JP2000355298A - Boarding bridge anti-collision device - Google Patents

Abstract

(57) [Problem] To improve the versatility of a collision prevention device for a boarding bridge and improve the accuracy of collision prevention control. A turning angle detecting section for detecting a turning angle of the rotors 4, 5, a tunnel length detecting section for detecting a length of the tunnel sections 10 and 11, and a cab for detecting a turning angle of the cabs 8 and 9. A rotation angle detector. Based on each detected value, the distance T1 between the corner D of the cab 8 and the side surface of the tunnel 11 and the distance T2 between the corner A 'of the cab 8 and the corner C of the cab 9 are calculated. . These distances T1, T2, ...
Are less than the predetermined values U1, U2,..., The traveling movement of the boarding bridges 1, 2 is forcibly stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boarding bridge collision preventing device for preventing a collision between boarding bridges mounted on an aircraft door.

[0002]

2. Description of the Related Art In addition to ramps, boarding bridges are often used as getting-on / off devices for aircraft. The boarding bridge is a telescopic and rotatable tunnel-like passage installed in the airport terminal building.When getting on and off, the cab at the end of the boarding bridge is attached to the aircraft door, and passengers pass through the internal passage and Get on and off.

When two or more boarding bridges are used for one aircraft, the boarding bridges may collide with each other when the boarding bridges are attached or detached. Therefore, various collision prevention devices for preventing collision of the boarding bridge have been conventionally proposed.

For example, Japanese Patent Laying-Open No. 58-188795 discloses a device in which when the turning angle of a boarding bridge exceeds a predetermined value, the turning is stopped to prevent a collision. However, it is difficult to reliably grasp the possibility of a collision, for example, based on the turning angle, the turning is stopped in spite of the fact that there is no fear of a collision.

Therefore, Japanese Patent Application Laid-Open No. 1-168599 discloses that the turning angle and length of a boarding bridge, the turning angle of a cab, and the like are respectively detected, and the detected values are determined in advance based on an airport layout, an aircraft model, and the like. There is disclosed an apparatus which compares a predetermined value with a predetermined value and prevents a collision based on the magnitude thereof.

[0006]

However, the turning angle, the length, and the like of the boarding bridge to be compared with the detected value are set.
Predetermined values such as the cab rotation angle are set in advance in accordance with the layout of the terminal building, the shape and dimensions of the aircraft, etc. On the other hand, it was not applicable as it was. Therefore, in the conventional collision prevention device, it is necessary to reset each predetermined value with the introduction of a new type of aircraft, and it has low versatility.

Further, depending on the positional relationship of the boarding bridge, a collision avoidance operation may be performed even though there is no fear of a collision, so that precise collision prevention control is difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a boarding bridge collision prevention device which is highly versatile and can be precisely controlled.

[0009]

In order to achieve the above object, according to the present invention, a distance between boarding bridges is appropriately calculated, and a collision preventing operation is performed based on the distance.

[0010] Specifically, the first invention comprises at least 2
A collision prevention device for a boarding bridge that prevents collision between the boarding bridges when the base boarding bridge is attached to an aircraft door or when the boarding bridge is detached from the aircraft door, and includes a predetermined corner of at least one of the boarding bridges. The distance between the other boarding bridge and a predetermined side portion is calculated, and when the distance becomes equal to or smaller than a predetermined value, a collision preventing operation of the boarding bridge is executed.

According to the above, at the time of mounting or removing the boarding bridge, a distance between a predetermined corner of at least one of the boarding bridges and a predetermined side of the other boarding bridge is calculated, and the distance is calculated as a predetermined value. When the following conditions are satisfied, the collision prevention operation is performed. Therefore, regardless of the airport layout, aircraft model, etc.
The anti-collision operation is performed based on the actual distance between the two boarding bridges, thereby realizing highly versatile and highly accurate anti-collision control. In particular, the collision of the boarding bridge is considered to be most likely to occur between the corner of one boarding bridge and the side of the other boarding bridge. Will be.

