Boarding bridge connection control method and device, readable storage medium and electronic equipment

Abstract

The invention discloses a boarding bridge connection control method, which comprises the steps of determining a current pose of a cabin door recognition camera under a boarding bridge base coordinate system based on a current pose of a boarding bridge and bridge body structure parameters; based on a preset distance, a cabin door pose obtained by performing pose measurement on the aircraft cabin door by the cabin door recognition camera and a current pose of the cabin door recognition camera in the boarding bridge base coordinate system, determining an expected target pose of the cabin door recognition camera in the boarding bridge base coordinate system; determining an expected posture of the boarding bridge based on the target posture; on the basis of the expected posture of the boarding bridge and the current posture of the boarding bridge, each component joint of the boarding bridge is controlled to move; and when the cabin door recognition camera has the expected target pose, based on the cabin door pose obtained by performing pose measurement on the airplane cabin door by the cabin door recognition camera and a preset docking pose, controlling each component joint of the boarding bridge to move so as to complete docking of the airport pickup port and the airplane cabin door. The precision, efficiency and reliability of automatic airport connection of the boarding bridge are improved.

Description

Technical Field

[0001] This application relates to the field of automated boarding bridge machine technology, and in particular to a boarding bridge machine control method, apparatus, readable storage medium, and electronic device. Background Technology

[0002] Passenger bridges are key ground equipment connecting airport terminals and aircraft doors, with their core function being to enable passengers to board and disembark efficiently and safely. Automated passenger bridge reception is a core component of smart airport construction, and it is of great significance for improving flight turnaround efficiency, reducing labor costs for special operations, and eliminating the risk of aircraft collisions due to human error.

[0003] Related technologies rely on preset trajectories or simple distance sensors to control automated boarding bridges for aircraft pick-up. However, these technologies depend on the aircraft's movement path strictly adhering to a theoretically preset position, failing to effectively adapt to the inevitable positional and attitude deviations of aircraft in actual parking spaces. When the aircraft does not stop accurately, either initial positioning cannot be completed, or significant blind adjustments are required during subsequent docking, posing a risk of collision or necessitating manual intervention. This severely limits the reliability, accuracy, and applicability of automated pick-up systems. Summary of the Invention

[0004] This application provides a boarding bridge connection control method, device, readable storage medium, and electronic device, which can improve the accuracy, efficiency, and reliability of automatic boarding bridge connection.

[0005] According to a first aspect of this application, a boarding bridge control method is provided, the method comprising:

[0006] A forward kinematics model of the boarding bridge is used to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the current attitude of the boarding bridge and the bridge structure parameters; wherein, the current attitude is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the arrival port of the boarding bridge;

[0007] Based on the preset distance, the door pose obtained by the door recognition camera through pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system, the expected target pose of the door recognition camera is determined in the boarding bridge base coordinate system.

[0008] The expected attitude of the boarding bridge is determined based on the target pose using the inverse kinematics model of the boarding bridge.

[0009] Based on the expected posture of the boarding bridge and the current posture of the boarding bridge, control the movement of each component joint of the boarding bridge;

[0010] When the door recognition camera has the expected target pose, based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose, the movement of each joint of the boarding bridge is controlled to complete the docking of the arrival port with the aircraft door.

[0011] According to a second aspect of this application, a boarding bridge control device is provided, the device comprising:

[0012] The current pose determination module is used to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the current pose of the boarding bridge and the bridge structure parameters using the boarding bridge's positive kinematics model; wherein, the current pose is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the boarding bridge's arrival port;

[0013] The target pose determination module is used to determine the expected target pose of the door recognition camera in the boarding bridge base coordinate system based on a preset distance, the door pose obtained by the door recognition camera through pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system.

[0014] The expected attitude determination module is used to determine the expected attitude of the boarding bridge based on the target pose using the inverse kinematics model of the boarding bridge.

[0015] The first joint control module is used to control the movement of each component joint of the boarding bridge based on the expected posture of the boarding bridge and the current posture of the boarding bridge.

[0016] The second joint control module is used to control the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door when the door recognition camera has the expected target pose, based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose.

[0017] According to a third aspect of the present invention, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the boarding bridge control method as described in embodiments of this application.

[0018] According to a fourth aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the boarding bridge control method as described in the embodiments of the present application.

[0019] According to a fifth aspect of this application, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the boarding bridge control method as described in embodiments of this application.

[0020] This application's technical solution achieves high precision and high reliability in the aircraft docking process by constructing a closed-loop control system with the boarding bridge's base coordinate system as a unified reference. First, using the boarding bridge's forward kinematics model, based on the boarding bridge's current attitude and structural parameters, the current pose of the door recognition camera is determined in the boarding bridge's base coordinate system, thus establishing a unified benchmark for all spatial calculations. Based on this, the expected target pose of the door recognition camera is determined in the same base coordinate system, using a preset distance, real-time measurements of the door pose by the door recognition camera, and its current pose. Subsequently, using the boarding bridge's inverse kinematics model, the expected attitude of the boarding bridge is determined based on the target pose, and the movement of each component joint is controlled accordingly, driving the boarding bridge to move towards the pre-dock position. Once the door recognition camera reaches the expected target pose, based on the door pose obtained from continuous pose measurements of the aircraft door by the camera and the preset docking pose, the joints of the boarding bridge are controlled to complete the final docking of the docking port with the aircraft door. By combining the planning capabilities of kinematic models with the real-time perception capabilities of visual sensors, the accuracy, efficiency, and adaptability to various deviations in the docking process are effectively improved.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of the boarding bridge control method provided in Embodiment 1;

[0024] Figure 2 This is a scenario diagram of the boarding bridge control method provided according to an embodiment of this application;

[0025] Figure 3 This is a flowchart of the boarding bridge control method provided in Embodiment 2;

[0026] Figure 4This is a schematic diagram of the boarding bridge control device provided in Embodiment 3 of this application;

[0027] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of this application. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first," "second," "target," and "candidate," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart of the boarding bridge connection control method provided in Embodiment 1. This embodiment can be applied to the situation of controlling the automatic connection of boarding bridges. The method can be executed by the boarding bridge connection control device, which is implemented in hardware and / or software and can be integrated into the electronic device running this system.

[0032] like Figure 1 As shown, the method includes:

[0033] S110. Using the forward kinematics model of the boarding bridge, the current pose of the door recognition camera is determined in the boarding bridge base coordinate system based on the current attitude of the boarding bridge and the bridge structure parameters; wherein, the current attitude is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the arrival port of the boarding bridge.

[0034] S120. Based on the preset distance, the door pose obtained by the door recognition camera through pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system, determine the expected target pose of the door recognition camera in the boarding bridge base coordinate system.

