to different precision requirements, and the center points of the respective divided surfaces are used as the marked points.

[0086] In an embodiment of the present disclosure, an appropriate segmentation precision can be selected according to the actual situation, and after obtaining the minimum distance value, the segmentation precision can be adjusted according to actual needs to segment the outer surface of the boarding bridge model for more accurate analysis and judgment. The embodiments of the present disclosure do not make specific limitations on the size of the preset area.

[0087] In an embodiment of the present disclosure, the device further includes: a trend analysis module 506, configured to obtain special points and area information corresponding to the minimum distance value, where the special points and area information includes: scan points in the environmental information corresponding to the minimum distance value, areas within a first preset range near the scan points, marked points on the outer surface of the boarding bridge three-dimensional model corresponding to the scan points, split surfaces on the outer surface of the boarding bridge three-dimensional model corresponding to the scan points, and areas within a second preset range near the split surfaces; analyze the movement trend of the boarding bridge according to the pose data of the boarding bridge during movement; and analyze and calculate the change trend of the special points and area information corresponding to the minimum distance value in combination with the movement trend of the boarding bridge and the special points and area information corresponding to the minimum distance value.

[0088] In an embodiment of the present disclosure, the above control instruction output module 505 is further configured to re-plan the path when the minimum distance value is less than the threshold.

[0089] In an embodiment of the present disclosure, the above control instruction output module 505 is further configured to, if the minimum distance value at a path point is less than or equal to the threshold, determine the scan point corresponding to the minimum distance value at the path point as the collision point, where the path point is a point obtained by dividing the target path according to a first preset length; move the path point in the direction of increasing the minimum distance value according to a second preset length until the distance value between the marked point on the outer surface of the boarding bridge three-dimensional model at the moved path point and the collision point is greater than the threshold; and adjust the target path based on the moved path point.

[0090] In an embodiment of the present disclosure, before obtaining the minimum distance value at a path point, the projection position of the center point of the wheel frame of the boarding bridge on the apron plane may be used as a reference point to calculate the pose data of the boarding bridge at the path point; then, according to the pose data of the boarding bridge at the path point, simulate the boarding bridge moving on the current target path to obtain the boarding bridge three-dimensional model corresponding to the path point; and finally, obtain the minimum distance value at the path point through the above method.

[0091] In an embodiment of the present disclosure, the real-time minimum distance value may also be compared with a deceleration threshold and a stop threshold respectively, where the real-time minimum distance value is the minimum distance value corresponding to the path point where the boarding bridge is located at the current moment, and the deceleration threshold is greater than the stop threshold; if the real-time minimum distance value is greater than the deceleration threshold, the boarding bridge travels normally along the target path; if the real-time minimum distance value is less than or equal to the deceleration threshold and greater than the stop threshold, the boarding bridge travels at a decelerated speed along the target path; and if the real-time minimum distance value is less than or equal to the stop threshold, the boarding bridge stops traveling.

[0092] In one embodiment of the present disclosure, in addition to the planned target path, during the movement of the boarding bridge, in order to avoid collisions with suddenly emerging moving obstacles, the collision risk should be monitored in real time during the movement of the boarding bridge. Specifically, a deceleration threshold and a stop threshold can be set to control the traveling speed and direction of the boarding bridge, and the target path can be adjusted immediately when a collision is about to occur to reduce the occurrence of collision accidents.

[0093] Those skilled in the art can understand that various aspects of the present disclosure can be implemented as a system, a method, or a program product. Therefore, various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuits", "modules", or "systems" here.

[0094] The following refers to Figure 6 to describe the electronic device 600 according to this embodiment of the present disclosure. Figure 6 The shown electronic device 600 is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0095] As Figure 6 shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one of the above-mentioned processing units 610, at least one of the above-mentioned storage units 620, and a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610).

[0096] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 610, so that the processing unit 610 executes the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of this specification. For example, the processing unit 610 may execute the following steps of the above method embodiment: obtaining environmental scan data of the environment where the boarding bridge is located; obtaining pose data of the boarding bridge during movement; converting the environmental scan data and the pose data into a pre-constructed three-dimensional space model to obtain an updated three-dimensional space model, where the three-dimensional space model includes environmental information and a three-dimensional model of the boarding bridge; determining the collision risk assessment result of the boarding bridge; and outputting a control instruction according to the collision risk assessment result of the boarding bridge.

[0097] The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and / or a cache storage unit 6202, and may further include a read-only storage unit (ROM) 6203.

[0098] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205. Such program modules 6205 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0099] The bus 630 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0100] The electronic device 600 may also communicate with one or more external devices 640 (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 600, and / or may communicate with any device that enables the electronic device 600 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be through the input / output (I / O) interface 650. Also, the electronic device 600 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 660. As shown in the figure, the network adapter 660 communicates with other modules of the electronic device 600 through the bus 630. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0101] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by the way of software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0102] Based on the same inventive concept, embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the boarding bridge anti-collision method of any one of the above is implemented. Since the principle of solving problems in the embodiments of this computer-readable storage medium is similar to that of the above method embodiments, the implementation of the embodiments of this computer-readable storage medium can refer to the implementation of the above method embodiments, and the repeated parts will not be elaborated.