[0012] A second invention is a collision preventing device for a boarding bridge for preventing collision between the boarding bridges when attaching or detaching at least two boarding bridges from an aircraft door, Calculating a distance between at least a predetermined corner of one of the boarding bridges and a predetermined corner of the other boarding bridge, and performing a collision preventing operation of the boarding bridge when the distance is equal to or less than a predetermined value. It is.

According to the above, at the time of attaching or detaching the boarding bridge, a distance between a predetermined corner of at least one boarding bridge and a predetermined corner of the other boarding bridge is calculated, and the distance is calculated as a predetermined value. When the following conditions are satisfied, the collision prevention operation is performed. Therefore, regardless of the airport layout, aircraft model, etc.
The anti-collision operation is performed based on the actual distance between the two boarding bridges, thereby realizing highly versatile and highly accurate anti-collision control.

According to a third aspect, in the second aspect,
Calculating the distance between a given corner of one boarding bridge and a given side of the other boarding bridge;
When the distance becomes equal to or less than a predetermined value, the collision preventing operation of the boarding bridge is executed.

According to the above, the collision prevention control is effectively executed.

In a fourth aspect based on the first to third aspects, the boarding bridge comprises: a rotatable rotator connected to a terminal building; a rotatable cab attached to an aircraft door; A swivel angle detecting means for detecting a swivel angle of the rottener, a tunnel length detecting means for detecting a swivel angle of the rotander, comprising a telescopic tunnel section for forming a passage connecting the rottener and the cab; A cab turning angle detecting means for detecting the turning angle of the cab, and a predetermined angle between one of the boarding bridges and a predetermined side of the other boarding bridge based on the detection value of each of the detecting means. Or a calculating unit for calculating a distance between a predetermined corner of one boarding bridge and a predetermined corner of the other boarding bridge; Is obtained by the fact that a execution unit for executing an operation to prevent the collision to a value below.

According to the above, the distance between the predetermined corner of one of the boarding bridges and the predetermined side of the other boarding bridge, or the predetermined distance of the one boarding bridge, based on the detection values of the respective detecting means. And the distance between the corner of the other boarding bridge and the predetermined corner of the other boarding bridge, or both. Then, when the distance becomes equal to or less than the predetermined value, the execution unit executes the collision prevention operation. Accordingly, high-precision anti-collision control can be realized without a measuring device for directly measuring the distance between the boarding bridges.

The distance between a predetermined corner of one boarding bridge and a predetermined side of the other boarding bridge may be, for example, the corner of the cab of one boarding bridge and the tunnel of the other boarding bridge. The distance from the side surface or the distance between the most protruding portion of the cab of one boarding bridge toward the other boarding bridge and the side surface of the tunnel portion of the other boarding bridge may be calculated. The distance between the predetermined corner of one boarding bridge and the predetermined corner of the other boarding bridge is defined as the distance between the corner of the cab of one boarding bridge and the corner of the cab of the other boarding bridge. The distance of the
The distance between the corner of the cab of one boarding bridge and the corner of the tunnel of the other boarding bridge may be calculated.

[0019]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a collision prevention device according to the present embodiment is provided in a terminal building 3 of an airport.
Boarding bridge (hereinafter also referred to as first bridge)
1 and a second boarding bridge (hereinafter, also referred to as a second bridge) 2 to prevent collision.

First and second boarding bridges 1, 2
(Round circular chambers) 4 and 5 are connected to boarding ports 6 and 7 of the terminal building 3, respectively. Cabs (tip circular chambers) attached to the doors of passenger aircraft (not shown) are provided at the tips of the first and second boarding bridges 1 and 2.
8 and 9 are respectively formed. The cabs 8, 9 are composed of cylindrical cab bodies 8a, 9a and cab bodies 8a, 9
a and a substantially rectangular parallelepiped connecting portion 8 for connecting a to a passenger aircraft door
b, 9b. A stretchable tunnel portion 10 is provided between the rotator 4 and the cab 8 of the first boarding bridge 1. Similarly, a telescopic tunnel portion 11 is provided between the rotator 5 and the cab 9 of the second boarding bridge 2. The tunnel portions 10 and 11 form a tunnel-like communication passage connecting the terminal building 3 and the passenger aircraft. Each of the boarding bridges 1 and 2 has a traveling wheel, which is 0.4 m when attached to or detached from a passenger aircraft.
/ S or less.

