Method for docking boarding bridge with aircraft, electronic equipment and storage medium

A computer-readable storage medium, on which computer programs are stored, wherein the computer programs, when executed by a processor, implement a method for docking a boarding bridge with an aircraft, the method comprising:

• planning a path from a position at which a bridgehead is located when the boarding bridge is at a parking position to a pre-docking position which is 1 to 2 meters away from a cabin door of the aircraft;
• driving the boarding bridge to move the bridgehead towards the pre-docking position along the path until the bridgehead moves to a position within 2 meters away from the pre-docking position;
• acquiring an aircraft image of the aircraft, obtaining a spatial position of the cabin door according to the aircraft image, and
• moving the boarding bridge according to the spatial position to enable the bridgehead to dock with the cabin door;
• wherein the planning a path from a position at which a bridgehead is located when the boarding bridge is at 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 move the bridgehead towards the pre-docking position along the path until the bridgehead moves to a position within 2 meters away from the pre-docking position comprises:
• acquiring a preset anti-collision line of the wing;
• acquiring a pre-docking position and a position at which the bridgehead is located when the boarding bridge is at the parking position, and generating a path for connecting the two positions;
• simulating the process of the boarding bridge moving to the pre-docking position along the path, and adjusting at least a part of the path in front of an engine in a direction radially away from the engine in case that an interference is formed between the anti-collision line of the wing and an outer contour of the boarding bridge during the simulating, and then simulating again unless no more interference between the anti-collision line of the wing and the outer contour of the boarding bridge be formed;
• and
• driving the boarding bridge to move the bridgehead towards the pre-docking position along the path until the bridgehead moves to a position within 2 meters from the pre-docking position.

An electronic equipment, comprising:

• a processor;
• and
• a memory for storing executable instructions of the processor;
• wherein the processor is configured to perform a method for docking a boarding bridge with an aircraft by executing the executable instructions;
• the method comprising:
• planning a path from a position at which a bridgehead is located when the boarding bridge is at a parking position to a pre-docking position which is 1 to 2 meters away from a cabin door of the aircraft;
• driving the boarding bridge to move the bridgehead towards the pre-docking position along the path until the bridgehead moves to a position within 2 meters away from the pre-docking position;
• acquiring an aircraft image of the aircraft, obtaining a spatial position of the cabin door according to the aircraft image;
• and
• moving the boarding bridge according to the spatial position to enable the bridgehead to dock with the cabin door;
• wherein the planning a path from a position at which a bridgehead is located when the boarding bridge is at 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 move the bridgehead towards the pre-docking position along the path until the bridgehead moves to a position within 2 meters away from the pre-docking position comprises:
• acquiring a preset anti-collision line of the wing;
• acquiring a pre-docking position and a position at which the bridgehead is located when the boarding bridge is at the parking position, and generating a path for connecting the two positions;
• simulating the process of the boarding bridge moving to the pre-docking position along the path, and adjusting at least a part of the path in front of an engine in a direction radially away from the engine in case that an interference is formed between the anti-collision line of the wing and an outer contour of the boarding bridge during the simulating, and then simulating again unless no more interference between the anti-collision line of the wing and the outer contour of the boarding bridge be formed;
• and
• driving the boarding bridge to move the bridgehead towards the pre-docking position along the path until the bridgehead moves to a position within 2 meters from the pre-docking position.