[0035] S130. Based on the target pose, determine the expected pose of the boarding bridge using the inverse kinematics model of the boarding bridge.

[0036] S140. Based on the expected posture of the boarding bridge and the current posture of the boarding bridge, control the movement of each component joint of the boarding bridge.

[0037] S150. When the door recognition camera has the expected target pose, based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose, control the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door.

[0038] The boarding bridge base coordinate system refers to a fixed spatial reference system established with the boarding bridge rotation center as the origin, used to uniformly describe the position and orientation of all related objects such as the door recognition camera and the aircraft door.

[0039] The current attitude of the boarding bridge is uniquely determined by the joint variables of each component joint, which are used to describe the physical configuration of the boarding bridge itself in real time and accurately, and serve as the dynamic input for kinematic calculations. The structural parameters of the bridge body define the inherent and immutable physical dimensions and installation relationships between the rigid components of the boarding bridge, constituting the static geometric constraints in the kinematic model.

[0040] First, a forward kinematics model of the boarding bridge is employed. Based on the bridge's structural parameters and joint variables representing the current attitude, the current pose of the door recognition camera in the boarding bridge's base coordinate system is calculated. The forward kinematics model is a mathematical model established based on the joint variables of each component joint of the boarding bridge, the defined geometric relationships between the joints, and between the arrival gate and the door recognition camera. This model is used to calculate the real-time pose of the door recognition camera in the boarding bridge's base coordinate system. By analyzing and integrating the fixed spatial constraints between all components in the complete kinematic chain from each joint of the boarding bridge to the door recognition camera, the forward kinematics model can uniquely map measurable joint variables to the current pose of the door recognition camera in the boarding bridge's base coordinate system.

[0041] The current pose of the door recognition camera refers to its real-time position and orientation in the boarding bridge's base coordinate system. The door recognition camera is rigidly connected to the arrival gate via a physical structure and is fixedly installed at a designated position above or within the arrival gate. There is a definite and unchanging relative pose between the door recognition camera and the arrival gate. A fixed and calibrated coordinate transformation relationship, known as the hand-eye matrix, exists between the door recognition camera's sensing coordinate system and the arrival gate's physical coordinate system. This allows the relative pose of the aircraft door measured by the door recognition camera to be accurately and reliably converted into the relative pose between the arrival gate and the aircraft door. Optionally, the door recognition camera deployed at the arrival gate is an intelligent camera used to measure the aircraft door's pose relative to itself in real-time within its own coordinate system.

[0042] Then, based on the preset distance, the door pose obtained by the door recognition camera's pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge coordinate system, the expected target pose of the door recognition camera is calculated in the boarding bridge coordinate system. The preset distance refers to the pre-set safe docking interval between the arrival gate and the aircraft door for safe docking. The expected distance is determined according to actual business needs, and its specific value is not limited here. For example, the expected distance is 2 meters. The target pose corresponds to the safe pre-docking position that the door recognition camera should reach, located in front of the aircraft door. This integrates the relative relationship of visual measurements with the absolute coordinates of kinematic description, dynamically generating a moving target that precisely corresponds to the actual position of the aircraft.

[0043] After the target pose of the door recognition camera is determined, the inverse kinematics model of the boarding bridge is invoked. The inverse kinematics model is mathematically established based on the target pose of the door recognition camera in the boarding bridge's base coordinate system, and on the same defined geometric relationships between the various joints of the boarding bridge and between the arrival gate and the door recognition camera as in the forward kinematics model. This model is used to inversely calculate the joint variables required for the door recognition camera to reach the target pose. Utilizing the reversibility of the spatial constraints of the components in the kinematic chain, the inverse kinematics model can inversely solve for the joint variables required for the door recognition camera to reach the target pose. These calculated joint variables define the expected attitude of the boarding bridge.

[0044] Next, based on the difference between the expected attitude and the current attitude of the boarding bridge, control commands are generated and the various joints of the boarding bridge are driven to move in coordination. Optionally, the boarding bridge is equipped with three different speed levels: high, medium, and low. Controlling the boarding bridge to move at the high speed allows the boarding bridge to smoothly and efficiently transition from its current attitude to the expected attitude, thereby causing the door recognition camera fixed on the arrival gate to move towards the target attitude.

[0045] Once the door recognition camera reaches the expected target pose, i.e., the pre-docking position, the precision docking phase begins. During this phase, high-frequency visual feedback is used to construct a servo control loop. By compensating for minute pose deviations in real time, the docking port is guided to adaptively fine-tune until a tight and secure physical docking with the aircraft door is achieved.

[0046] At this point, the door pose continuously measured by the door recognition camera is compared with a preset docking pose, and the joints of the boarding bridge are controlled to perform subtle movements to complete the docking. The preset docking pose serves as the reference for the final closed-loop adjustment. The preset docking pose refers to the ideal relative pose that the boarding gate and the aircraft door should meet when achieving a perfect docking. Optionally, the preset docking pose is when the boarding gate faces the aircraft door directly, and the distance between the boarding gate and the aircraft door is within the allowable error range.

[0047] This application's technical solution achieves high precision and high reliability in the aircraft docking process by constructing a closed-loop control system with the boarding bridge's base coordinate system as a unified reference. First, using the boarding bridge's forward kinematics model, based on the boarding bridge's current attitude and structural parameters, the current pose of the door recognition camera is determined in the boarding bridge's base coordinate system, thus establishing a unified benchmark for all spatial calculations. Based on this, the expected target pose of the door recognition camera is determined in the same base coordinate system, using a preset distance, real-time measurements of the door pose by the door recognition camera, and its current pose. Subsequently, using the boarding bridge's inverse kinematics model, the expected attitude of the boarding bridge is determined based on the target pose, and the movement of each component joint is controlled accordingly, driving the boarding bridge to move towards the pre-dock position. Once the door recognition camera reaches the expected target pose, based on the door pose obtained from continuous pose measurements of the aircraft door by the camera and the preset docking pose, the joints of the boarding bridge are controlled to complete the final docking of the docking port with the aircraft door. By combining the planning capabilities of kinematic models with the real-time perception capabilities of visual sensors, the accuracy, efficiency, and adaptability to various deviations in the docking process are effectively improved.

[0048] In an optional embodiment, the step of using the boarding bridge's forward kinematics model to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the boarding bridge's current attitude and structural parameters includes: determining the joint variables of each component joint of the boarding bridge based on the boarding bridge's current attitude; wherein the joint variables include the rotating hall angle, the arrival gate angle, the bridge length, and the bridge height; extracting the installation offset of the door recognition camera from the bridge structural parameters; and calculating the current pose of the door recognition camera in the boarding bridge base coordinate system based on the geometric relationships defined by the boarding bridge's forward kinematics model, combined with the rotating hall angle, the arrival gate angle, the bridge length, the bridge height, and the installation offset of the door recognition camera.

