Unmanned boarding bridge key process guiding system and method

Abstract

The invention relates to the technical field of boarding bridge docking monitoring, in particular to an unmanned boarding bridge key process guiding system and method. According to the system and the method, pictures needing to be focused on in different stages of approaching an aircraft of the unmanned boarding bridge are prompted, meanwhile, behaviors of management and control personnel are recognized and determined to be observed in place, in the automatic docking process of the unmanned boarding bridge, prompt display of monitoring pictures in the corresponding stages is realized, and the automatic docking of the unmanned boarding bridge is realized. The method comprises the following steps: guiding management and control personnel to check a picture needing to be focused on, identifying a key docking stage according to docking data, and obtaining a guiding strategy and early warning data, so that the management and control personnel can conveniently locate the picture needing to be observed in time to focus on, the safety performance is improved, and frame flickering and scale amplification are performed on the corresponding picture; and the observation fatigue of management and control personnel is avoided.

Description

Technical Field

[0001] This invention relates to the field of boarding bridge docking monitoring technology, and in particular to a key process guidance system and method for unmanned boarding bridges. Background Technology

[0002] In modern airport operations, boarding bridges, as a crucial facility connecting terminals and aircraft, directly impact passenger experience and flight turnaround efficiency through their operational efficiency and safety. Traditional manual operation methods suffer from drawbacks such as lengthy connection times, high labor costs, and difficulties in completely mitigating safety risks. With the advancement of smart airport construction, remotely controlled, driverless boarding bridges have become an inevitable trend in the industry.

[0003] The docking process is monitored by integrating a large number of sensors and image acquisition devices. At the same time, remote operators control and monitor the docking process through a remote control platform. In order to improve the safety of the monitoring process, the existing technology uses the method of highlighting the screen to provide prompts. However, the control personnel are prone to fatigue when observing the monitoring screen, and even if prompts are given, they are still prone to monitoring fatigue. Summary of the Invention

[0004] The purpose of this invention is to provide a key process guidance system and method for unmanned boarding bridges, thereby solving the aforementioned technical problems.

[0005] To achieve the above objectives, the present invention provides a key process guidance system for an unmanned boarding bridge, comprising: The docking data acquisition device installed on the unmanned boarding bridge is used to collect docking data during the docking process of the unmanned boarding bridge; A field controller is installed on the unmanned boarding bridge, and the field controller is electrically connected to the docking data acquisition device; A data analysis device that communicates with the field controller is used to obtain key docking stages, guidance strategies, and early warning data based on docking data. The data analysis device includes a key stage analysis module, a guidance strategy analysis module, and an early warning analysis module. A confirmation terminal that communicates with the data analysis device to display flight data and monitor data from air traffic control personnel; The display device is used to display key stage prompts and warning data according to the guidance strategy. The display device is connected to the data analysis device.

[0006] Preferably, the data to be connected includes video data, temperature and humidity data, and distance data, which are collected by an image acquisition device, a temperature and humidity sensor, and a non-contact distance sensor, respectively.

[0007] Preferably, it also includes a prompting rotating seat, which includes a seat body, a first rotating drive motor connected to the rotating shaft of the seat body, a fixed rotating tube sleeved on the rotating shaft, a plurality of toggle levers provided on the circumferential side of the fixed rotating tube, a second rotating drive motor also provided on the circumferential side of the fixed rotating tube, a receiving groove provided on the seat body, a through hole provided at the bottom of the receiving groove, a top ball provided in the receiving groove, the diameter of the top ball being larger than the diameter of the through hole and smaller than the diameter of the receiving groove, and a sealing ring provided on the upper edge of the receiving groove, the inner diameter of the sealing ring being smaller than the diameter of the top ball; Both the first and second rotary drive motors are electrically connected to the data analysis device.

[0008] Preferably, the display device includes a central display screen and two edge display screens. The two edge display screens are hinged to the central display screen via an angle adjustment motor. The central display screen is mounted on the data analysis device via a lifting mounting bracket. A lifting support bracket is provided on the back of the edge display screens. The lifting support frame, lifting mounting frame, and angle adjustment motor are all electrically connected to the data analysis device to control the height and angle of the central display screen and the two edge display screens.

