Vision system for automatically aligning a passenger boarding bridge with a doorway of an aircraft and method therefor

Abstract

A vision system for use with an automated control system of a passenger boarding bridge includes an inclinometer for determining tilt data relating to deviation of the aircraft-engaging end of the passenger boarding bridge relative a horizontal reference plane. The system also includes an imager disposed near the aircraft-engaging end of the passenger boarding bridge, for capturing image data relating to a portion of the aircraft proximate an expected stopping location of the doorway. A memory element having template image data stored retrievably therein is also provided. The template image data relates to at least a template image including a feature that is indicative of the location of the doorway of the aircraft. The vision system further includes an image data processor for determining alignment data for use in aligning the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft. The alignment data being determined based upon the tilt data, the image data, and the template image data.

What is claimed is: 
     
         1 . A vision system for use with an automated control system of a passenger boarding bridge, the automated control system for aligning an aircraft-engaging end of the passenger boarding bridge with a doorway of an aircraft that is stopped within a defined parking space adjacent to the passenger boarding bridge, the vision system comprising:
 an imager disposed proximate the aircraft-engaging end of the passenger boarding bridge for capturing image data relating to a portion of the aircraft that is proximate an expected stopping location of the doorway;   an inclinometer for determining tilt data relating to a sensed deviation of the aircraft-engaging end of the passenger boarding bridge relative a horizontal reference plane;   a distance sensor disposed proximate the aircraft-engaging end of the passenger boarding bridge for sensing a distance to the portion of the aircraft that is proximate the expected stopping location of the doorway;   a memory element having template image data stored retrievably therein, the template image data comprising at least a template image including a feature that is indicative of the location of the doorway of the aircraft; and,   an image data processor for transforming the template image data based on the tilt data and the sensed distance, for determining a correlation between the feature that is indicative of the location of the doorway of the aircraft in the transformed template image data and a corresponding feature in the captured image data, and for determining alignment data for use in aligning the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft based on the determined correlation.   
     
     
         2 . A vision system according to  claim 1 , wherein the imager comprises a digital camera. 
     
     
         3 . A vision system according to  claim 1 , wherein the imager comprises a plurality of digital cameras including a first digital camera having a first main optical axis and a second digital camera having a second main optical axis, the first main optical axis being angularly separated from the second main optical axis in the horizontal plane. 
     
     
         4 . A vision system according to  claim 3 , wherein the first main optical axis and the second main optical axis define an acute angle therebetween. 
     
     
         5 . A vision system according to  claim 4 , wherein the acute angle is between about 5° and about 25°. 
     
     
         6 . A vision system according to  claim 3 , wherein the first main optical axis is substantially perpendicular to the portion of the aircraft when the aircraft is stopped within the defined parking space. 
     
     
         7 . A vision system according to  claim 1 , wherein the imager supports imaging based on the ultraviolet (UV) region of the electromagnetic spectrum. 
     
     
         8 . A vision system according to  claim 1 , wherein the imager supports imaging based on the infrared (IR) region of the electromagnetic spectrum. 
     
     
         9 . A vision system according to  claim 1 , wherein the distance sensor comprises a laser range finder. 
     
     
         10 . A vision system according to  claim 1 , wherein the distance sensor comprises a plurality of laser range finders that are separated spatially one from another and that are mounted separately proximate the aircraft-engaging end of the passenger boarding bridge. 
     
     
         11 . A vision system according to  claim 1 , comprising a distance-measuring device disposed at a reference location that is remote from the aircraft-engaging end of the passenger boarding bridge and from the aircraft. 
     
     
         12 . A vision system according to  claim 11 , wherein the distance-measuring device is a laser range finder. 
     
     
         13 . A vision system according to  claim 12 , wherein the laser range finder is an element of a visual docking guidance system (VDGS) that is associated with the defined parking space adjacent to the passenger boarding bridge, and that is in communication with the automated control system. 
     
     
         14 . A method for aligning an aircraft-engaging end of a passenger boarding bridge with a doorway of an aircraft, the aircraft stopped within a defined parking space adjacent to the passenger boarding bridge, the method comprising:
 positioning the passenger boarding bridge relative to the aircraft, such that the aircraft-engaging end of the passenger boarding bridge is adjacent to an expected stopping location of the doorway of the aircraft;   capturing image data using an imager that is disposed proximate the aircraft-engaging end of the passenger boarding bridge, the image data including features that are located within a portion of the aircraft that is proximate the expected stopping location of the doorway;   sensing orientation data including tilt data, the orientation data relating to a current orientation of the aircraft-engaging end of the passenger boarding bridge when the aircraft-engaging end of the passenger boarding bridge is positioned adjacent to the expected stopping location of the doorway of the aircraft;   retrieving template image data relating to the doorway of the aircraft;   transforming the template image data based on the sensed orientation data;   comparing the captured image data with the transformed template image data, to determine instruction data relating to a horizontal movement and a vertical movement for aligning the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft;   providing the instruction data to an automated control system of the passenger boarding bridge; and,   under the control of the automated control system, performing the horizontal movement and the vertical movement for aligning the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft.   
     
     
         15 . A method according to  claim 14 , comprising providing the imager with a wide-angle lens. 
     
     
         16 . A method according to  claim 14 , wherein sensing orientation data including tilt data comprises using an inclinometer disposed proximate the aircraft-engaging end of the passenger boarding bridge for sensing tilt of the aircraft-engaging end of the passenger boarding bridge relative a horizontal reference plane. 
     
