ELECTRONIC SYSTEM FOR CONTROLLING THE DOGGING OF A VEHICLE WITH A DOGGING AREA AND ASSOCIATED METHOD

Description

[0001] The present invention relates to an electronic system for controlling the automatic or semi-automatic docking of a vehicle to a docking area. It is particularly applicable to the docking of an airport vehicle, commonly referred to by the English abbreviation GSE (Ground Support Equipment), to the fuselage of an aircraft. This may be, for example, a baggage belt loader, a catering vehicle, etc.

[0002] These airport vehicles provide service to aircraft, particularly airplanes, on the airport service area between flights, and are therefore required to operate in their immediate vicinity. Some of these vehicles are required to dock the aircraft, which is particularly the case for belt baggage loaders for airplanes.

[0003] However, it is important to avoid these vehicles coming into contact too abruptly with the aircraft fuselage so as not to damage it.

[0004] In order to ensure safe docking of vehicles with aircraft, procedures are provided, which include, for example, limiting the speed of the vehicle when approaching the aircraft, with the aim of reducing or eliminating any risk of damage to the aircraft fuselage in the event of accidental contact.

[0005] The docking maneuver therefore requires great precision, not only to avoid damaging the aircraft as explained above, but also to guarantee the correct implementation of the function provided by the service vehicle, such as the function of loading baggage into the aircraft.

[0006] One of the aims of the invention is therefore to solve the aforementioned problems in particular. Thus, the invention aims in particular to propose a system and a method for controlling the docking of a vehicle at a docking zone, automatic or semi-automatic, allowing precise and secure docking.

[0007] Constituting the state of the art relating to the present application, the following prior documents have been cited: WO 2014154860; US20050198750, US5170352, EP 3293121 and WO 2017137241. None of these documents relates to a system in which determination means are capable of determining a docking line passing through a target point located on the surface of the docking zone and perpendicular to this surface, so that the guidance trajectory of the vehicle towards the docking zone ends with a final portion of said docking line of a length greater than or equal to a determined threshold, preferably greater than or equal to 2 meters, the determination means being capable of determining the trajectory to reach the final portion of the docking line by adjusting said trajectory at different times.

[0008] The invention thus relates, according to a first aspect, to an electronic system for controlling the docking of a vehicle, such as an airport vehicle, at a given docking zone of a docking destination such as an aircraft or a building, for example a door of an aircraft, the given docking zone comprising at least one target, the system comprising first determination means configured to determine the position of the docking zone by determining the type of the target from among a set of given types and its position, second determination means configured to determine a guidance trajectory of the vehicle towards the given docking zone as a function of the position of said docking zone, and third determination means configured to determine the type of the docking destination,the second determining means being capable of determining one or more exclusion zones depending on the type of the docking destination, by comparing the type of the docking destination with docking destination types, stored in a database in association with exclusion zones, so that the guidance trajectory of the vehicle towards the given docking zone does not pass through any of said exclusion zones, system in which the second determining means are capable of determining a docking line passing through a target point located on the surface of the docking zone and perpendicular to this surface, so that the guidance trajectory of the vehicle towards the docking zone ends with a final portion of said docking line of a length greater than or equal to a determined threshold, greater than or equal to 2 meters,the second determination means being capable of determining the trajectory for reaching the final portion of the docking line by adjusting said trajectory at different determined times, with a view, at each of said times: , to align the rear axle of the vehicle with the docking line in the case where said vehicle is at a distance greater than a given distance from the docking line; to align the front axle of the vehicle with the docking line in the case where said vehicle is at a distance less than the given distance from the docking line; to maintain the trajectory determined at the previous moment, if the level of confidence in the location of the targets determined by the first determination means is less than a given threshold, or if the first determination means no longer detect the targets.