[0049] The current attitude of the boarding bridge is the overall spatial configuration of the bridge structure, uniquely determined by the real-time states of its various joints. It represents the highest-level description of the bridge's instantaneous physical position. Joint variables quantify the specific parameters of the motion states of each component joint and are the fundamental data constituting the current attitude. These joint variables include the rotation hall angle, arrival gate angle, bridge length, and bridge height. The rotation hall angle is the angle at which the boarding bridge's rotating platform rotates around its central axis; the arrival gate angle is the pitch or yaw angle of the arrival gate relative to the boarding bridge's telescopic passage; the bridge length is the extension length of the telescopic passage; and the bridge height is the vertical height of the arrival gate relative to the ground. Optionally, the joint vectors of each component joint of the boarding bridge are acquired through a sensor array deployed on the boarding bridge itself.

[0050] The bridge structure parameters include the installation offset of the door recognition camera, which determines the relative distance between the door recognition camera and the hinge point of the arrival gate. The geometric relationships defined by the forward kinematic model of the boarding bridge are the definite geometric relationships between the various joints of the boarding bridge and between the arrival gate and the door recognition camera. Specifically, it is a set of immutable fixed spatial constraints determined by the mechanical design, which completely defines the mathematical transformation rules of the relative positions and relative attitudes of all components in the complete kinematic chain from the various joints of the boarding bridge to the door recognition camera.

[0051] The boarding bridge base coordinate system serves as the absolute spatial reference frame describing all poses. By combining all the dynamic variables mentioned above, namely the revolving hall angle, arrival gate angle, bridge length and height, and the static parameter, namely the installation offset of the door recognition camera, the real-time position and orientation of the door recognition camera in the boarding bridge base coordinate system can be calculated through the geometric relationships defined by the boarding bridge's forward kinematics model.

[0052] This operation is necessary because the automatic docking system must first accurately determine its own real-time position, specifically the door recognition camera's position, within a unified and stable coordinate system—the boarding bridge's base coordinate system. This is the foundation for all subsequent path planning and control. By decomposing specific joint variables from the current attitude and combining them with invariant bridge structural parameters, particularly the camera's installation offset, and then using the precise geometric relationships defined by the boarding bridge's forward kinematics model for mathematical synthesis, the door recognition camera's pose in absolute space can be uniquely and accurately calculated. This technical solution transforms the complex spatial positioning problem into mathematical calculations based on a deterministic model, avoiding the errors and instabilities that may arise from relying on external measurements, thereby ensuring the accuracy and reliability of the initial reference of the entire perception and control system.

[0053] Figure 2 This is a scenario diagram of the boarding bridge control method provided according to an embodiment of this application. See also... Figure 2The defined geometric relationships allow for the calculation of the current pose of the door recognition camera within the boarding bridge coordinate system. It is worth noting that, for clarity and simplicity, Figure 2 The boarding bridge coordinate system and camera coordinate system shown both indicate the z-axis direction. It can be understood that, in both the boarding bridge coordinate system and the camera coordinate system, the z-axis direction is perpendicular to the plane containing the x-axis and y-axis. Figure 2 In the diagram, A, B, C, D, and E represent the door recognition camera, the boarding bridge's receiving port, the aircraft door, the pre-arrival position of the door recognition camera, and the boarding bridge's revolving hall, respectively. D1, D2, and D3 refer to the bridge length, the door recognition camera's installation offset, and the preset distance, respectively. The coordinates of the aircraft door in the camera coordinate system are given. The coordinates of the pre-docking position in the camera coordinate system indicate that the pre-docking position is directly opposite the aircraft door and at a distance D3 from the aircraft door. and These refer to the rotation angle of the console and the angle of the receiving port in the joint vector, respectively. Based on Figure 2 The defined geometric relationships allow for the calculation of the current pose of the door recognition camera in the boarding bridge base coordinate system.

[0054] In an optional embodiment, the expected attitude of the boarding bridge is determined based on the target pose using an inverse kinematics model of the boarding bridge, including: calculating the target joint variables of each component joint of the boarding bridge when the door recognition camera reaches the target pose, based on the geometric relationship defined by the inverse kinematics model of the boarding bridge and the target pose of the door recognition camera in the boarding bridge base coordinate system; and determining the expected attitude of the boarding bridge based on the target joint variables; wherein the geometric relationship defined by the inverse kinematics model of the boarding bridge is consistent with the geometric relationship defined by the forward kinematics model of the boarding bridge.

[0055] The geometric relationships defined by the inverse kinematics model of the boarding bridge are the same as those defined by the forward kinematics model, namely, the fixed spatial constraints determined by the mechanical design between the various joints of the boarding bridge and between the arrival gate and the door recognition camera. The target pose of the door recognition camera in the boarding bridge base coordinate system is the desired spatial state that the door recognition camera needs to achieve in the boarding bridge base coordinate system to complete safe pre-departure, including a specific three-dimensional position and three-dimensional orientation.

[0056] Target joint variables refer to the specific motion parameters that each joint of the boarding bridge, such as the rotation mechanism, telescopic mechanism, and lifting mechanism, needs to be adjusted to achieve the target pose for the door recognition camera, calculated through inverse kinematics models. The expected attitude of the boarding bridge is uniquely determined by the target joint variables, representing the future overall spatial configuration that the boarding bridge needs to form to achieve docking.

[0057] By invoking the inverse kinematics model of the boarding bridge and using the same spatial constraints as the forward kinematics model for mathematical inverse solving, the target states of all joints can be reliably derived from the target spatial state of the door recognition camera. This process is a crucial bridge connecting task space planning and joint space execution. Based on the calculated target joint variables, the expected attitude of the boarding bridge is determined, giving subsequent motion control a clear and quantifiable objective. This method of forward and inverse solving based on the same set of geometric constraints ensures the rigor and consistency of the entire control chain from perception and planning to execution in the mathematical model, thus providing a core planning basis for achieving high-precision and high-reliability fully automated docking.

[0058] In an optional embodiment, controlling the movement of each component joint of the boarding bridge based on the expected posture and the current posture of the boarding bridge includes: planning a target walking path for the walking mechanism of the boarding bridge based on the position information of the walking mechanism in the current posture and the position information of the walking mechanism in the expected posture; planning a target rotation direction for the rotating mechanism of the boarding bridge based on the orientation information of the rotating mechanism in the current posture and the orientation information of the rotating mechanism in the expected posture; planning a target lifting height for the lifting mechanism of the boarding bridge based on the height information of the lifting mechanism in the current posture and the height information of the lifting mechanism in the expected posture; and controlling the movement of each component joint of the boarding bridge based on the target walking path, the target rotation direction, and the target lifting height.