[0103] More specific examples of the computer-readable storage medium in the present disclosure may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0104] In the present disclosure, the computer-readable storage medium may include data signals propagated in a baseband or as part of a carrier wave, on which readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0105] Optionally, the program codes contained on the computer-readable storage medium may be transmitted by any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0106] In specific implementation, the program codes for performing the operations of the present disclosure may be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages - such as Java, C++, etc., and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program codes may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (for example, by using an Internet service provider to connect through the Internet).

[0107] Based on the same inventive concept, embodiments of the present disclosure also provide a computer program product, including: a computer program or instruction, which when executed by a processor implements the boarding bridge anti-collision method in any one of the above method embodiments. Since the principle of solving problems in this computer program product embodiment is similar to that of the above method embodiments, the implementation of this computer program product embodiment can refer to the implementation of the above method embodiments, and the repeated parts will not be elaborated.

[0108] It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0109] In addition, although the steps of the methods in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be executed in that specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0110] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described here can be implemented by software, or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard disk, etc.) or on the network, including several instructions to enable a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of the present disclosure.

[0111] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present disclosure. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

Claims

1. A boarding bridge anti-collision method, characterized in that: include: Obtain environmental scan data of the environment in which the boarding bridge is located; Obtain the position data of the boarding bridge during movement; Converting the environmental scanning data and the posture data into a pre-constructed three-dimensional space model to obtain an updated three-dimensional space model, wherein the three-dimensional space model includes environmental information and a three-dimensional model of the boarding bridge; determining a collision risk assessment result of the boarding bridge; Output a control instruction according to the collision risk assessment result of the boarding bridge.

2. The boarding bridge anti-collision method according to claim 1, characterized in that: Determining the collision risk assessment result of the boarding bridge includes: Calculating distance values ​​between a plurality of marking points on the outer surface of the three-dimensional model of the boarding bridge and a plurality of scanning points in the environmental information; Extract the minimum distance value among all distance values; It is determined whether the minimum distance values ​​are all less than or equal to a threshold value, and a collision risk assessment result of the boarding bridge is determined.

3. The boarding bridge anti-collision method according to claim 2, characterized in that: The marking points are: dividing the outer surface of the three-dimensional model of the boarding bridge into a plurality of segmentation surfaces of different sizes according to different accuracy requirements, and taking the center point of each segmentation surface as the marking point.

4. The boarding bridge anti-collision method according to claim 2, characterized in that: After extracting the minimum distance value among the distance values, the method further includes: Acquire special point and area information corresponding to the minimum distance value, wherein the special point and area information includes: a scanning point in the environmental information corresponding to the minimum distance value, an area within a first preset range near the scanning point, a marking point on the outer surface of the three-dimensional model of the boarding bridge corresponding to the scanning point, a segmentation surface on the outer surface of the three-dimensional model of the boarding bridge corresponding to the scanning point, and an area within a second preset range near the segmentation surface; Analyzing the movement trend of the boarding bridge according to the posture data of the boarding bridge during the movement; In combination with the movement trend of the boarding bridge and the special point and area information corresponding to the minimum distance value, the change trend of the special point and area information corresponding to the minimum distance value is analyzed and calculated.

5. The boarding bridge anti-collision method according to claim 2, characterized in that: Outputting control instructions according to the collision risk assessment result of the boarding bridge includes: When the minimum distance value is less than the threshold, the path is replanned.

6. The boarding bridge anti-collision method according to claim 5, characterized in that: The re-planning path includes: If the minimum distance value at a path point is less than or equal to a threshold value, a scanning point corresponding to the minimum distance value at the path point is determined as a collision point, wherein the path point is a point obtained by dividing the target path according to a first preset length; Move the path point in a direction of increasing the minimum distance value according to the second preset length until the distance between the mark point on the outer surface of the three-dimensional model of the boarding bridge at the moved path point and the collision point is greater than a threshold value; Based on the moved waypoints, the target path is adjusted.

7. An anti-collision device for a boarding bridge, characterized in that: include: An environmental scanning data acquisition module is used to acquire environmental scanning data of the environment in which the boarding bridge is located; A posture data acquisition module, used to acquire the posture data of the boarding bridge during movement; A three-dimensional space model updating module, used for converting the environmental scanning data and the posture data into a pre-built three-dimensional space model to obtain an updated three-dimensional space model, wherein the three-dimensional space model includes environmental information and a three-dimensional model of the boarding bridge; A collision risk assessment module, used to determine a collision risk assessment result of the boarding bridge; A control instruction output module is used to output control instructions according to the collision risk assessment result of the boarding bridge.

8. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the boarding bridge collision avoidance method according to any one of claims 1 to 6 by executing the executable instructions.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the boarding bridge anti-collision method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising: A computer program or instruction, characterized in that when the computer program or instruction is executed by a processor, the boarding bridge anti-collision method described in any one of claims 1 to 6 is implemented.

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