[0009] According to certain embodiments, the system further comprises one or more of the following characteristics, taken in isolation or in all technically possible combinations: the given docking area being a docking area of ​​a docking destination of an aircraft or a building, characterized in that the first determining means are capable of determining a three-dimensional representation of the docking destination, and of carrying out one or more measurements in said three-dimensional representation, to determine the position of the docking area; the first determining means are capable of comparing the measurements with measurements stored in a database, to deduce therefrom the outline of the docking area and its position relative to at least one other area of ​​the docking destination; the first determining means are capable of determining the size and / or shape of the target, of comparing the determined size and / or shape with sizes and / or shapes stored in a database in association with target types also stored in said database, to deduce therefrom the type of the target;the first determining means comprise a two-dimensional vision device capable of determining the size and / or shape of the target and means for determining the distance between the first determining means and the target; the means for determining the distance comprise a three-dimensional vision device or a distance sensor such as a laser, ultrasound or radar sensor; the given docking area being a docking area of ​​a docking destination of an aircraft or a building, and the system comprises third determining means configured to determine the type of the docking destination and / or the type of the docking area;the second determining means are capable of measuring the alignment between the vehicle and the docking area by analyzing at least a portion of the profile of the docking destination, such as the fuselage line of the aircraft, in the vicinity of the target, and determining the point as a function of the type of the docking destination and / or the docking area; the given docking area comprises at least two targets, and the point is located at an equal distance from said targets; the second determining means are capable of adjusting the trajectory at each of the determined times, and in the case where the vehicle is at a distance greater than the given distance from the docking line, by: determining a target point on the docking line; defining a trajectory to allow the vehicle to reach the target point;the determination of the target point is a function of the longitudinal distance between the vehicle and the docking zone, the lateral distance between the vehicle and the docking line, and the angle between the longitudinal axis of the vehicle and the docking line. the trajectory to enable the vehicle to reach the target point forms an arc of a circle going from the center of the rear axle of the vehicle to the target point and of radius determined by the formula (X 2< + Y 2< ) / (2 × Y), with X and Y corresponding to the coordinates of the target point relative to the center of the rear axle of the vehicle; the second determination means are capable of adjusting the trajectory at each of the determined moments, and in the case where the vehicle is at a distance less than the given distance from the docking line, by orienting the wheels of the front axle of the vehicle at an angle depending on the distance between the center of said front axle and the docking line. ;

[0010] According to a second aspect, the invention also relates to a vehicle, such as an airport vehicle, comprising rolling means capable of allowing the vehicle to be set in motion by rolling, steering means capable of allowing the setting in motion to be oriented in a given direction, and an electronic docking control system as presented above, the rolling means being connected by the steering means to the control system, so as to allow the vehicle to be guided on the trajectory determined by the second means for determining said control system.

[0011] In one embodiment, the rolling means comprise a front axle, and the control system is connected to the rolling means by the steering means so as to enable the vehicle to be guided by control of the front axle.

[0012] According to a third aspect, the invention also relates to a method for controlling the docking of a vehicle, such as an airport vehicle, at a docking zone, given to a docking destination of an aircraft or a building, for example a gate of an aircraft, the given docking zone comprising at least one target, the method comprising a first step of determining the position of the docking zone by determining the type of the target from a set of given types and its position, a second step of determining a guidance trajectory of the vehicle towards the docking zone as a function of the type and position of said target, and a third step of determining the type of the docking destination, the second determination step comprising determining one or more exclusion zones as a function of the type of the docking destination, by comparing the type of the docking destination with docking destination types,stored in a database in association with exclusion zones, so that the guidance trajectory of the vehicle towards the given docking zone does not pass through any of said exclusion zones, characterized in that during the second determination step, a docking line is determined passing through a point located on the surface of the docking zone and perpendicular to this surface, so that the guidance trajectory of the vehicle towards the docking zone ends with a final portion of the docking line of a length greater than or equal to a determined threshold, greater than or equal to 2 meters, and in that during the second determination step, the trajectory is determined to reach the final portion of the docking line by adjusting said trajectory at different determined times, with a view, at each of said times: , to align the rear axle of the vehicle with the docking line in the case where said vehicle is at a distance greater than a given distance from the docking line; to align the front axle of the vehicle with the docking line in the case where said vehicle is at a distance less than the given distance from the docking line; to maintain the trajectory determined at the previous moment, if the level of confidence in the location of the targets during the first determination step is less than a given threshold, or if the targets are no longer detected.

[0013] According to certain modes of implementation, the method further comprises one or more of the following characteristics, taken in isolation or in all technically possible combinations: the docking area is a docking area of ​​a docking destination, and, in the first determination step, a three-dimensional representation of the docking destination is determined, and one or more measurements are carried out in said three-dimensional representation, to determine the position of the docking area; in the first determination step, the measurements are compared with measurements stored in a database, to deduce therefrom the contour of the docking area and its position relative to at least one other area of ​​the docking destination; in the first determination step, the size and / or shape of the target is determined, the determined size and / or shape is compared with sizes and / or shapes stored in a database in association with target types also stored in said database, to deduce the type of the target; in the second determination step, the alignment between the vehicle and the docking area is measured by analyzing at least part of the profile of the docking destination, such as the fuselage line of the aircraft, in the vicinity of the target; the docking area comprises at least two targets, the point being located at an equal distance from said targets;during the second determination step, the trajectory is determined to reach the final portion of the docking line by adjusting said trajectory at different determined times, with a view, at each of said times: to align the rear axle of the vehicle with the docking line in the case where said vehicle is at a distance greater than a given distance from the docking line; to align the front axle of the vehicle with the docking line in the case where said vehicle is at a distance less than the given distance from the docking line; to maintain the trajectory determined at the previous time, if the confidence level in the location of the targets during the first determination step is less than a given threshold, or if the targets are no longer detected;during the second step, at each of the determined times, and in the case where the vehicle is at a distance greater than the given distance from the docking line, the trajectory is adjusted by: determining a target point on the docking line; defining a trajectory to enable the vehicle to reach the target point; the determination of the target point is a function of the longitudinal distance between the vehicle and the docking zone, the lateral distance between the vehicle and the docking line, and the angle between the longitudinal axis of the vehicle and the docking line; the trajectory to enable the vehicle to reach the target point forms an arc of a circle going from the center of the rear axle of the vehicle to the target point and of radius determined by the formula (X 2< + Y 2< ) / (2 × Y), with X and Y corresponding to the coordinates of the target point relative to the center of the rear axle of the vehicle;during the second determination step, at each of the determined moments, and in the case where the vehicle is at a distance less than the given distance from the docking line, the trajectory is adjusted by orienting the wheels of the front axle of the vehicle at an angle depending on the distance between the center of said front axle and the docking line. ;