[0059] The expected attitude of the boarding bridge is defined by the target joint variables, representing the future overall spatial configuration that the boarding bridge needs to achieve to complete the docking task. The current attitude of the boarding bridge is described by the real-time joint variables, representing the actual spatial configuration of the boarding bridge just before the start of motion.

[0060] Both the current attitude and the expected attitude include the position information of the traveling mechanism, the orientation information of the rotating mechanism, and the height information of the lifting mechanism. The position information of the traveling mechanism is used to characterize the ground coordinates of the traveling mechanism in the horizontal plane. The position information of the traveling mechanism in the current attitude is used to indicate the current position of the traveling mechanism, while the position information of the traveling mechanism in the expected attitude is used to indicate the target position to which the traveling mechanism needs to move. The target traveling path refers to a continuous motion trajectory connecting the current position and the target position of the traveling mechanism, satisfying velocity, acceleration, and collision avoidance constraints. Optionally, the target traveling path is a smooth, collision-free curved or straight path connecting the current position and the target position.

[0061] Orientation information of a rotating mechanism is used to characterize the angular data of the orientation of a rotating mechanism, such as a rotating platform, around the vertical axis. Orientation information of the rotating mechanism in the current attitude is used to determine the current orientation of the rotating mechanism. Orientation information of the rotating mechanism in the expected attitude is used to determine the target orientation to which the rotating mechanism needs to be adjusted. The target rotation direction refers to the sequence of rotation direction and angle changes required to adjust from the current orientation to the target orientation.

[0062] The height information of the lifting mechanism is used to characterize the vertical distance between the lifting mechanism or the receiving port and the ground. The height information of the lifting mechanism in the current attitude is used to determine its current height, while the height information of the lifting mechanism in the expected attitude is used to determine the target vertical height to which the lifting mechanism needs to be adjusted. The target lifting height refers to the vertical displacement from the current height to the target height and its change curve.

[0063] Because a boarding bridge is a complex, interconnected mechanism with multiple degrees of freedom, such as walking, rotation, and lifting, its overall spatial motion must be achieved by coordinating and controlling the independent movements of all its constituent joints. Directly manipulating the abstract overall posture cannot drive the physical device. By resolving the target state and initial state (position, orientation, and height) of each joint from the expected and current postures, an optimal or suboptimal motion path—the target walking path, target rotation direction, and target lifting height—can be independently planned for each joint from the starting point to the end point. This decomposition process transforms complex spatial motion planning into one-dimensional trajectory planning for individual degrees of freedom, greatly simplifying the complexity of the control problem.

[0064] Finally, by coordinating the motion commands tailored to each joint, the boarding bridge can ensure that the movements of each joint are synchronized and matched in time and space during the process of moving from the current posture to the expected posture. This avoids mechanical interference and achieves a smooth, fast, and precise overall posture change, laying a stable posture foundation for subsequent fine docking.

[0065] In an optional embodiment, the joint variables of each component joint of the boarding bridge are collected by a main sensor group deployed on the boarding bridge body. The boarding bridge body is also equipped with a backup sensor group, and the boarding bridge's access port is equipped with a wing recognition camera. Before the access camera has the expected target pose, the method further includes: comparing the joint variables collected by the backup sensor group with the joint variables collected by the main sensor group to obtain a variable comparison result; measuring the distance between the aircraft wing and the access port by the wing recognition camera; and triggering a safety alarm if the variable comparison result is greater than a preset deviation threshold or the relative distance is greater than a preset safety distance.

[0066] The main sensor group refers to the set of primary sensors deployed on the boarding bridge itself for routine real-time acquisition of various joint variables. The backup sensor group refers to the set of standby sensors also deployed on the boarding bridge itself for redundant acquisition of the same joint variables, which are physically and / or electrically independent of the main sensor group.

[0067] A wing recognition camera is a visual sensor fixedly deployed on the boarding bridge gate, specifically designed to identify aircraft wings and measure their spatial relationship with the gate. Optionally, the wing recognition camera can be a smart camera that supports distance measurement of aircraft wings.

[0068] The variable comparison result refers to the quantitative result of comparing the joint variable values ​​collected by the backup sensor group with the corresponding joint variable values ​​collected by the main sensor group at the same time, item by item. Relative distance refers to the shortest straight-line distance in space between the leading edge or engine section of the aircraft wing (usually the most prone to interference) and the aircraft access port, as measured in real time by the wing recognition camera.

[0069] The preset deviation threshold refers to the maximum permissible deviation value set in advance to determine whether the data from the primary and backup sensors are severely inconsistent. Exceeding this value indicates that at least one sensor system may have malfunctioned. The preset safety distance refers to the minimum clearance distance that must be maintained between the access port and the aircraft wing to ensure absolute safety. Exceeding this distance poses a collision risk. Both the preset deviation threshold and the preset safety distance are related to actual business needs, and their specific values ​​are not limited here. Safety alarms refer to a series of safety response measures that are automatically triggered when the variable comparison result is detected to be greater than the preset deviation threshold or the relative distance is greater than the preset safety distance. These measures include, but are not limited to, audible and visual warnings, motion suspension, control switching, or reporting to the remote monitoring center.

[0070] The reason for adding this safety monitoring operation before the door recognition camera reaches the pre-docking position is that the automatic docking process is at its highest risk during the high-speed approach phase. It is crucial to ensure the absolute reliability of the system's own state perception and to independently and continuously monitor major external collision risks. Real-time data comparison between the primary and backup sensor groups enables online self-diagnosis of the joint variable measurement system. If inconsistencies are found to exceed reasonable limits, it indicates that the measurement data may be inaccurate, and continuing to rely on it for motion control poses a risk, requiring immediate alarm and intervention. Simultaneously, a dedicated collision avoidance barrier, independent of the door recognition camera, is formed by continuously measuring relative distances and comparing them with preset safety distances. This design adheres to the safety engineering principles of sensor redundancy and functional independence, providing timely and reliable safety backup in case of potential failures in the primary system or unexpected changes in the external environment, such as aircraft position movement or bridge drift caused by strong winds. This minimizes collision risks and ensures the entire automatic docking process proceeds safely.

[0071] Example 2

[0072] Figure 3 This is a flowchart of the boarding bridge control method provided in Embodiment 2. This embodiment is a further optimization based on the above embodiments.

[0073] like Figure 3 As shown, the method includes:

[0074] S210. Using the forward kinematics model of the boarding bridge, the current pose of the door recognition camera is determined in the boarding bridge base coordinate system based on the current attitude of the boarding bridge and the bridge structure parameters; wherein, the current attitude is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the arrival port of the boarding bridge.

[0075] S220. Based on a preset distance, the door pose obtained by the door recognition camera through pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system, determine the expected target pose of the door recognition camera in the boarding bridge base coordinate system.

