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1. 发明申请

WO2020244558A1 METHOD FOR IDENTIFYING AIRCRAFT DOOR, APPARATUS, ELECTRONIC DEVICE AND STORAGE MEDIUM 审中-公开
公开(公告)号：WO2020244558A1
公开(公告)日：2020-12-10
申请号：PCT/CN2020/094224
申请日：2020-06-03
申请人： SHENZHEN CIMC-TIANDA AIRPORT SUPPORT LTD. , CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) LTD.
发明人： DENG, Lan , LEI, Anliang , XIANG, Wei , LIANG, Lexian , LUO, Wei , XIE, Qifeng
IPC分类号： G06K9/32
摘要： The present disclosure relates to a method for identifying an aircraft door, an apparatus, an electronic device and a storage medium. The method for identifying an aircraft door includes: acquiring a target aircraft image; identifying a region of interest of a door in the target aircraft image according to features of an aircraft door; identifying a bottom of the door in the region of interest of the door according to features of the bottom of the aircraft door to obtain a first bottom image; calculating a spatial position of an aircraft door sill according to the first bottom image. The identification of aircraft door is achieved through machine vision, which avoids the problem of poor universality caused by the need to set a special sign on the aircraft when identifying aircraft door. The accurate positioning of the door is realized, which is convenient for automatic boarding bridge boarding.

2. 发明申请

WO2020244596A1 PATH PLANNING METHOD FOR BOARDING BRIDGE 审中-公开
公开(公告)号：WO2020244596A1
公开(公告)日：2020-12-10
申请号：PCT/CN2020/094446
申请日：2020-06-04
申请人： SHENZHEN CIMC-TIANDA AIRPORT SUPPORT LTD. , CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) LTD.
发明人： LEI, Anliang , DENG, Lan , XIANG, Wei , LIANG, Lexian , LUO, Wei , YU, Xiuqiang
IPC分类号： B64F1/305
摘要： A path planning method for a boarding bridge, including: obtaining the preset wing anti-collision line (S1000); obtaining the position of the cabin door and the cabin port, and generating the path connecting the cabin door and the cabin port (S1100); simulating the process of the cabin port moving to the cabin door along the path, in case that there is an interference between the wing anti-collision line and the outer contour of the boarding bridge when simulating, moving at least a part of the path in front of the engine away from the engine, then simulating again until no more interference is formed between the wing anti-collision line and the outer contour of the boarding bridge (S1200). The boarding bridge will not collide with the wing anti-collision line when traveling along the formed path, nor will it collide with the aircraft wing or engine.

3. 发明申请

WO2020244591A1 METHOD FOR DOCKING BOARDING BRIDGE WITH AIRCRAFT, ELECTRONIC EQUIPMENT AND STORAGE MEDIUM 审中-公开
公开(公告)号：WO2020244591A1
公开(公告)日：2020-12-10
申请号：PCT/CN2020/094432
申请日：2020-06-04
申请人： SHENZHEN CIMC-TIANDA AIRPORT SUPPORT LTD. , CHINA INTERNATIONAL MARINE CONTAINERS (GROUP) LTD.
发明人： LEI, Anliang , DENG, Lan , XIANG, Wei , LIANG, Lexian , LUO, Wei , YU, Xiuqiang
IPC分类号： B64F1/305 , G05D1/02
摘要： A method for docking a boarding bridge with an aircraft, an electronic equipment and a storage medium are provided. The method includes: planning a path from a position at which an cabin port is located when the boarding bridge is in a parking position to a pre-docking position which is 1 to 2 meters away from a cabin door, and driving the boarding bridge to enable the cabin port to move towards the pre-docking position along the path until the cabin port moves to a position within 2 meters away from the pre-docking position; and acquiring an aircraft image of an aircraft, obtaining a spatial position of the cabin door according to an acquired aircraft image, and moving the boarding bridge according to the spatial position to enable the cabin port to dock with the cabin door. The cabin port can be quickly moved to a position near the cabin door automatically by tracking the path, and the cabin door is positioned by the visual positioning system after being close to the cabin door, so that the accurate spatial position of the cabin door can be obtained, and the cabin port can be accurately docked with the cabin door.