[0014] Thus, the automatic or semi-automatic guidance of the vehicle equipped with the system of the invention allows precise and secure docking with the fuselage of the aircraft, and efficient implementation of the function provided by the vehicle.

[0015] The system determines the best trajectory to dock the aircraft, and guides the vehicle accordingly.

[0016] The characteristics and advantages of the invention will appear on reading the description which follows, given solely by way of example, and not limiting, with reference to the following appended figures: figure 1 : schematic representation of an example of a vehicle, in this case an airport vehicle, being docked at a docking destination, in this case an aircraft; figure 2 : schematic representation of a part of the first means of determining the control system of the invention, according to a first example; figure 3 : schematic representation of a part of the first means of determining the control system of the invention, according to a second example; figure 4 : schematic representation of a part of the first determination means mounted on a vehicle, in an example aimed at increasing the angle at the apex of the determination cone; figure 5 : schematic representation of a part of the first determination means, in another example aimed at increasing the angle at the apex of the determination cone; figure 6 : schematic representation of the determination of targets and the docking line by the system and method of the invention; figure 7 : schematic representation of an example of an automaton corresponding to the operation of the second determination means of the control system of the invention; figure 8 : schematic representation of a first type of trajectory adjustment by the second determination means of the control system of the invention; figure 9 : schematic representation of a second type of trajectory adjustment by the second determination means of the control system of the invention.

[0017] In figure 1 , an example of an airport vehicle 1 is shown, which is a container loader, being docked at a docking area 2, which is a gate 2, of an aircraft 5, which is an airplane 5.

[0018] The vehicle 1 is equipped with the docking control system of the invention, and moves using rolling means, typically one or more sets of wheels (not shown in the figure 1 ), controlled by steering means making it possible to direct the movement of the rolling means in a given direction.

[0019] The rolling means are connected by these steering means to the control system, to allow the vehicle 1 to be guided on the trajectory determined by the control system as will be explained below on an example of embodiment and implementation.

[0020] As will be seen in more detail below with regard to the figures 8 et 9 , the rolling means 11, 12 comprise in particular a front axle 12. The control system is connected to the rolling means 11, 12 by the steering means so as to allow the vehicle 1 to be guided by controlling this front axle 12.

[0021] As we see more precisely on the figure 6 in an exemplary embodiment, the docking zone 2 of the aircraft 5 is equipped with one or more targets 3, 4, in this case two targets 3, 4.

[0022] Such targets 3, 4 may for example be embedded or painted on the fuselage of the aircraft 5.

[0023] The control system of the invention comprises first determination means, which are configured to determine the type of the target(s) 3, 4 from a set of given target types. These determination means are also configured to determine the position of each of the targets 3, 4.

[0024] Furthermore, the control system comprises second determination means, which are configured to determine a guidance trajectory of the vehicle 1 towards the docking zone 2, depending on the type and position of the target(s) 3, 4.

[0025] To recognize the type of targets 3, 4, the first determination means are capable of determining the size and / or shape of targets 3, 4, and of comparing this size and / or shape with sizes and / or shapes stored in a database, onboard or remote. These target shapes and sizes are stored in the database in association with target types also stored in this database.

[0026] Thus, by comparing the characteristics of a given 3, 4 target with characteristics stored in a database, the first means of determination deduce the type of the given 3, 4 target.

[0027] The first determining means comprise a two-dimensional vision device 6, shown in two examples in the figures 2 And 3 This two-dimensional vision device 6 is capable of determining the size and / or shape of the target 3, 4, according to two first directions dy, dz.