[0076] S230. Based on the target pose, determine the expected pose of the boarding bridge using the inverse kinematics model of the boarding bridge.

[0077] S240. Based on the expected posture of the boarding bridge and the current posture of the boarding bridge, control the movement of each component joint of the boarding bridge.

[0078] S250. When the door recognition camera has the expected target pose, the docking pose deviation is determined based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose; wherein, the docking pose deviation includes: horizontal offset, front-to-back distance deviation and height deviation.

[0079] The door pose is the position and orientation of the aircraft door relative to the door recognition camera's coordinate system, measured in real time by the door recognition camera. The preset docking pose is the ideal relative position and orientation of the aircraft door relative to the arrival port's coordinate system when the arrival port and aircraft door achieve an ideal docking state. The docking pose deviation refers to the spatial error calculated by comparing the real-time pose representing the actual relative relationship between the aircraft door and the arrival port with the preset docking pose.

[0080] The ability to compare and calculate the deviation between poses defined in different reference frames—the camera coordinate system and the docking port coordinate system—lies in the fact that the door recognition camera and the docking port are rigidly connected, forming a unified whole. A pre-defined, fixed coordinate transformation relationship—the hand-eye matrix—exists between them. Before calculating the deviation, the door pose measured by the door recognition camera is first converted into the current actual pose of the aircraft door relative to the docking port coordinate system using the hand-eye matrix. The data coordinate system is then normalized so that the converted actual pose of the door relative to the docking port is in the same coordinate system as the preset docking pose. Subsequently, the difference between the two is calculated directly in this unified coordinate system, thus obtaining a docking pose deviation with clear physical meaning. This operation ensures the accuracy and directness of the closed-loop control feedback, which is crucial for achieving high-precision docking.

[0081] S260. Based on a preset deviation threshold and the docking posture deviation, control the movement of each joint of the boarding bridge to complete the docking of the boarding gate with the aircraft door.

[0082] The docking attitude deviation includes horizontal offset, fore-aft distance deviation, and height deviation. Horizontal offset refers to the component of the docking attitude deviation on the horizontal plane perpendicular to the docking direction, typically representing the degree of misalignment between the docking port and the aircraft door in the lateral direction. Fore-aft distance deviation refers to the component of the docking attitude deviation along the docking direction, typically the direction the docking port faces, representing the distance error between the docking port and the aircraft door in the near-far direction. Height deviation refers to the vertical component of the docking attitude deviation, representing the degree of misalignment between the docking port and the aircraft door in terms of height.

[0083] The preset deviation threshold is a numerical boundary set in advance for different components of the docking pose deviation, used to divide the control strategy and response level.

[0084] During the precision docking phase, by comparing visual measurement results with preset docking poses and decoupling them into three intuitive physical quantities—horizontal offset, front-to-back distance deviation, and height deviation—a clear and quantifiable understanding of current alignment defects can be formed, thereby generating highly targeted control commands. The introduction of preset deviation thresholds is crucial. By judging the different levels of each deviation, the control mode can be dynamically switched, enabling the docking process to quickly eliminate large initial errors and ultimately achieve stable, smooth, and precise fitting, effectively improving the success rate, accuracy, and overall safety of docking.

[0085] This application's technical solution accurately determines the docking posture deviation, including horizontal offset, forward / backward distance deviation, and height deviation, based on the real-time measurement of the door pose by a door recognition camera and a preset docking pose. Then, it controls the movement of each joint of the boarding bridge according to a preset deviation threshold and this docking posture deviation, thereby completing the final docking between the arrival port and the aircraft door. This transforms the complex spatial alignment task into closed-loop control of specific, measurable deviation components, making the control logic clear, explicit, and responsive. By introducing a preset deviation threshold, the current alignment status can be intelligently determined, and the aggressiveness or conservatism of the control strategy can be adjusted accordingly, achieving a balance between docking efficiency and final accuracy while ensuring absolute safety. This control mechanism based on real-time visual feedback and quantified deviation zoning significantly improves the adaptability and reliability of the docking process, ensuring rapid, stable, and seamless docking between the arrival port and the aircraft door under various initial conditions.

[0086] In an optional embodiment, controlling the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door based on a preset deviation threshold and the docking posture deviation includes: if the horizontal offset is greater than a first preset threshold, or the front-to-back distance deviation is greater than a second preset threshold, then entering a large error adjustment mode: adjusting the travel direction of the walking mechanism based on the horizontal offset and the front-to-back distance deviation, and controlling the walking mechanism to move at a first speed based on the front-to-back distance deviation; if the horizontal offset is less than or equal to the first preset threshold and greater than a third preset threshold, and / or the absolute value of the front-to-back distance deviation ... then entering a large error adjustment mode: adjusting the travel direction of the walking mechanism based on the horizontal offset and the front-to-back distance deviation, and controlling the walking mechanism to move at a first speed based on the front-to-back distance deviation; If the second preset threshold is greater than the fourth preset threshold, then the system enters the medium error adjustment mode: the traveling direction of the walking mechanism is adjusted based on the horizontal offset, and the walking mechanism is controlled to move at a second speed lower than the first speed based on the front-to-back distance deviation; if the horizontal offset is less than or equal to the third preset threshold, and the front-to-back distance deviation is less than or equal to the fourth preset threshold, then the system enters the small error adjustment mode: the telescopic mechanism of the boarding bridge is controlled to make micro-movements based on the front-to-back distance deviation, the lifting mechanism of the boarding bridge is controlled to make micro-adjustments based on the height deviation, and the walking mechanism is controlled to move in coordination at a third speed lower than the second speed.

[0087] The preset deviation thresholds are pre-set values ​​for the various components of the docking pose deviation—horizontal offset, longitudinal distance deviation, and height deviation—used to divide different control stages. The preset deviation thresholds include a first preset threshold, a second preset threshold, a third preset threshold, and a fourth preset threshold. The first and second preset thresholds define the thresholds for large errors in the horizontal and longitudinal directions, respectively, while the third and fourth preset thresholds define the thresholds for these two directions to enter the small error range, respectively.

[0088] The large error adjustment mode is the control phase activated when the horizontal offset or forward / backward distance deviation exceeds its corresponding larger threshold, the first or second preset threshold. Its core task is to quickly correct significant pose errors. The medium error adjustment mode is the control phase activated when the deviation value is between the large and small error thresholds. Its task is to smoothly and precisely correct residual visible errors. The small error adjustment mode is the control phase activated when the horizontal offset and forward / backward distance deviation are both less than or equal to their small error thresholds, i.e., the third and fourth preset thresholds. Its task is to perform final comprehensive fine-tuning of residual errors. The traveling mechanism, telescopic mechanism, and lifting mechanism are the component joints of the boarding bridge, responsible for overall horizontal movement, aisle extension / retraction, and arrival gate height adjustment, respectively. The first speed, second speed, and third speed are the motion speed values ​​set for the traveling mechanism in different adjustment modes, satisfying a speed hierarchy relationship where the first speed is the largest, the third speed is the smallest, and the second speed is between the first and third speeds.