[0009] Preferably, it also includes a head-mounted infrared marking device for assisting in head identification of control personnel. The head-mounted infrared marking device includes a fixing ring, which includes a fixed installation section and an elastic adjustment section. The fixed installation section is provided with a slide rail, and a sliding block is provided on the slide rail. At least three infrared marking points are arranged side by side on the sliding block. A transverse channel and a vertical channel are provided in the middle of the sliding block. A pull rod is provided in the vertical channel by a spring. One end of the pull rod passes through the vertical channel and is provided with a limit plate. One end of the pull rod is wedge-shaped and is positioned opposite to one end of a top rod in the transverse channel. The other end of the top rod is positioned opposite to the slide rail and is provided with an anti-slip layer.

[0010] A method based on a key process guidance system for an unmanned boarding bridge includes the following specific steps: Step S1: Confirm the docking task; The terminal confirms the flight data of the aircraft to be docked and determines the receiving task. The terminal also collects images of the control personnel in real time. Step S2: Start the docking task and collect docking data; After the aircraft stops, docking data is collected in real time by the docking data acquisition device, and the docking data is transmitted to the data analysis device through the field controller; Step S3: Based on the analysis of docking data and flight data, guidance strategies and early warning data are obtained. At the same time, attention and confirmation are carried out based on the images collected from the control personnel, and the control personnel confirm the process through the confirmation terminal. The guidance strategy includes flashing borders to indicate key phases in the corresponding images and issuing warnings based on real-time distance data between key parts and the aircraft.

[0011] Preferably, during the docking process, it is necessary to identify key stages for switching the flashing position. The key docking stages include, in sequence, the pre-start stage, the long-distance approach stage after start-up, the short-distance approach stage after start-up, the approach completion stage, the pre-departure stage, the long-distance recovery stage after departure, and the short-distance recovery stage after departure. The switching time of adjacent stages is confirmed by the boarding bridge position and the boarding data obtained by the confirmation terminal.

[0012] Preferably, the guiding strategy also includes the image size change ratio, the rotation angle output by the first rotation drive motor, and the rotation angle output by the second rotation drive motor; The magnification ratio is determined based on the number of corresponding images. The rotation angle of the first rotary drive motor is adjusted according to the display position of the corresponding image on the display device, so that the face of the control personnel is perpendicular to the corresponding display position. At the same time, the position of the fixed rotating tube remains unchanged during the rotation, so that the toggle lever and the top ball move relative to each other. When the toggle lever passes the position of the top ball, it lifts the top ball and then falls down, which serves as a physical prompt. The rotation angle of the second rotary drive motor is adjusted according to the set physical prompt intensity to achieve the adjustment of the physical prompt intensity.

[0013] Preferably, early warnings are issued based on real-time distance data between key components and the aircraft. The specific process is as follows: Based on the current critical stage of docking, select the corresponding image, and use image recognition technology to identify the aircraft's adjacent components based on the corresponding image; Image segmentation technology is used to segment the image of the adjacent component within a set range to obtain the image of the key part, which is then displayed on the display device. At the same time, data from a non-contact distance sensor set opposite to the adjacent component is used, and the collected distance data is displayed on the image of the key part. When the collected distance data is not greater than the set distance, the distance data flashes and a voice warning is given through the confirmation terminal.

[0014] Preferably, the specific process for collecting and confirming images from control personnel is as follows: Locate the head region in the image of the controlled personnel, extract facial key points from the head region image; calculate the three-dimensional rotation angle of the first head by extracting the positional changes of the facial key points and combining them with the 3D head model. Simultaneously, the three-dimensional rotation angle of the second head is calculated by collecting the trajectory of infrared marker points; When the three-dimensional rotation angle of the first head or the three-dimensional rotation angle of the second head reaches the set deflection angle, it is determined that the control personnel should view the corresponding image.

[0015] Therefore, the present invention employs the above-mentioned unmanned boarding bridge key process guidance system and method, which has the following beneficial effects: during the automatic docking process of the unmanned boarding bridge, the monitoring screen of the corresponding stage is displayed to guide the management personnel to view the screen that needs to be focused on. At the same time, the key docking stage is identified based on the docking data, and guidance strategies and early warning data are obtained, which makes it easier for the management personnel to discover unsafe points in a timely manner and improve safety performance. Meanwhile, the corresponding screen is blinked and magnified to avoid observation fatigue of the management personnel.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the seat body structure of the present invention; Figure 2 This is a cross-sectional view of the seat body of the present invention; Figure 3 This is a schematic diagram of the display device structure of the present invention; Figure 4 This is a schematic diagram of the head-mounted infrared marking device of the present invention; Figure 5 This is a sectional view of the fixed installation section of the present invention; Figure 6 This is a flowchart of the method of the present invention.