4. 发明公开

EP3196863A1 SYSTEM AND METHOD FOR AIRCRAFT DOCKING GUIDANCE AND AIRCRAFT TYPE IDENTIFICATION 有权转让
标题翻译：用于飞机对接引导和飞机类型标识的系统和方法
公开(公告)号：EP3196863A1
公开(公告)日：2017-07-26
申请号：EP15827975.2
申请日：2015-07-02
申请人： Shenzhen Cimc-tianda Airport Support Ltd. , China International Marine Containers (Group) Ltd.
发明人： DENG, Lan , CHANG, Shaomin , XIANG, Wei , YANG, Yuefeng , WANG, Haibin , LIU, Haiqiu
IPC分类号： G08G5/06 , G01S17/06 , G01S17/88 , B64F1/00 , H04N7/00 , G06K9/20 , G06K9/36 , G06K9/60
CPC分类号： G06K9/6202 , B64F1/00 , B64F1/002 , G01S17/06 , G01S17/88 , G06K9/00791 , G06K9/20 , G06K9/36 , G06K9/60 , G08G5/06 , G08G5/065 , H04N7/00
摘要： A system and method for aircraft docking guidance and aircraft type identification. The method is executed in the system for aircraft docking guidance and aircraft type identification comprising a machine vision sub-system, a laser scanning sub-system and a merging module. The method comprises: step 1000, the machine vision sub-system obtains an image via image capturing means, and calculates a first aircraft front wheel position therefrom; step 2000, the laser scanning sub-system obtains the position of the nose of an aircraft via laser scanning means, and extrapolates a second aircraft front wheel position; step 3000, the first aircraft front wheel position and the second aircraft front wheel position are merged according to a merging rule, and an aircraft front wheel deviation is obtained.
摘要翻译：一种用于飞机对接引导和飞机类型识别的系统和方法。该方法在用于飞机对接引导和飞机类型识别的系统中执行，该系统包括机器视觉子系统，激光扫描子系统和合并模块。该方法包括：步骤1000，机器视觉子系统通过图像采集装置获取图像，并由此计算出第一飞机前轮位置; 步骤2000，激光扫描子系统通过激光扫描装置获取飞机机头位置，并推算出第二飞机前轮位置; 步骤3000，根据合并规则合并第一飞机前轮位置和第二飞机前轮位置，得到飞机前轮偏差。

5. 发明授权

EP3196128B1 SYSTEM AND METHOD FOR AIRCRAFT DOCKING GUIDANCE AND AIRCRAFT TYPE IDENTIFICATION 有权转让
公开(公告)号：EP3196128B1
公开(公告)日：2019-04-10
申请号：EP15827108.0
申请日：2015-07-02
申请人： Shenzhen CIMC-TIANDA Airport Support Ltd. , China International Marine Containers (Group) Ltd.
发明人： DENG, Lan , ZHANG, Zhaohong , CHANG, Shaomin , XIANG, Wei , WANG, Haibin , LIU, Haiqiu
IPC分类号： B64F1/00 , G01S17/06 , G01S17/93 , G08G5/06 , B64D45/08