     
         17 . A method according to  claim 14 , wherein sensing orientation data comprises sensing a distance between the aircraft-engaging end of the passenger boarding bridge and the aircraft. 
     
     
         18 . A method according to  claim 14 , wherein the template image data comprises data relating to at least an image including a feature that is indicative of the location of the doorway of the aircraft. 
     
     
         19 . A method according to  claim 18 , wherein comparing the captured image data with the transformed template image data comprises determining a correlation between the feature that is indicative of the location of the doorway of the aircraft in the transformed template image data and a corresponding feature in the captured image data. 
     
     
         20 . A method according to  claim 14 , comprising guiding the aircraft to the defined parking space using a visual docking guidance system (VDGS). 
     
     
         21 . A method according to  claim 20 , comprising using a sensor of the VDGS for identifying the type and subtype of the aircraft. 
     
     
         22 . A method for aligning an aircraft-engaging end of a passenger boarding bridge with a doorway of an aircraft, comprising:
 using a visual docking guidance system (VDGS), guiding the aircraft to a predetermined stopping position adjacent to the passenger boarding bridge;   positioning the aircraft-engaging end of the passenger boarding bridge at a known position for capturing an image of a portion of the aircraft that is proximate an expected stopping location of the doorway;   using an imager disposed proximate the aircraft-engaging end of the passenger boarding bridge, capturing an image of the portion of the aircraft that is proximate the expected stopping location of the doorway;   sensing orientation data relating to tilt of the aircraft-engaging end of the passenger boarding bridge relative a horizontal reference plane, and relating to distance between the aircraft-engaging end of the passenger boarding bridge and the portion of the aircraft that is proximate the expected stopping location of the doorway;   retrieving a template image from a memory element, the template image relating to the doorway of the aircraft;   transforming the template image based on the sensed orientation data;   based on a comparison between the transformed template image and the captured image, determining instruction data for moving the aircraft-engaging end of the passenger boarding bridge into an aligned condition with the doorway of the aircraft from the known position; and, under the control of an automated control system of the passenger boarding bridge, moving the aircraft-engaging end of the passenger boarding bridge in accordance with the instruction data, so as to align the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft.   
     
     
         23 . A method according to  claim 22 , wherein moving the aircraft-engaging end of the passenger boarding bridge in accordance with the instruction data is performed without capturing an additional image during the course of the movement. 
     
     
         24 . A method according to  claim 22 , comprising determining a type and sub-type of the aircraft, wherein the known position is a predetermined photo position for the determined type and sub-type of the aircraft. 
     
     
         25 . A method according to  claim 24 , wherein the instruction data includes at least horizontal movement instruction data and vertical movement instruction data for effecting a displacement of the aircraft-engaging end of the passenger boarding bridge from the predetermined photo position. 
     
     
         26 . A method according to  claim 25 , comprising correcting the vertical movement instruction based on a bridge specific correction factor. 
     
     
         27 . A method according to  claim 26 , wherein the bridge specific correction factor is based on a known ground surface elevation profile between the photo position and the predetermined stopping position of the aircraft. 
     
     
         28 . A method for aligning an aircraft-engaging end of a passenger boarding bridge with a doorway of an aircraft, the aircraft stopped within a defined parking space adjacent to the passenger boarding bridge, the method comprising:
 moving the aircraft-engaging end of the passenger boarding bridge to a known position adjacent to an expected stopping location of the doorway of the aircraft;   capturing first image data using a first imager that is disposed proximate the aircraft-engaging end of the passenger boarding bridge, the first image data relating to a first portion of the aircraft that is proximate the expected stopping location of the doorway;   capturing second image data using a second imager disposed proximate the aircraft-engaging end of the passenger boarding bridge, the second image data relating to a second portion of the aircraft that is proximate the expected stopping location of the doorway;   sensing orientation data including tilt data, the orientation data relating to an orientation of the aircraft-engaging end of the passenger boarding bridge after moving to the known position;   retrieving template image data relating to the doorway of the aircraft;   transforming the template image. data based on the sensed orientation data;   comparing separately the captured first image data and the captured second image data with the transformed template image data, so as to determine independently first alignment data and second alignment data, respectively;   selecting one of the first alignment data and the second alignment data based on a predefined selection criterion; and   aligning the aircraft-engaging end of the passenger boarding bridge with the doorway of the aircraft based upon the selected one of the first alignment data and the second alignment data.   
     
     
         29 . A method according to  claim 28 , comprising determining a type and sub-type of the aircraft, wherein the known position is a predetermined photo position for the determined type and sub-type of the aircraft. 
     
     
         30 . A method according to  claim 29 , wherein the selected one of the first alignment data and the second alignment data includes at least horizontal movement instruction data and vertical movement instruction data for effecting a displacement of the aircraft-engaging end of the passenger boarding bridge from the predetermined photo position. 
     
     
         31 . A method according to  claim 30 , comprising correcting the vertical movement instruction based on a bridge specific correction factor. 
     
     
         32 . A method according to  claim 31 , wherein the bridge specific correction factor is based on a known ground surface elevation profile between the photo position and the predetermined stopping position of the aircraft. 
     
     
         33 . A method according to  claim 28 , wherein sensing orientation data including tilt data comprises using an inclinometer disposed proximate the aircraft-engaging end of the passenger boarding bridge for sensing tilt of the aircraft-engaging end of the passenger boarding bridge relative a horizontal reference plane. 
     
     
         34 . A method according to  claim 28 , wherein sensing orientation data comprises sensing a distance between the aircraft-engaging end of the passenger boarding bridge and the aircraft.