[0018] Figure Labels 1. Seat body; 11. Rotary shaft; 12. First rotary drive motor; 13. Fixed rotary tube; 14. Actuating lever; 15. Second rotary drive motor; 16. Receiving groove; 17. Top ball; 18. Sealing ring; 2. Display device; 21. Central display screen; 22. Edge display screen; 23. Angle adjustment motor; 24. Lifting mounting frame; 25. Lifting support frame; 3. Headband infrared marking device; 31. Fixing ring; 311. Fixed mounting section; 312. Elastic adjustment section; 313. Slide rail; 32. Sliding block; 321. Spring; 322. Pull rod; 323. Limiting plate; 324. Top rod; 33. Infrared marking point. Detailed Implementation

[0019] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0021] Example 1 A key process guidance system for an unmanned boarding bridge includes a docking data acquisition device, a field controller, a data analysis device, a confirmation terminal, and a display device 2.

[0022] The docking data acquisition device installed on the unmanned boarding bridge is used to collect docking data during the docking process. The docking data includes video data, temperature and humidity data, and distance data, which are collected by an image acquisition device, a temperature and humidity sensor, and a non-contact distance sensor, respectively.

[0023] The field controller, installed on the unmanned boarding bridge, is electrically connected to the docking data acquisition device to realize the implementation of field control commands and the transmission of docking data.

[0024] The data analysis device, which communicates with the field controller, is used to obtain key docking stages, guidance strategies, and early warning data based on the docking data. The data analysis device includes a key stage analysis module, a guidance strategy analysis module, and an early warning analysis module, which are used for key stage identification, guidance strategy setting, and early warning analysis, respectively.

[0025] A confirmation terminal that communicates with the data analysis device is used to display flight data and monitoring data from air traffic control personnel, collect video data from air traffic control personnel, and send and receive corresponding control commands.

[0026] Display device 2 is used to display key stage screen prompts and warning data according to the guidance strategy. Display device 2 is connected to data analysis device.

[0027] To enhance the effectiveness of the notification, the seats for the control personnel are designed as rotating seats for notification purposes, such as... Figures 1-2 As shown, the rotating chair includes a chair body 1. A first rotating drive motor 12 is connected to the rotating shaft 11 of the chair body 1. A fixed rotating tube 13 is sleeved on the rotating shaft 11. Several toggle levers 14 are arranged on the circumference of the fixed rotating tube 13. A second rotating drive motor 15 is also arranged on the circumference of the fixed rotating tube 13. A receiving groove 16 is opened on the chair body 1. A through hole is opened at the bottom of the receiving groove 16. A top ball 17 is arranged in the receiving groove 16. The diameter of the top ball 17 is larger than the diameter of the through hole and smaller than the diameter of the receiving groove 16. A sealing ring 18 is arranged on the upper edge of the receiving groove 16. The inner diameter of the sealing ring 18 is smaller than the diameter of the top ball 17 to prevent the top ball 17 from jumping out of the receiving groove 16 and to prevent dust. The first rotating drive motor 12 and the second rotating drive motor 15 are both electrically connected to the data analysis device. When the focus screen changes, the rotating chair drives the control personnel to rotate, so that the control personnel's face is facing the corresponding display screen. At the same time, the toggle levers 14 toggle the top ball 17, so that the top ball 17 rises and protrudes, which serves as a physical prompt. The second rotary drive motor 15 drives the fixed rotary tube 13 to rotate, so that the ball 17 is repeatedly pushed up, which strengthens the prompting effect.

[0028] like Figure 3 As shown, the display device 2 includes a central display screen 21 and two edge display screens 22. The two edge display screens 22 are hinged to the central display screen 21 via an angle adjustment motor 23. The central display screen 21 is mounted on the data analysis device via a lifting mounting bracket 24. A lifting support bracket 25 is provided on the back of the edge display screens 22. The lifting support bracket 25, the lifting mounting bracket 24, and the angle adjustment motor 23 are all electrically connected to the data analysis device to control the height and angle of the central display screen 21 and the two edge display screens 22.