[0028] Furthermore, the first determination means comprise means 7, 8 for determining the distance dx between the first determination means themselves and the target 3, 4, also represented in the two examples of the figures 2 And 3 respectively.

[0029] In the example of the figure 2 , the means 8 for determining the distance dx comprise a three-dimensional vision device 8 or a distance sensor, which may for example be a laser sensor, an ultrasonic sensor or a radar.

[0030] Alternatively, in the example of the figure 3 , the distance dx between the first determination means and the target 3, 4 is obtained by triangulation, from the first two-dimensional vision device 6 and a second two-dimensional vision device 7.

[0031] The control system of the invention may also comprise third determination means configured to determine the type of the docking destination 5, whether this docking destination 5 is an airplane 5 or a building. For example, in the case of an airplane 5, these third determination means make it possible to determine the type of the airplane 5, in particular its brand, its type within the brand, and its version within the type.

[0032] Furthermore, the second determination means are further capable of determining one or more exclusion zones depending on the type of docking destination, in this case the aircraft 5 in our example, to ensure that the guidance trajectory of the vehicle 1 towards the docking zone 2 does not pass through any of these exclusion zones.

[0033] To do this, the third determination means determine one or more parameters of at least two main parts of the aircraft 5. This or these parameters may be the size and / or the relative position of these main parts of the aircraft 5.

[0034] The third determining means then compare the value of the parameter(s) with values ​​of these parameters stored in a database, onboard or remote. These parameter values ​​are stored in the database in association with aircraft types 5. Thus, by comparing the determined parameter values ​​with the parameter values ​​stored in the database, the third determining means deduce the type of the aircraft 5.

[0035] For example, the shape of aircraft 5 can be analyzed. From this analysis, the relative position and size of some major parts of aircraft 5 (such as engines, wings, doors) are deduced, which are compared with the values ​​stored in the database.

[0036] The type selected in the database will be the one for which the number of measured information, compared with the values ​​stored in the database for the type in question, is maximum.

[0037] Alternatively, the aircraft type 5 can be obtained via an RFID-type tag read by a suitable reader (or by any other wireless communication means appropriate to the tag type).

[0038] Alternatively, an aircraft identifier 5 allows an operator to directly know the model and type of aircraft 5, information which can then be entered by the operator into the system.

[0039] Exclusion zones may also depend on the sequence of ground operations, with the aim of optimizing trajectory definition and avoiding interference with other equipment or devices involved in ground support to the aircraft 5.

[0040] To determine the various tasks of ground operations, the determination means presented above can be used to automatically recognize the type and position of the devices and equipment involved, which will be compared with the information relating to the gate at which the docking is to take place.

[0041] The type of equipment and devices in question can also be determined by reading an RFID-type marker (or other type of marker readable remotely by wireless reading means).

[0042] It is also possible to use an identifier of the equipment and devices in question, entered by an operator in the system.

[0043] Alternatively, a predefined ground operations sequence can be used. In this case, the sequence is already defined, and a new aircraft or equipment arriving in the area knows that other aircraft are in the area, based on its position in the time sequence of operations. This predefined operation sequence is stored, for example, in the vehicle, in a ground operations sequence database.

[0044] This allows the current operation sequence, current operation, and aircraft type to be taken into account 5, using the ground operation sequence database, depending on the gate at which docking is to take place.

[0045] As depicted in the figures 4 And 5, means may be provided for increasing the viewing angle of the first determination means, in particular the two-dimensional vision device 6.

[0046] In the example shown in the figure 4 , the two-dimensional vision device 6, just like the means 7, 8 for determining the distance dx between the first determination means themselves and the target 3, 4, are mounted on the vehicle 1 by means of a mechanism which can rotate in at least two perpendicular planes, oriented in the direction of the door 2 of the aircraft 5.

[0047] Depending on the position of each of the targets 3, 4 in the coordinate system of the two-dimensional vision device 6, the position of this device 6 is adjusted in real time to target the middle of the two targets 3, 4

[0048] Furthermore, the position of the device 6 relative to the vehicle 1 is also measured to determine the relative position of the aircraft 5 relative to the vehicle 1.

[0049] In the example shown in the figure 5 , the two-dimensional vision device 6 can be combined with another two-dimensional vision device 9. The distance between the two devices 6 and 9 (positions and alignment) is determined, and the respective fields of view 18 and 19 of the two devices 6 and 9 are combined into an extended field of view 20.

[0050] These two embodiments thus make it possible to increase the viewing angle of the two-dimensional vision device 6 of the first determination means. Indeed, from the target point of view of the second determination means, the angle between the vehicle 1 and the docking line 10, presented below in particular with reference to the figure 6 , is not limited to the field of vision of the two-dimensional vision device 6 alone. This makes it possible to increase the capacity of the system of the invention by making it, for example, capable of introducing tight turns into the determined guidance trajectory.