6. 发明公开

EP3196853A1 MACHINE VISION-BASED METHOD AND SYSTEM FOR AIRCRAFT DOCKING GUIDANCE AND AIRCRAFT TYPE IDENTIFICATION 无效转让
标题翻译：基于机器视觉的飞机对接引导和飞机类型识别方法及系统
公开(公告)号：EP3196853A1
公开(公告)日：2017-07-26
申请号：EP15828078.4
申请日：2015-07-02
申请人： Shenzhen Cimc-tianda Airport Support Ltd. , China International Marine Containers (Group) Co., Ltd.
发明人： DENG, Lan , ZHANG, Zhaohong , XIANG, Wei , YANG, Yuefeng , LIU, Haiqiu , WANG, Haibin
IPC分类号： G08B5/06 , B64F1/00 , H04N7/00 , G06K9/36 , G06K9/20 , G06K9/60
CPC分类号： G08G5/065 , B64F1/00 , B64F1/18 , G06K9/00624 , G06K9/00785 , G06K9/34 , G06K9/36 , G06K9/38 , G06K9/4638 , G06K9/4642 , G06K9/4661 , G06K9/525 , G06K9/6203 , G06T7/11 , G06T7/136 , G06T7/174 , G06T7/194 , G06T7/74 , G06T7/90 , G06T2207/10024 , G06T2207/30252 , G08B5/06 , G08G5/0026 , H04N7/00
摘要： A machine vision-based method and system for aircraft docking guidance and aircraft type identification, the method comprising: S1, an aircraft berthing scenario setting step: a monitoring scenario is divided into different information processing function areas; S2, an image pre-processing step: a captured image is pre-processed; S3, an aircraft capturing step: the engine and the front wheel of an aircraft are identified in the image, so as to confirm that the aircraft has appeared in the image; S4, an aircraft tracking step: continuous tracking and real-time updating are performed on the image of the engine and the front wheel of the aircraft captured in step S3; S5, an aircraft positioning step: real-time positioning of the aircraft is implemented and the degree of deviation of the aircraft with respect to a guide line and the distance with respect to a stop line are accurately determined; S6, information displaying: the degree of deviation of the aircraft with respect to the guide line and the distance with respect to the stop line of step S5 are outputted and displayed.
摘要翻译：一种用于飞机对接引导和飞机类型识别的基于机器视觉的方法和系统，所述方法包括：S1，飞机停泊场景设置步骤：将监控场景划分为不同的信息处理功能区域; S2，图像预处理步骤：对拍摄图像进行预处理; S3，飞机捕捉步骤：在图像中识别飞机的引擎和前轮，以确认飞机已出现在图像中; S4，飞行器跟踪步骤：对在步骤S3中捕获的发动机和飞机前轮的图像进行连续跟踪和实时更新; S5，飞机定位步骤：实现飞机的实时定位，并准确确定飞机相对于引导线的偏离程度和相对于停止线的距离; 在图S6中，输出显示飞机相对于引导线的偏离度和步骤S5相对于停止线的距离的信息。

7. 发明公开

EP4015396A1 METHOD FOR PREVENTING BOARDING BRIDGE FROM COLLIDING WITH WING 审中-实审
公开(公告)号：EP4015396A1
公开(公告)日：2022-06-22
申请号：EP20853282.0
申请日：2020-08-13
申请人： Shenzhen CIMC-TIANDA Airport Support Ltd.
发明人： LEI, Anliang , XIANG, Wei , LIANG, Lexian , DENG, Lan
IPC分类号： B64F1/305
摘要： The present disclosure discloses a method for preventing a boarding bridge from colliding with an aircraft wing, where, including: establishing an outer contour model of the boarding bridge and an anti-collision line model in a first coordinate system, the anti-collision line model is used to simulate a set of anti-collision lines between the boarding bridge and the aircraft wing; the outer contour model simulating a movement process of an outer contour of the boarding bridge in real time during a process of the boarding bridge docking with an aircraft, and when a minimum distance between the outer contour model and the anti-collision line model is less than a first threshold, then controlling the boarding bridge to stop operating. The method is used to avoid collision between the boarding bridge and the aircraft wing.