[0089] During the precision docking phase, a single, fixed control strategy cannot simultaneously meet the conflicting demands of speed, safety, and ultra-high precision. By using multiple preset thresholds, continuous deviations are discretized into three levels: "large," "medium," and "small," with a customized adjustment mode for each level, intelligently matching the most suitable response. In the large error adjustment mode, deviations are significant, and while the risk of collision is relatively low, the main error needs to be eliminated quickly. Therefore, the control mechanism simultaneously adjusts its direction based on horizontal offset and moves at a relatively high initial speed based on the front-to-back distance deviation, aiming to prioritize and efficiently close the spatial distance and achieve initial alignment. In the medium error adjustment mode, the main error has been eliminated, entering a safe fine-tuning zone. At this point, the walking speed is reduced to a second speed, and the direction continues to be fine-tuned, aiming to smoothly and accurately approach the target and prevent overshoot. In the small error adjustment mode, the spatial positions are very close. The walking mechanism maintains coordination at an extremely low third speed, while the telescopic mechanism is activated for precise front-to-back micro-movements to control the gap, and the lifting mechanism is activated to correct height deviations, thereby achieving ultimate precision fitting across multiple degrees of freedom. This strategy, based on quantified threshold grading and corresponding switching of actuators and speeds, forms an adaptive and highly robust control closed loop. It can automatically make the optimal trade-off between efficiency and accuracy at the end of the docking process, ultimately ensuring that the docking task is completed quickly, smoothly, and seamlessly.

[0090] In a specific embodiment, Δx, Δy, and Δz are used to represent horizontal offset, longitudinal distance deviation, and altitude deviation, respectively. The docking pose deviation is categorized into three levels—large, medium, and small—by setting preset deviation thresholds, and corresponding adjustment thresholds are set accordingly. For example, preset deviation thresholds are set to [0.05, 0.2] and [0.1, 0.3] for horizontal deviation and longitudinal distance deviation, respectively. The various joints of the boarding bridge are controlled according to the following adjustment rules: 1) The relative distance between the aircraft wing and the docking port is greater than a preset safety distance; 2) Horizontal alignment is performed first, i.e., horizontal deviation is resolved, then longitudinal distance deviation is adjusted, and finally, altitude fine-tuning is performed to eliminate altitude deviation.

[0091] Based on preset deviation thresholds and docking pose deviations, three levels of adjustment are set: large error adjustment, medium error adjustment, and small error adjustment. Large error adjustment corresponds to, for example... rice or Meters; standard error adjustment corresponds to Small error adjustment corresponds to rice.

[0092] Large error adjustment belongs to coarse adjustment mode. The meter reading indicates a clear misalignment, requiring significant adjustment. This should be based on the horizontal offset. and front and rear distance deviation Calculate the steering angle of the traveling mechanism and adjust its speed to a second speed, such as 0.1 m / s. If... The distance is still quite far, so you can approach it a little faster by adjusting the walking mechanism's speed to the first speed, such as 0.2 meters per second.

[0093] The mean error adjustment belongs to the fine-tuning mode. If This indicates a visible deviation that needs correction; therefore, it should be based on the horizontal offset. Calculate the steering angle for the traveling mechanism. Adjust the traveling mechanism's speed to a lower speed, such as 0.05 m / s. If This indicates that as the aircraft approaches the cabin door, the speed of the traveling mechanism decreases as Δy decreases.

[0094] Small error adjustments belong to fine-tuning mode. Miqie The meter indicates that we are very close and need to make final adjustments. It is already within the allowable error range for receiving the machine and no further adjustment is needed. At this point, the telescopic mechanism makes a slight movement, causing... The value should approach 0 but be greater than 0, with a certain interval, generally between 0.02 and 0.05 meters. Adjust the bridge height to... Approaching 0. The movement speed of the traveling mechanism should be extremely low, such as 0.02 meters per second.

[0095] In some special cases, such as when the deviation is very large, Rice, then only adjust After adjusting the angle of the walking wheels to be perpendicular to the angle of the receiving port, the angle is reduced by using the telescopic mechanism. Height adjustment is independent of horizontal adjustment, if If the height is too low, immediately initiate height adjustment, which can be done simultaneously with other adjustments. Otherwise, fine-tune the height in the final stage.

[0096] Example 3

[0097] Figure 4 This is a schematic diagram of the boarding bridge connection control device provided in Embodiment 3 of this application. This embodiment can be applied to the situation of controlling the automatic connection of boarding bridges. The device can be implemented by software and / or hardware and can be integrated into electronic devices such as smart terminals.

[0098] like Figure 4 As shown, the device may include:

[0099] The current pose determination module 310 is used to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the current pose of the boarding bridge and the bridge structure parameters using the boarding bridge's positive kinematics model; wherein, the current pose is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the boarding bridge's arrival port;

[0100] The target pose determination module 320 is used to determine the expected target pose of the door recognition camera in the boarding bridge base coordinate system based on a preset distance, the door pose obtained by the door recognition camera in measuring the pose of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system.

[0101] The expected attitude determination module 330 is used to determine the expected attitude of the boarding bridge based on the target pose using the inverse kinematics model of the boarding bridge.

[0102] The first joint control module 340 is used to control the movement of each component joint of the boarding bridge based on the expected posture of the boarding bridge and the current posture of the boarding bridge.

[0103] The second joint control module 350 is used to control the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose when the door recognition camera has the expected target pose.

[0104] This application's technical solution achieves high precision and high reliability in the aircraft docking process by constructing a closed-loop control system with the boarding bridge's base coordinate system as a unified reference. First, using the boarding bridge's forward kinematics model, based on the boarding bridge's current attitude and structural parameters, the current pose of the door recognition camera is determined in the boarding bridge's base coordinate system, thus establishing a unified benchmark for all spatial calculations. Based on this, the expected target pose of the door recognition camera is determined in the same base coordinate system, using a preset distance, real-time measurements of the door pose by the door recognition camera, and its current pose. Subsequently, using the boarding bridge's inverse kinematics model, the expected attitude of the boarding bridge is determined based on the target pose, and the movement of each component joint is controlled accordingly, driving the boarding bridge to move towards the pre-dock position. Once the door recognition camera reaches the expected target pose, based on the door pose obtained from continuous pose measurements of the aircraft door by the camera and the preset docking pose, the joints of the boarding bridge are controlled to complete the final docking of the docking port with the aircraft door. By combining the planning capabilities of kinematic models with the real-time perception capabilities of visual sensors, the accuracy, efficiency, and adaptability to various deviations in the docking process are effectively improved.