[0051] As represented in particular on the figure 6 , in an example of docking at door 2 of an aircraft 5, the door being provided with two targets 3, 4, the second determination means are capable of determining a docking line 10. This docking line 10 is the line passing through the target point 13 located at an equal distance from the two targets 3, 4 on the surface of the docking zone 2 and perpendicular to this surface.

[0052] The vehicle guidance trajectory 1 towards the docking zone 2 calculated by the system of the invention is then determined so that it ends with a final portion of the docking line 10. The length of this final portion is greater than or equal to a determined threshold, preferably greater than or equal to 2 meters. This guarantees that the vehicle 1 guided by the system of the invention reaches the docking line 10 at least two meters before the fuselage of the aircraft 5.

[0053] Then, once the vehicle 1 has reached the docking line 10, a driver can, for example, take over to manually drive the vehicle to the docking zone 2 at very low speed.

[0054] As schematized by the automaton represented the figure 7 , the second determination means are capable of determining the trajectory for reaching the final portion of the docking line 10, by adjusting this trajectory at different determined times.

[0055] After initializing the guidance from state A, the system moves to state B and checks whether the vehicle 1 is located at a distance greater than a given distance from the docking line 10. If this is the case, the second determination means adjust the trajectory in order to align the vehicle 1 with the docking line 10, that is to say to align the rear axle 11 of the vehicle 1 with the docking line 10.

[0056] This operation of adjusting the trajectory in order to align the vehicle 1 with the docking line 10 is repeated at intervals, as long as the vehicle 1 is at a distance greater than a given distance from the docking line 10.

[0057] This operation is shown in more detail on the figure 8 . A target point 15 is determined on the docking line 10, and a trajectory 16 allowing the vehicle 1 to reach the target point 15 is determined. This target point 15 therefore corresponds to the target point of the docking line 10 at which the vehicle 1 seeks to intercept this docking line 10.

[0058] The determination of the target point 15 is a function of the longitudinal distance between the vehicle 1 and the docking zone 2, the lateral distance between the vehicle 1 and the docking line 10, and the angle α between the longitudinal axis L of the vehicle 1 and the docking line 10.

[0059] The lateral distance between the vehicle 1 and the docking line 10 is measured from the center 14 of the rear axle 11 of the vehicle 1.

[0060] The longitudinal distance between the vehicle 1 and the docking zone 2 is measured from the center 14 of the rear axle 11 of the vehicle 1.

[0061] As shown in the figure 8 , the trajectory 16 to allow the vehicle 1 to reach the target point 15 forms an arc of a circle 16. This arc of a circle 16 starts from the center 14 of the rear axle 11 of the vehicle 1, and goes to the target point 15. The radius of this arc of a circle 16 is determined by the formula (X 2< + Y 2< ) / (2 × Y), in which X and Y correspond to the coordinates of the target point 15 relative to the center 14 of the rear axle 11 of the vehicle 1.

[0062] As can be seen schematically in this figure 8 , to follow the arc-shaped trajectory 16, the wheels of the front axle 12 are oriented with the axis perpendicular to the direction of each of these wheels and passing through the center of these wheels, passes through the center 21 of the circle which supports the arc-shaped trajectory 16.

[0063] When the second determining means determine that the vehicle 1 is close to being aligned with the docking line 10, i.e. when the vehicle 1 is at a distance less than the given distance from the docking line 10, the system switches to state C shown in the figure 7 .

[0064] The second determination means then seek to align the vehicle 1 more finely with the docking line 10, that is to say to align the front axle 12 of the vehicle 1 with the docking line 10.

[0065] This operation is shown in more detail on the figure 9 The second determining means orient the wheels of the front axle 12 of the vehicle 1 according to an angle which depends on the distance between the center 17 of this front axle 12 and the docking line 10.

[0066] From state B or state C, the system can move into state D, called “dark mode”, when the confidence level in the location of targets 3, 4, determined by the first determination means, is below a given threshold, or when the first determination means no longer detect targets 3, 4.

[0067] In this case, the second determination means decide to maintain the trajectory determined at the previous moment.

[0068] The position of the targets can then be estimated by measuring the vehicle's trajectory using an odometer and the angle of the front wheels. The vehicle's trajectory is then recalculated relative to the estimated target position.

[0069] Thus, to summarize, at each determined moment, the second determination means proceed to an adjustment of the trajectory of the vehicle 1 to reach the docking line.

[0070] As a priority, if, and as long as, the rear axle 11 of the vehicle 1 is not close to being aligned with the docking line 10, in the sense explained above, an adjustment of the alignment of the rear axle 11 is implemented (state B on the figure 7 , and example of implementation on the figure 8 ).