As shown in FIG. 2, the collision preventing device comprises a turning angle detecting section 21 for detecting turning angles of the rotors 4, 5 of the boarding bridges 1, 2, and tunnel sections 10, 11.
A cab turning angle detecting unit 23 for detecting the turning angles of the cabs 8, 9;
An arithmetic unit 24, an alarm unit 25, and a forced stop unit 26 are provided. Note that the alarm unit 25 and the forcible stop unit 26 form an execution unit 27 that executes a collision prevention operation. The calculation unit 24 includes, as described in detail below, the detection units 21, 22,
23, the boarding bridges 1 and 2
It is a part for calculating the distance between a predetermined point and a line between the two, and the distance between the points. The alarm unit 25 is a unit that receives an operation result of the operation unit 24 and issues an alarm when each distance is equal to or less than a first predetermined value (for example, 2 m). The forcible stopping unit 26 determines that each of the distances is a second predetermined value (for example, 1) smaller than the first predetermined value.
m) This is a part forcibly stopping the traveling movement of both boarding bridges 1 and 2 in the following cases.

The turning angle detector 21 and the cab turning angle detector 2
As 3, well-known detection means such as an angle sensor can be used. As the tunnel length detecting unit 22, for example, an optical detecting device or a detecting device using a magnetic tape can be suitably used.

-Collision prevention control-Next, the collision prevention control of the present collision prevention device will be described. This collision prevention control calculates the distance between a predetermined point and a line, which may be the minimum distance between the boarding bridges 1 and 2, and the distance between the points, and calculates the distance between the points. The anti-collision operation is executed on the basis of this.

In the following description, the symbols shown in Tables 1 and 2 will be used. Each symbol in Table 1 indicates a constant that always takes a constant value regardless of the position of both boarding bridges 1 and 2, and each symbol in Table 2 changes according to the position of both boarding bridges 1 and 2. Variable (parameter)
Is shown.

[0026]

[Table 1]

[0027]

[Table 2]

As shown in FIG. 3, with respect to the first and second boarding bridges 1 and 2, virtual points A, A ', B, C,
Set D, E, F, G, H and I. Specifically, a point A on the tip side of the connecting portion 8b of the cab 8 of the first boarding bridge 1 opposite to the second boarding bridge 2 is defined as a point A, and a corner on the second boarding bridge 2 side is defined as a point A '. I do. The first boarding bridge 1 on the tip side of the communication portion 9b of the cab 9 of the second boarding bridge 2
A corner portion on the side of the cab is referred to as a point B, and a corner portion on the cab body 9a side from the point B is a point C. The center point of the cab body 8a of the first boarding bridge 1 is defined as a point F, and the center point of the cab body 9a of the second boarding bridge 2 is defined as a point E. The point of the cab body 8a of the first boarding bridge 1 that is closest to the cab body 9a is point G, and the point of the cab body 9a of the second boarding bridge 2 that is closest to the cab body 8a is point I. A point on the tip of the tunnel portion 10 of the first boarding bridge 1 on the side of the second boarding bridge 2 is defined as a point D, and a point closest to the point D on the cab body 9a of the second boarding bridge 2 is defined as a point H.

Then, the following T1 to T8 are calculated as the distance between the point and the line and the distance between the points, which may be the minimum distance between the boarding bridges 1 and 2. That is, T1: the distance between the point D and the side surface of the tunnel portion 11 of the second boarding bridge 2 T2: the distance between the points A 'and C T3: the distance between the points A' and B T4 : Distance between point A and point C T5: distance between point A and point B T6: distance between point A 'and the side surface of tunnel portion 11 of second boarding bridge 2 T7: point D Distance between the point H and T8: The distance between the point G and the point I is calculated. T1 and T6 are distances between a point and a line, and are defined as "distance between a predetermined corner of one boarding bridge and a predetermined side of the other boarding bridge" in the present invention. Corresponding. T2-T5, T7
And T8 are distances between points, and are referred to in the present invention as "distance between a predetermined corner of one boarding bridge and a predetermined corner of the other boarding bridge."
Corresponding to