[0029] like Figures 4-5 As shown, it can also be equipped with a head-mounted infrared marking device 3 to assist in head identification of control personnel. The head-mounted infrared marking device 3 includes a fixing ring 31, which includes a fixed installation section 311 and an elastic adjustment section 312. The fixed installation section 311 is provided with a slide rail 313, and a sliding block 32 is provided on the slide rail 313. At least three infrared marking points 33 are arranged side by side on the sliding block 32. A transverse channel and a vertical channel are opened in the middle of the sliding block 32. A pull rod 322 is provided in the vertical channel through a spring 321. One end of the pull rod 322 passes through the vertical channel and is provided with a limit plate 323. One end of the pull rod 322 is wedge-shaped and is positioned opposite to one end of a top rod 324 in the transverse channel. The other end of the top rod 324 is positioned opposite to the slide rail 313 and is provided with an anti-slip layer.

[0030] After wearing the device, pull down the lever 322 and move it to the center of the forehead, thereby positioning the sliding block 32 in the center of the person's face. Release the lever 322, and under the action of the spring 321, the lever 322 rises and moves the top rod 324 into the slide rail 313, thus fixing the sliding block 32. This ensures that the sliding block 32 will not move due to head shaking and avoids recognition errors due to wearing errors.

[0031] like Figure 6 As shown, a method for a key process guidance system for an unmanned boarding bridge includes the following specific steps: Step S1: Confirm the docking task.

[0032] The terminal acquires flight data (flight number, aircraft type, arrival time, and departure time, etc.) of the aircraft to be docked and determines the receiving task. The terminal also collects images of control personnel in real time.

[0033] Step S2: Start the docking task and collect docking data.

[0034] After the aircraft stops, docking data is collected in real time by the docking data acquisition device, and the docking data is transmitted to the data analysis device through the field controller.

[0035] Step S3: Based on the analysis of docking data and flight data, guidance strategies and early warning data are obtained. At the same time, attention and confirmation are carried out based on the images collected from control personnel, and control personnel confirm the process through the confirmation terminal.

[0036] The guidance strategy includes flashing borders to indicate key stages in the corresponding images and issuing warnings based on real-time distance data between key components and the aircraft. It should be noted that during the initial display, a random sorting algorithm can be used to randomly select a display screen to show the first corresponding image, with subsequent images displayed sequentially. This prevents control personnel from developing fixed observation habits, thus reducing safety performance.

[0037] The rotation angle of the first rotary drive motor 12 is adjusted according to the display position of the corresponding image on the display device 2, so that the face of the control personnel is perpendicular to the corresponding display position. At the same time, the position of the fixed rotating tube 13 remains unchanged during the rotation, so that the toggle lever 14 and the top ball 17 move relative to each other. When the toggle lever 14 passes the position of the top ball 17, it lifts the top ball 17 and then falls down, which serves as a physical prompt. The rotation angle of the second rotary drive motor 15 is adjusted according to the set physical prompt intensity to adjust the intensity of the physical prompt.

[0038] During the docking process, it is necessary to identify the key stages for switching the flashing position. The key docking stages include the pre-start stage, the long-distance approach stage after start-up, the short-distance approach stage after start-up, the approach completion stage, the pre-departure stage, the long-distance recovery stage after departure, and the short-distance recovery stage after departure. The switching time of adjacent stages is confirmed by the boarding bridge position and the boarding data obtained by the confirmation terminal.

[0039] Before activation, control personnel must observe the rear and front wheel arches, as well as the passageway, to ensure that there are no personnel or equipment in the boarding bridge's operating area that could affect operation. After the controller initiates automatic docking, the system enters the long-distance docking phase, where the boarding bridge moves towards the aircraft for docking. When the boarding bridge is approximately 0.5 meters from the aircraft, the system enters the close-range docking phase, during which control personnel must observe the video feed of the anemometer tube to ensure that the boarding bridge does not touch the aircraft's anemometer tube or other components. After the unmanned boarding bridge docks with the aircraft, the docking is complete, and control personnel must observe the video feed of the safety boot to confirm that the boarding bridge docking is accurate and the safety boot is in the correct position. Regular deployment; In the pre-evacuation phase, controllers need to observe the images of the wheel arches (rear), wheel arches (front), and passageways to ensure that there are no personnel or facilities or equipment in the boarding bridge's activity area and passageways that could affect operation; During the long-distance recovery phase of evacuation, controllers need to observe the images of the wings and engines to ensure that the boarding bridge does not touch the aircraft's wings and engines. At this time, the key image prompt system can display video images of the wings, engines, etc.; When the boarding bridge is 0.5 meters away from the return point, it enters the short-distance recovery phase of evacuation. Controllers need to observe the images of the wheel arches (rear) and wheel arches (front) to ensure that the boarding bridge accurately enters the return point. The corresponding images are video images of the wheel arches (rear) and wheel arches (front).