[0071] As soon as the rear axle 11 is close to being aligned with the docking line 10, in the sense explained above, if, and as long as the front axle 12 is not considered to be aligned with the docking line 10, a finer adjustment of the alignment is implemented, by aligning the front axle 12 with the docking line 10 (state C on the figure 7 , and example of implementation on the figure 9 ).

[0072] At each moment, whether in state B or in state C, the system checks whether the level of confidence in the location of targets 3, 4, determined by the first determination means, is greater than a given threshold, and whether the first determination means still detect targets 3, 4. If this is not the case, the second determination means retain the trajectory determined at the previous moment without adjusting it.

[0073] For an airport vehicle 1 performing a particular function by means of a particular tool, such as loading baggage by means of a belt loader, it may also be provided that the system of the invention comprises means for measuring the distance between the tool in question and the docking zone 2, and its height relative to the docking zone. This measurement may in particular be obtained by triangulation from the location of the targets 3, 4, by means of the devices 6, 7, 8 presented above relative to the first determination means.

[0074] When the vehicle 1 is stationary, in position in front of the docking zone 2, after guidance according to the trajectory determined by the system of the invention, the position of the tool can thus be automatically adjusted.

[0075] The system of the invention is an electronic system intended to be embedded in the vehicle 1, comprising one or more information storage memories for storing the information, and one or more units for processing this information, allowing the implementation of the functions of the first, second and third determination means.

[0076] The embodiments presented above relate to the determination, by the second determination means, of the guidance trajectory of the vehicle 1 towards the docking zone 2 as a function of the position of the docking zone 2 determined by the first determination means, by determining the type and position of one or more targets 3, 4 associated with the docking zone 2.

[0077] A more detailed example is given above regarding the use of at least two targets 3 and 4.

[0078] Another variant exists with the use of a single target 3 or 4 associated with the docking zone 2. In this case, the second determination means measure the alignment between the vehicle 1 and the docking zone 2 by analyzing at least part of the profile of the docking destination 5, that is to say, in the case of an aircraft 5, the fuselage line of this aircraft 5. The target point 13, located on the surface of the docking zone 2, from which the docking line 10 extends perpendicular to this surface of the docking zone 2, is then determined as a function of the type of the docking destination 5 and / or of the docking zone 2 determined by said analysis, or possibly by the third determination means presented above.

[0079] Other embodiments are possible for the determination by the second determination means of the guidance trajectory of the vehicle 1 towards the docking zone 2 as a function of the position of the docking zone 2 itself determined by the first determination means, without the use of targets 3, 4 associated with the docking zone 2. The first determination means can then determine a three-dimensional representation of the docking destination 5 and carry out one or more measurements in this three-dimensional representation to determine this position of the docking zone 2.

[0080] For example, a measurement database can be used and the measurements made compared with the measurements stored in this database to determine the outline of the docking area 2 and its position relative to one or more other areas of the docking destination 5.

[0081] This description is given by way of example and is not limiting of the invention.

[0082] In particular, it is recalled that the system of the invention is not limited to controlling the docking of an airport vehicle at the door of an aircraft such as an airplane, but extends to controlling the docking of any type of vehicle to any type of aircraft, or even to any other vehicle or any building.

Claims

1. Electronic system for controlling docking of a vehicle (1), such as an airport's vehicule, at a given docking zone (2) of a docking destination (5) of a docking destination (5) of an airplan (5) or of a building, the given docking zone (5) comprising at least one target (3,4), the system comprising first means for determining configured for determining the docking zone's (2) position by determining the type of the target (3,4) from a set of given types and from its position, second means for determining configured for determining a guidance trajectory of the vehicle (1) to said docking zone (2) depending on the type and on the position of said target (3,4), and third means for determining configured for determining the type of the docking destination (5), the second determination being suitable for determining one or more exclusion zones depending on a type of the docking destination (5), by comparison of the type of the docking destination with types of docking destination stored in a database in association with exclusion zones so that the guidance trajectory of the vehicle (1) to the given docking zone (2) does not pass into any of the exclusion zones, characterized in that the second means for determining are suitable to determine a docking line (10) passing through a target (13) situated on a surface of the docking zone (2) and perpendicular to said surface, so that the guidance trajectory of the vehicle (1) to the docking zone (2) is terminated by a final portion of said docking line (10) with a length greater than or equal to a determined threshold greater than or equal to 2 meters, the second means for determining being suitable for said trajectory for going to the final portion of the docking line (10) by adjusting the trajectory at different predetermined moments, in order, at each of the predetermined moments: - to align the rear suspension (11) of the vehicle (1) with the docking line (10) when said vehicle is located at a distance greater than a given distance from the docking line (10); - to align a front suspension (12) of the vehicle (1) with the docking line (10) when said vehicle (1) is located at a distance less than the given distance from the docking line; and - to retain the trajectory determined at a preceding moment if the confidence level in locating the targets (3, 4) determined the first means for determining is less than a given threshold, or if the first means for determining are no longer detecting the targets (3, 4).