Next, a specific method of calculating the distances T1 to T8 will be described with reference to FIGS.
That is, the distance T1 is expressed as follows: line segment O1 = a1 + L1 × tan ((π / 2) −α + θ) x1 = O1 × cos (α−θ) −L1 ÷ cos ((π /
2) −α + θ) x2 = (O1 × sin (α−θ) −Y) ÷ tan β−X +
Using L2 ÷ sinβ, T1 = | (x2−x1) × sinβ | (1)

The distance T2 is given by: x3 = a1 × cos (α−θ) + L3 × cos (α−θ−
ε + (π / 2) + γ) y3 = a1 × sin (α−θ) + L3 × sin (α−θ−
ε + (π / 2) + γ) x4 = a2 × cos β−X + L5 × cos ((π / 2)
−β + η−δ) y4 = Y + a2 × sin β−L5 × sin ((π / 2)
−β + η−δ), and is calculated by T2 = ((x4−x3) ² + (y4−y3) ² ) ^0.5 −− (2)

The distance T3 is given by: x5 = a2 × cos β−X + L4 × cos ((π / 2)
−β−δ + ζ) y5 = a2 × sinβ−X + L4 × sin ((π / 2)
−β−δ + ζ), and is calculated by T3 = ((x5−x2) ² + (y5−y2) ² ) ^0.5 −3 (3)

The distance T4 is given by: x6 = a1 × cos (α−θ) + L3 × cos ((π /
2) −γ−α + θ + ε) y6 = a1 × sin (α−θ) −L3 × cos ((π /
2) Using −γ−α + θ + ε), T4 = ((x4-x6) ² + (y4-y6) ² ) ^0.5 ------ (4)

The distance T5 is calculated by T5 = ((x5-x6) 2 + (y5-y6) 2) 0.5 ------ (5).

The distance T6 is given by: x7 = (L3 × sin (α−θ + γ + ε− (π / 2)) +
a1 × sin (α−θ) −Y) ÷ tanβ + L2 ÷ sin
Using β-X, T6 = | (x3-x7) × sinβ | ------ (6)
Is calculated by

The distance T7 is calculated using the following equation: x8 = a2 × cos β−X y8 = Y + a2 × sin β y1 = O1 × sin (α−θ) T7 = ((x8−x1) ² + (y8−y1) ² ) ^0.5 -R1 ------ Calculated by (7).

The distance T8 is used x9 = a1 × cos (α- θ) y9 = a1 × sin (α-θ), T8 = ((x8-x9) 2 + (y8-y9) 2) 0.5 -R1 −R2 Calculated by (8).

Thereafter, as shown in FIG.
In 1 to ST8, it is determined whether or not these distances T1 to T8 are larger than first predetermined values S1 to S8 set in advance (in other words, whether or not these distances are equal to or less than a first predetermined value), and the distance T1 is determined. If T8 is larger than S1 to S8, it is determined that there is no risk of collision, and the traveling movement of both boarding bridges 1 and 2 is continued.

As shown in FIGS. 8 and 9, the angle between the center lines of the boarding bridges 1 and 2 (= β−
If (α + θ) is greater than π / 2, there is no risk of collision even if the distance T1 or T6 is equal to or less than a predetermined value.
Therefore, if the determination results in steps ST1 and ST6 are YES, the angle formed by the center lines of the boarding bridges 1 and 2 in step ST21 and ST22 is a predetermined angle λ (a value of π / 2 or less, respectively). For example, 70
゜) is determined, and if the angle is greater than the predetermined angle λ, it is determined that there is no risk of collision, and the process returns to steps ST2 and ST7, respectively.

In contrast, steps ST21 and ST2
2. If the determination result in any of ST2 to ST5, ST7, or ST8 is No, steps ST11 to ST11 are performed.
Proceed to ST18. In steps ST11 to ST18, it is determined whether or not the distances T1 to T8 are larger than the second predetermined values U1 to U8, respectively (in other words, whether or not the distances are equal to or smaller than the second predetermined value). Note that the second predetermined values U1 to U8 are smaller than the first predetermined values S1 to S8, respectively. As a result, the distances T1 to T8 become the second predetermined values U1 to U8, respectively.
Larger than both boarding bridges 1, 2
Although it is determined that the vehicle is approaching to some extent but the possibility of collision is small, the process proceeds to step 30, and an alarm is issued while the traveling speed of both boarding bridges 1 and 2 is reduced.