[0040] Early warnings are issued based on real-time distance data between key locations and the aircraft. The specific process is as follows: Based on the current critical stage of docking, select the corresponding image, and use image recognition technology to identify the aircraft's adjacent components (wind speed tubes, wings, etc.) based on the corresponding image.

[0041] Image cutting technology is used to cut out the image of the adjacent component within a set range to obtain the image of the key part, which is then displayed on the display device 2. At the same time, data from a non-contact distance sensor set opposite to the adjacent component is used, and the collected distance data is displayed on the image of the key part. When the collected distance data is not greater than the set distance, the distance data flashes and a voice warning is given through the confirmation terminal.

[0042] The specific process for collecting and confirming images of control personnel is as follows: The head region is located in the image of the monitored personnel, and facial key points are extracted from the head region image. By extracting the positional changes of the facial key points and combining them with a 3D head model, the first three-dimensional rotation angle of the head is calculated. Simultaneously, the second three-dimensional rotation angle of the head is calculated by collecting the trajectory of infrared marker points 33. When either the first or second three-dimensional rotation angle of the head reaches a set deflection angle, it is determined that the monitored personnel are viewing the corresponding image. Two detection methods are employed to improve detection accuracy. In conjunction with seat rotation, while prompting the monitored personnel to observe the corresponding video, the system also increases the range of movement of the monitored personnel, facilitating the submission of facial rotation amounts and improving detection accuracy. Furthermore, the angle of the edge display screen 22 can be adjusted according to the actual situation, allowing for adjustments to the angle rotation amount of the monitored personnel each time.

[0043] Example 2 To enhance the prompting effect, in addition to the blinking of the corresponding image border, the guidance strategy in this embodiment also includes an image size change ratio, which is determined by the number of corresponding images.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A key process guidance system for an unmanned boarding bridge, characterized in that, include: The docking data acquisition device installed on the unmanned boarding bridge is used to collect docking data during the docking process of the unmanned boarding bridge; A field controller is installed on the unmanned boarding bridge, and the field controller is electrically connected to the docking data acquisition device; A data analysis device that communicates with the field controller is used to obtain key docking stages, guidance strategies, and early warning data based on docking data. The data analysis device includes a key stage analysis module, a guidance strategy analysis module, and an early warning analysis module. A confirmation terminal that communicates with the data analysis device to display flight data and monitor data from air traffic control personnel; The display device is used to display key stage prompts and warning data according to the guidance strategy. The display device is connected to the data analysis device.

2. The key process guidance system for an unmanned boarding bridge according to claim 1, characterized in that: The data collected includes video data, temperature and humidity data, and distance data, which are acquired through an image acquisition device, a temperature and humidity sensor, and a non-contact distance sensor, respectively.

3. The key process guidance system for an unmanned boarding bridge according to claim 2, characterized in that: It also includes a prompt rotating seat, which includes a seat body, a first rotating drive motor connected to the rotating shaft of the seat body, a fixed rotating tube sleeved on the rotating shaft, several toggle levers on the circumferential side of the fixed rotating tube, a second rotating drive motor on the circumferential side of the fixed rotating tube, a receiving groove on the seat body, a through hole at the bottom of the receiving groove, a top ball in the receiving groove, the diameter of the top ball being larger than the diameter of the through hole and smaller than the diameter of the receiving groove, and a sealing ring on the upper edge of the receiving groove, the inner diameter of the sealing ring being smaller than the diameter of the top ball; Both the first and second rotary drive motors are electrically connected to the data analysis device.

4. The key process guidance system for an unmanned boarding bridge according to claim 3, characterized in that: The display device includes a central display screen and two edge display screens. The two edge display screens are hinged to the central display screen via an angle adjustment motor. The central display screen is mounted on the data analysis device via a lifting mounting bracket. The edge display screens are equipped with lifting support brackets on their backs. The lifting support frame, lifting mounting frame, and angle adjustment motor are all electrically connected to the data analysis device to control the height and angle of the central display screen and the two edge display screens.