2. system according to claim 1, the given docking zone (2) being a docking destination (5) of a docking destination (5) of an airplan (5) or of a building, characterised in that the first means for determining being suitable for determining a three-dimensional representation of the docking destination (5), and atoll performs one or more measurements in the three-dimensional representation, to determine the position of the docking zone (2).

3. System according to claim 2, wherein the first means for determining are suitable for comparing the measurements with measurements stored in a database and determines a contour of the docking zone (2) and its position relative to at least one other zone of the docking destination (5).

4. System according to any one from claims 1 to 3, characterized in that the first means for determining is suitable for determining size and / or the shape of the target (3, 4), and for comparing the size and / or the shape with sizes and / or shapes stored in a database in association with types of targets also stored in said database, to deduce a target type therefrom.

5. System according to claim 4, characterized in that the first means for determining includes a two-dimensional vision device (6) suitable to determine the size and / or the shape of the target (3, 4) and means (7, 8) for determining of the distance between the first means for determining and the target (3, 4).

6. System according to claim 5, characterized in that the means (7) for determining of the distance include a three- dimensional vision device (7) or a distance sensor such as a laser sensor, an ultrasound sensor or a radar sensor.

7. System according to any one of claim 1 to 6, the given docking zone (2) being a docking destination (5) of a docking destination (5) of an airplane (5) or of a building, characterized it includes third means for determining configured for determining the type of the docking destination (5) and / or the type of the docking zone (2).

8. System according to any one of claim 1 to 7, characterized in that the second means for determining are suitable for measuring the alignment between the vehicle (1) and the docking zone (2) by analysis of at least a part of a profile of the docking destination, such as a fuselage line of the airplane (5), in proximity to the target (3, 4), and for determining the point (13) depending on the type of the docking destination and / or of given docking zone (2).

9. System according to any one of claim 1 to 8, the given docking zone (2) including at least two target (3, 4), characterized in that the point (13) is positioned at equal distance from said targets (3, 4).

10. System according to any one from claims 1 to 9, characterized in that the second means for determining are suitable to adjust the trajectory at each of the predetermined moments, and when the vehicle (1) is located at a distance greater than the given distance from the docking line, by: - determining the target point (15) on the docking line (10); - defining a trajectory (16) to allow the vehicle (1) to reach the target point (15).

11. System according to any one from claims 1 to 10, characterized in that the determining of the target point (15) based on a longitudinal distance between the vehicle (1) and the docking zone (2), on the lateral distance between the vehicle (1) and the docking line (10), and the angle (α) between a longitudinal axis (L) of the vehicle (1) and the docking line (10).

12. System according to claim 11, characterized in that the guidance trajectory allows the vehicle (1) to reach the target point (15) and forms a circular arc (16) extending from a center (14) of a rear suspension (11) of the vehicle (1) to the target point (15), with a radius determined by a formula (X2+Y2) / (2×Y), with X and Y corresponding to coordinates of the target point (15) relative to the center (14) of the rear suspension (11) of the vehicle (1).

13. System according to any one from claims 1 to 12, characterized in that the second means for determining are suitable for adjusting the trajectory at each of the predetermined moments, and when the vehicle (1) is located at a distance less than a given distance from the docking line (10), by orienting wheels of the front suspension (12) of the vehicle (1) at an angle depending on the distance between the center (17) of said front suspension (12) and the docking line (10).

14. Vehicle (1) such an airport's vehicle, comprising rolling means (11, 12) suitable to allow movement of the vehicle (1) by rolling, a steering means configured to allow orienting the movement in a given direction, and electronic system for controlling docking according to any one of claim 1 to 13, the rolling means (11, 12) being connected by the steering means to the control system, so as to allow the guidance of the vehicle (1) on the trajectory determined by the control system of control system.

15. Vehicle according to claim 14, characterizes in that the rolling means (11, 12) comprising a front suspension (12), and the control system being connected to rolling means (11, 12) by the steering means so as to allow the guidance of the vehicle (1) by control of the front suspension (12).