8. 发明公开

EP4212436A1 BOARDING BRIDGE ANTI-COLLISION METHOD AND BOARDING BRIDGE ANTI-COLLISION SYSTEM 审中-实审
公开(公告)号：EP4212436A1
公开(公告)日：2023-07-19
申请号：EP20953134.2
申请日：2020-12-11
申请人： Shenzhen CIMC-TIANDA Airport Support Ltd.
发明人： CHEN, Yong , XIANG, Wei , DENG, Lan , LEI, Anliang , LIANG, Lexian
IPC分类号： B64F1/305 , G05B19/04
摘要： A boarding bridge (1) anti-collision method and a boarding bridge anti-collision system. The boarding bridge anti-collision method comprises: obtaining a pre-configured boarding bridge protection area; performing scanning and obtaining the location of an obstacle (5); if the obstacle is located in the protection area, generating an alarm signal, and controlling a boarding bridge to perform an anti-collision action; and if the obstacle is not located in the protection area, and continuing scanning.

9. 发明公开

EP3980336A1 METHOD FOR DOCKING BOARDING BRIDGE WITH AIRCRAFT, ELECTRONIC EQUIPMENT AND STORAGE MEDIUM 审中-实审
公开(公告)号：EP3980336A1
公开(公告)日：2022-04-13
申请号：EP20817892.1
申请日：2020-06-04
申请人： Shenzhen CIMC-TIANDA Airport Support Ltd.
发明人： LEI, Anliang , DENG, Lan , XIANG, Wei , LIANG, Lexian , LUO, Wei , YU, Xiuqiang
IPC分类号： B64F1/305 , G05D1/02

10. 发明公开

EP3196128A1 SYSTEM AND METHOD FOR AIRCRAFT DOCKING GUIDANCE AND AIRCRAFT TYPE IDENTIFICATION 有权转让
标题翻译：用于飞机对接引导和飞机类型标识的系统和方法
公开(公告)号：EP3196128A1
公开(公告)日：2017-07-26
申请号：EP15827108.0
申请日：2015-07-02
申请人： Shenzhen Cimc-tianda Airport Support Ltd. , China International Marine Containers (Group) Co., Ltd.
发明人： DENG, Lan , ZHANG, Zhaohong , CHANG, Shaomin , XIANG, Wei , WANG, Haibin , LIU, Haiqiu
IPC分类号： B64D45/08
CPC分类号： B64F1/002 , G01S7/497 , G01S17/06 , G01S17/42 , G01S17/66 , G01S17/936 , G08G5/0026 , G08G5/065
摘要： A laser scanning-based aircraft docking guidance system and method, the method comprising: a capturing step: laser scanning in the horizontal direction is performed on a position where the front of an aircraft is expected to appear, echo data of the laser scanning is obtained, and the echo data is judged according to a judging condition, so as to determine whether the aircraft has appeared; a guiding step: after the aircraft has appeared, laser scanning in the horizontal direction is performed on the front of the aircraft, echo data of the laser scanning is obtained, and the position of the nose of the aircraft is determined; a tracking step: as the aircraft moves forward, the position of the nose is tracked via adjusting the vertical scanning angle of the laser scanning, and the position of the nose is displayed in real time. The system and method implement capturing, guiding and tracking of the aircraft, obtain the real-time position of the aircraft via accurate laser scanning, and perform displaying, so as to provide a pilot with a prompt for berthing. In addition, the system and method automatically identify and verify the aircraft type, improving aircraft docking security.
摘要翻译：一种基于激光扫描的飞机对接引导系统和方法，所述方法包括：捕获步骤：在预期飞机的前部出现的位置上执行水平方向的激光扫描，获得激光扫描的回波数据并根据判断条件判断回波数据，以确定飞机是否出现; 引导步骤：飞机出现后，在飞机前方进行水平方向的激光扫描，得到激光扫描的回波数据，确定飞机机头的位置; 追踪步骤：当飞机向前移动时，通过调整激光扫描的垂直扫描角度来追踪鼻子的位置，并实时显示鼻子的位置。该系统和方法实现对飞机的捕获，引导和跟踪，通过精确的激光扫描获取飞机的实时位置，并进行显示，为飞行员提供靠泊提示。此外，该系统和方法自动识别和验证飞机类型，提高飞机对接安全性。

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