[0105] Optionally, the current pose determination module 310 includes: a joint variable determination submodule, used to determine the joint variables of each component joint of the boarding bridge based on the current pose of the boarding bridge; wherein the joint variables include the rotating hall angle, the arrival gate angle, the bridge length, and the bridge height; an offset extraction submodule, used to extract the installation offset of the door recognition camera from the bridge structure parameters; and a current pose determination submodule, used to calculate the current pose of the door recognition camera in the boarding bridge base coordinate system based on the geometric relationship defined by the forward kinematics model of the boarding bridge, combined with the rotating hall angle, the arrival gate angle, the bridge length, the bridge height, and the installation offset of the door recognition camera.

[0106] Optionally, the expected attitude determination module 330 includes: a joint variable calculation submodule, used to calculate the target joint variables of each component joint of the boarding bridge when the door recognition camera reaches the target pose based on the geometric relationship defined by the inverse kinematics model of the boarding bridge and the target pose of the door recognition camera in the base coordinate system of the boarding bridge; and an expected attitude determination submodule, used to determine the expected attitude of the boarding bridge based on the target joint variables; wherein the geometric relationship defined by the inverse kinematics model of the boarding bridge is consistent with the geometric relationship defined by the forward kinematics model of the boarding bridge.

[0107] Optionally, the first joint control module 340 includes: a path determination submodule, used to plan a target walking path for the walking mechanism of the boarding bridge based on the position information of the walking mechanism in the current posture and the position information of the walking mechanism in the expected posture; a direction determination submodule, used to plan a target rotation direction for the rotating mechanism of the boarding bridge based on the orientation information of the rotating mechanism in the current posture and the orientation information of the rotating mechanism in the expected posture; a height determination submodule, used to plan a target lifting height for the lifting mechanism of the boarding bridge based on the height information of the lifting mechanism in the current posture and the height information of the lifting mechanism in the expected posture; and a first joint control submodule, used to control the movement of each component joint of the boarding bridge based on the target walking path, the target rotation direction, and the target lifting height.

[0108] Optionally, the second joint control module 350 includes: a position deviation determination submodule, used to determine the docking posture deviation based on the door posture obtained by the door recognition camera through posture measurement of the aircraft door and a preset docking posture; wherein the docking posture deviation includes: horizontal offset, front-to-back distance deviation and height deviation; and a second joint control submodule, used to control the movement of each component joint of the boarding bridge to complete the docking of the arrival port with the aircraft door based on a preset deviation threshold and the docking posture deviation.

[0109] Optionally, the second joint control submodule includes: a first control unit, configured to enter a large error adjustment mode if the horizontal offset is greater than a first preset threshold, or the front-to-back distance deviation is greater than a second preset threshold: adjusting the traveling direction of the walking mechanism based on the horizontal offset and the front-to-back distance deviation, and controlling the walking mechanism to move at a first speed based on the front-to-back distance deviation; a second control unit, configured to enter a medium error adjustment mode if the horizontal offset is less than or equal to the first preset threshold and greater than a third preset threshold, and / or the absolute value of the front-to-back distance deviation is less than or equal to the second preset threshold and greater than a fourth preset threshold: adjusting the traveling direction of the walking mechanism based on the horizontal offset, and controlling the walking mechanism to move at a second speed lower than the first speed based on the front-to-back distance deviation; and a third control unit, configured to enter a small error adjustment mode if the horizontal offset is less than or equal to the third preset threshold, and the front-to-back distance deviation is less than or equal to the fourth preset threshold: controlling the telescopic mechanism of the boarding bridge to make micro-movements based on the front-to-back distance deviation, controlling the lifting mechanism of the boarding bridge to make micro-adjustments based on the height deviation, and controlling the walking mechanism to move in coordination at a third speed lower than the second speed.

[0110] Optionally, the joint variables of each component joint of the boarding bridge are collected by a main sensor group deployed on the boarding bridge body. The boarding bridge body is also equipped with a backup sensor group, and the boarding bridge's access port is equipped with a wing recognition camera. The device further includes: a variable comparison module, used to compare the joint variables collected by the backup sensor group and the joint variables collected by the main sensor group before the access port has the expected target pose, to obtain a variable comparison result; a distance determination module, used to measure the distance between the aircraft wing and the access port by the wing recognition camera; and a safety alarm module, used to trigger a safety alarm if the variable comparison result is greater than a preset deviation threshold or the relative distance is greater than a preset safety distance.

[0111] The boarding bridge machine control device provided in the embodiments of the invention can execute the boarding bridge machine control method provided in any embodiment of this application, and has the corresponding performance modules and beneficial effects for executing the boarding bridge machine control method.

[0112] In the technical solution of this application, the user data involved in the boarding bridge machine control is information and data authorized by the user or fully authorized by all parties. The collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entry points for users to choose to authorize or refuse.

[0113] Example 4

[0114] According to embodiments of this application, this application also provides an electronic device, a readable storage medium, and a computer program product.

[0115] Figure 5 A schematic diagram of an electronic device 410, which can be implemented using an embodiment, is shown. The electronic device 410 includes at least one processor 411 and a memory, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., communicatively connected to the at least one processor 411. The memory stores computer programs executable by the at least one processor. The processor 411 can perform various appropriate actions and processes based on the computer program stored in the ROM 412 or loaded from storage unit 418 into the RAM 413. The RAM 413 may also store various programs and data required for the operation of the electronic device 410. The processor 411, ROM 412, and RAM 413 are interconnected via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0116] Multiple components in electronic device 410 are connected to I / O interface 415, including: input unit 416, such as keyboard, mouse, etc.; output unit 417, such as various types of displays, speakers, etc.; storage unit 418, such as disk, optical disk, etc.; and communication unit 419, such as network card, modem, wireless transceiver, etc. Communication unit 419 allows electronic device 410 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0117] Processor 411 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 411 performs the various methods and processes described above, such as boarding bridge control methods.

[0118] In some embodiments, the boarding bridge control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the boarding bridge control method described above may be performed. Alternatively, in other embodiments, processor 411 may be configured to perform the boarding bridge control method by any other suitable means (e.g., by means of firmware).

[0119] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable boarding bridge control device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs may be executed entirely on the machine, partially on the machine, or as a standalone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0121] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on 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 fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0123] The systems and technologies described herein can be implemented in computing systems that include back-end components (e.g., as a boarding bridge control server), or middleware components (e.g., an application server), or front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0124] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0125] This application also discloses a computer program product, which includes a computer program that, when executed by a processor, implements the boarding bridge control method provided in any embodiment of this application. This program product shares the same inventive concept as the boarding bridge control methods disclosed in the embodiments of this application, and therefore will not be described in detail here.