16. Method for controlling docking of a vehicle(1), such as a airport's vehicle, at a given docking zone (2) of a docking destination (5) of a airplane (5) or a building, the given docking zone (2) comprising at least one target (3, 4), the method comprising a first step of determining a position of the given docking zone (2) by determining a type of target (3, 4) from a set of given types and from its position, a second step of determining a guidance trajectory of the vehicle (1) to the given docking zone depending on the type and depending on a position of the target (3, 4); and a third step of determining a type of the docking destination (5), the second step of determining comprising determining one or more exclusion zones depending on a type of the docking destination (5), by comparison of the type of the docking destination with types of docking destination stored in a database in association with exclusion zones so that the guidance trajectory of the vehicle (1) to the given docking zone (2) does not pass into any of the exclusion zones, characterized in that during the second step of determining it is determined a docking line (10) passing through a target (13) situated on a surface of the docking zone (2) and perpendicular to said surface, so that the guidance trajectory of the vehicle (1) to the docking zone (2) is terminated by a final portion of said docking line (10) with a length greater than or equal to a determined threshold greater than or equal to 2 meters, and I that during the second step for determining, it is detemine the trajectory for going to the final portion of the docking line (10) by adjusting the trajectory at different predetermined moments, in order, at each of the predetermined moments: - to align the rear suspension (11) of the vehicle (1) with the docking line (10) when said vehicle is located at a distance greater than a given distance from the docking line (10); - to align a front suspension (12) of the vehicle (1) with the docking line (10) when said vehicle (1) is located at a distance less than the given distance from the docking line; and - to retain the trajectory determined at a preceding moment if the confidence level in locating the targets (3, 4) determined the first means for determining is less than a given threshold, or if the first means for determining are no longer detecting the targets(3, 4).

17. Method according to claim 16, the given docking zone (2) being a docking destination (5) of a docking destination (5) of an airplan (5) or of a building, characterised in that during the first step of determining, it is determines a three-dimensional representation of the docking destination (5), and atoll performs one or more measurements in the three-dimensional representation, to determine the position of the docking zone (2).

18. Method according to claim 17, characterized in that during the first step for determining, it is compared the measurements with measurements stored in a database, and determines a contour of the docking zone (2) and its position relative to at least one other zone of the docking destination (5).

19. Method according to any one from claims 16 to 18, characterized in that, during the first step for determining, it is determined size and / or the shape of the target (3, 4), and for comparing the size and / or the shape with sizes and / or shapes stored in a database in association with types of targets also stored in said database, to deduce a target type therefrom.

20. Method according to any one from claims 16 to 19, characterized in that, during the second step for determining, it is measured the alignment between the vehicle (1) and the docking zone (2) by analysis of at least a part of a profile of the docking destination, such as a fuselage line of the airplane (5), in proximity to the target (3, 4).

21. Method according to any one from claims 16 to 20, the given docking zone (2) including at least two target (3, 4), characterized in that the point (13) is positioned at equal distance from said targets (3, 4).

22. Method according to any one from claims 16 to 21, characterized in that during the step of determined, it is determined the trajectory for going to the final portion of the docking line (10) by adjusting the trajectory at different predetermined moments, in order, at each of the predetermined moments: - to align the rear suspension (11) of the vehicle (1) with the docking line (10) when said vehicle is located at a distance greater than a given distance from the docking line (10); - to align a front suspension (12) of the vehicle (1) with the docking line (10) when said vehicle (1) is located at a distance less than the given distance from the docking line; and - to retain the trajectory determined at a preceding moment if the confidence level in locating the targets (3, 4) determined the first means for determining is less than a given threshold, or if the first means for determining are no longer detecting the targets(3, 4).

23. Method according to any one from claims 16 to 22, characterized in that during the second step, at each of the predetermined moments, and when the vehicle (1) is located at a distance greater than the given distance from the docking line, it is adjusted the trajectory by: - determining the target point (15) on the docking line (10); - defining a trajectory (16) to allow the vehicle (1) to reach the target point (15).

24. Method according to claim 23, characterized in that the determining of the target point (15) based on a longitudinal distance between the vehicle (1) and the docking zone (2), on the lateral distance between the vehicle (1) and the docking line (10), and the angle (α) between a longitudinal axis (L) of the vehicle (1) and the docking line (10).

25. Method according to any one of claim 23 to 24, characterized in that trajectory (16) for allowing the vehicle (1) to reach the target point (15) forms a circular arc (16) extending from a center (14) of a rear suspension (11) of the vehicle (1) to the target point (15), with a radius determined by a formula (X2+Y2) / (2×Y), with X and Y corresponding to coordinates of the target point (15) relative to the center (14) of the rear suspension (11) of the vehicle (1).

26. Method according to any one of claim 16 to 25, characterized in that during the second step of determining, at each of the predetermined moments, and when the vehicle (1) is located at a distance less than a given distance from the docking line (10), it is adjusted the trajectory by orienting wheels of the front suspension (12) of the vehicle (1) at an angle depending on the distance between the center (17) of said front suspension (12) and the docking line (10).