5. The key process guidance system for an unmanned boarding bridge according to claim 4, characterized in that: It also includes a head-mounted infrared marking device for assisting in head identification of control personnel. The head-mounted infrared marking device includes a fixing ring, which includes a fixed installation section and an elastic adjustment section. The fixed installation section is equipped with a slide rail, and a sliding block is provided on the slide rail. At least three infrared marking points are arranged side by side on the sliding block. A transverse channel and a vertical channel are provided in the middle of the sliding block. A pull rod is provided in the vertical channel by a spring. One end of the pull rod passes through the vertical channel and is provided with a limit plate. One end of the pull rod is wedge-shaped and is positioned opposite to one end of a top rod in the transverse channel. The other end of the top rod is positioned opposite to the slide rail and is provided with an anti-slip layer.

6. A method for guiding key processes of an unmanned boarding bridge as described in claim 5, characterized in that, The specific steps are as follows: Step S1: Confirm the docking task; The terminal confirms the flight data of the aircraft to be docked and determines the receiving task. The terminal also collects images of the control personnel in real time. Step S2: Start the docking task and collect docking data; After the aircraft stops, docking data is collected in real time by the docking data acquisition device, and the docking data is transmitted to the data analysis device through the field controller; Step S3: Based on the analysis of docking data and flight data, guidance strategies and early warning data are obtained. At the same time, attention and confirmation are carried out based on the images collected from the control personnel, and the control personnel confirm the process through the confirmation terminal. The guidance strategy includes flashing borders to indicate key phases in the corresponding images and issuing warnings based on real-time distance data between key parts and the aircraft.

7. The method for a key process guidance system based on an unmanned boarding bridge according to claim 8, characterized in that: During the docking process, it is necessary to identify the key stages for switching the flashing position. The key docking stages include the pre-start stage, the long-distance approach stage after start-up, the short-distance approach stage after start-up, the approach completion stage, the pre-departure stage, the long-distance recovery stage after departure, and the short-distance recovery stage after departure. The switching time of adjacent stages is confirmed by the boarding bridge position and the boarding data obtained by the confirmation terminal.

8. The method for a key process guidance system based on an unmanned boarding bridge according to claim 7, characterized in that: The guidance strategy also includes the image size change ratio, the rotation angle output by the first rotation drive motor, and the rotation angle output by the second rotation drive motor; The magnification ratio is determined based on the number of corresponding images. The rotation angle of the first rotary drive motor is adjusted according to the display position of the corresponding image on the display device, so that the face of the control personnel is perpendicular to the corresponding display position. At the same time, the position of the fixed rotating tube remains unchanged during the rotation, so that the toggle lever and the top ball move relative to each other. When the toggle lever passes the position of the top ball, it lifts the top ball and then falls down, which serves as a physical prompt. The rotation angle of the second rotary drive motor is adjusted according to the set physical prompt intensity to achieve the adjustment of the physical prompt intensity.

9. A method for a key process guidance system based on an unmanned boarding bridge according to claim 8, characterized in that: Early warnings are issued based on real-time distance data between key locations and the aircraft. The specific process is as follows: Based on the current critical stage of docking, select the corresponding image, and use image recognition technology to identify the aircraft's adjacent components based on the corresponding image; Image segmentation technology is used to segment the image of the adjacent component within a set range to obtain the image of the key part, which is then displayed on the display device. At the same time, data from a non-contact distance sensor set opposite to the adjacent component is used, and the collected distance data is displayed on the image of the key part. When the collected distance data is not greater than the set distance, the distance data flashes and a voice warning is given through the confirmation terminal.

10. A method for a key process guidance system based on an unmanned boarding bridge according to claim 9, characterized in that: The specific process for collecting and confirming images of control personnel is as follows: Locate the head region in the image of the controlled personnel, extract facial key points from the head region image; calculate the three-dimensional rotation angle of the first head by extracting the positional changes of the facial key points and combining them with the 3D head model. Simultaneously, the three-dimensional rotation angle of the second head is calculated by collecting the trajectory of infrared marker points; When the three-dimensional rotation angle of the first head or the three-dimensional rotation angle of the second head reaches the set deflection angle, it is determined that the control personnel should view the corresponding image.

Images