[0126] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0127] The specific embodiments described above do not constitute a limitation on the scope of protection of this 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 modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a boarding bridge machine, characterized in that, The method includes: A forward kinematics model of the boarding bridge is used to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the current attitude of the boarding bridge and the bridge structure parameters; wherein, the current attitude is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the arrival port of the boarding bridge; Based on the preset distance, the door pose obtained by the door recognition camera through pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system, the expected target pose of the door recognition camera is determined in the boarding bridge base coordinate system. The expected attitude of the boarding bridge is determined based on the target pose using the inverse kinematics model of the boarding bridge. Based on the expected posture of the boarding bridge and the current posture of the boarding bridge, control the movement of each component joint of the boarding bridge; When the door recognition camera has the expected target pose, based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose, the movement of each joint of the boarding bridge is controlled to complete the docking of the arrival port with the aircraft door.

2. The method according to claim 1, characterized in that, The method of using a forward kinematic model of the boarding bridge to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the current attitude and structural parameters of the boarding bridge includes: Based on the current orientation of the boarding bridge, determine the joint variables of each component joint of the boarding bridge; wherein, the joint variables include the turntable angle, the arrival gate angle, the bridge length, and the bridge height; The installation offset of the hatch recognition camera is extracted from the bridge structure parameters; Based on the geometric relationships defined by the forward kinematics model of the boarding bridge, and in combination with the angle of the rotating hall, the angle of the arrival gate, the bridge length, the bridge height, and the installation offset of the door recognition camera, the current pose of the door recognition camera is calculated in the boarding bridge base coordinate system.

3. The method according to claim 1, characterized in that, The step of determining the expected attitude of the boarding bridge based on the target pose using the inverse kinematics model of the boarding bridge includes: Based on the geometric relationship defined by the inverse kinematics model of the boarding bridge and the target pose of the door recognition camera in the boarding bridge base coordinate system, the target joint variables of each component joint of the boarding bridge are calculated so that the door recognition camera reaches the target pose. Based on the target joint variables, the expected attitude of the boarding bridge is determined; The geometric relationships defined by the inverse kinematics model of the boarding bridge are consistent with the geometric relationships defined by the forward kinematics model of the boarding bridge.

4. The method according to claim 1, characterized in that, The control of the movement of each joint of the boarding bridge based on the expected posture and the current posture of the boarding bridge includes: Based on the position information of the walking mechanism in the current posture and the position information of the walking mechanism in the expected posture, a target walking path is planned for the walking mechanism of the boarding bridge; Based on the orientation information of the rotating mechanism in the current posture and the orientation information of the rotating mechanism in the expected posture, a target rotation direction is planned for the rotating mechanism of the boarding bridge; Based on the height information of the lifting mechanism in the current posture and the height information of the lifting mechanism in the expected posture, a target lifting height is planned for the lifting mechanism of the boarding bridge; Based on the target's walking path, the target's rotation direction, and the target's lifting height, the movement of each joint of the boarding bridge is controlled.

5. The method according to claim 1, characterized in that, The step of controlling the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose includes: Based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose, the docking pose deviation is determined; wherein, the docking pose deviation includes: horizontal offset, front-to-back distance deviation and height deviation; Based on a preset deviation threshold and the docking posture deviation, the movement of each joint of the boarding bridge is controlled to complete the docking of the boarding port with the aircraft door.

6. The method according to claim 5, characterized in that, The step of controlling the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door, based on a preset deviation threshold and the docking posture deviation, includes: If the horizontal offset is greater than a first preset threshold, or the front-to-back distance deviation is greater than a second preset threshold, then the large error adjustment mode is entered: the traveling direction of the walking mechanism is adjusted based on the horizontal offset and the front-to-back distance deviation, and the walking mechanism is controlled to move at a first speed based on the front-to-back distance deviation. If the horizontal offset is less than or equal to the first preset threshold and greater than the third preset threshold, and / or the absolute value of the front-to-back distance deviation is less than or equal to the second preset threshold and greater than the fourth preset threshold, then the system enters the medium error adjustment mode: the traveling direction of the walking mechanism is adjusted based on the horizontal offset, and the walking mechanism is controlled to move at a second speed lower than the first speed based on the front-to-back distance deviation. If the horizontal offset is less than or equal to the third preset threshold, and the front-to-back distance deviation is less than or equal to the fourth preset threshold, then the small error adjustment mode is entered: the telescopic mechanism of the boarding bridge is controlled to make micro-movements based on the front-to-back distance deviation, the lifting mechanism of the boarding bridge is controlled to make micro-adjustments based on the height deviation, and the walking mechanism is controlled to move in coordination at a third speed lower than the second speed.

7. The method according to claim 1, characterized in that, The joint variables of each component joint of the boarding bridge are acquired by a main sensor group deployed on the boarding bridge body. The boarding bridge body also has a backup sensor group deployed on it, and the boarding bridge's access port is also equipped with a wing recognition camera. Before the door recognition camera acquires the expected target pose, the method further includes: The joint variables collected by the backup sensor group and the joint variables collected by the main sensor group are compared to obtain the variable comparison results; The relative distance between the aircraft wing and the port is obtained by measuring the distance between the aircraft wing and the wing recognition camera. If the variable comparison result is greater than a preset deviation threshold or the relative distance is greater than a preset safety distance, a safety alarm is triggered.

8. A boarding bridge control device, characterized in that, The device includes: The current pose determination module is used to determine the current pose of the door recognition camera in the boarding bridge base coordinate system based on the current pose of the boarding bridge and the bridge structure parameters using the boarding bridge's positive kinematics model; wherein, the current pose is characterized by the joint variables of each component joint of the boarding bridge; the door recognition camera is deployed at the boarding bridge's arrival port; The target pose determination module is used to determine the expected target pose of the door recognition camera in the boarding bridge base coordinate system based on a preset distance, the door pose obtained by the door recognition camera through pose measurement of the aircraft door, and the current pose of the door recognition camera in the boarding bridge base coordinate system. The expected attitude determination module is used to determine the expected attitude of the boarding bridge based on the target pose using the inverse kinematics model of the boarding bridge. The first joint control module is used to control the movement of each component joint of the boarding bridge based on the expected posture of the boarding bridge and the current posture of the boarding bridge. The second joint control module is used to control the movement of each joint of the boarding bridge to complete the docking of the arrival port with the aircraft door when the door recognition camera has the expected target pose, based on the door pose obtained by the door recognition camera through pose measurement of the aircraft door and the preset docking pose.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the boarding bridge control method as described in any one of claims 1-7.

10. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the boarding bridge control method as described in any one of claims 1-7.

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