On the other hand, if the determination result in any of steps ST11 to ST18 is NO, it is determined that there is a high possibility of collision between the two boarding bridges 1 and 2, and the process proceeds to step ST40, where the two boarding bridges 1 and 2 are determined.
Forcibly stop the movement of No. 2 in the approach direction.

The order of the steps ST1 to ST8 is arbitrary, and ST11 to ST18 is correspondingly performed.
May be in any order. Further, the first predetermined values S1 to S8 and the second predetermined values U1 to U8 can be set to arbitrary values, and once set, can be changed by a user or the like.

As described above, according to the present collision prevention device,
The distances T1 and T6 between the point and the line at which there is a possibility of collision in both boarding bridges 1 and 2 and the distances T2 to T5, T7 and T8 between the points are calculated, and these distances are determined. When the value is equal to or less than the value, a warning is issued or the traveling is stopped, so that it is possible to execute the collision prevention control with high accuracy without being affected by the type of the aircraft or the like. Therefore, the present collision prevention device is excellent in versatility, for example, it can be applied to a new type of aircraft.

Further, since the respective distances T1 to T8 are determined by calculation, a special measuring device (for example, an optical or radar type distance sensor) for measuring each distance is not required, and the apparatus is not required. Cost reduction can be achieved.

-Variations- In the above embodiment, all of the distances between the point and the line and the distances between the points where there is a possibility of collision are T1 to T8.
Although the collision prevention control has been performed based on the above, it is needless to say that the control using only a part of the distances T1 to T8 may be performed according to the layout of the terminal building, the installation state of the boarding bridge, and the like. Also, it is usually easy to avoid a collision on the tip side of the cab based on the visual observation of an operator operating the boarding bridge,
The distance T1 is used only to prevent the collision between the cab bodies and the collision between the cab body and the tunnel portion, which are blind spots of the operator.
Alternatively, collision prevention control may be performed based on a part of T8. Thereby, simplification of the device and control can be achieved.

As the collision prevention operation, a predetermined distance T1 to T
Of course, if any one of the values 8 becomes equal to or less than the predetermined value, the traveling of the boarding bridges 1 and 2 may be immediately stopped without issuing an alarm.

The number of boarding bridges is not limited to two, but may be three or more.

[0048]

As described above, according to the present invention, the distance between the predetermined corner of at least one boarding bridge and the predetermined side of the other boarding bridge, or the predetermined distance of the one boarding bridge. The distance between the corner and the predetermined corner of the other boarding bridge is calculated, and when the distance becomes equal to or less than the predetermined value, the collision prevention operation is performed. Instead, the possibility of a collision can be directly detected based on the actual distance between the two boarding bridges. Therefore, it is possible to execute the collision prevention control with high versatility and high accuracy.

Turning angle detecting means for detecting the turning angle of the rotor of the boarding bridge, tunnel length detecting means for detecting the length of the tunnel portion, cab turning angle detecting means for detecting the turning angle of the cab, Based on the detection values of these detecting means, the distance between the predetermined corner of one boarding bridge and the side of the other boarding bridge, or the predetermined corner of one boarding bridge and the predetermined corner of the other boarding bridge. By using a special sensor that measures the distance between the boarding bridges by including a calculation unit that calculates the distance between the corners and an execution unit that executes a collision prevention operation when the distance becomes a predetermined value or less. Even without this, it is possible to execute highly accurate collision prevention control.

[Brief description of the drawings]

FIG. 1 is a plan view of a boarding bridge.

FIG. 2 is a block diagram illustrating a configuration of a collision prevention device.

FIG. 3 is a plan view of a boarding bridge.

FIG. 4 is a plan view of a boarding bridge.

FIG. 5 is a plan view of a boarding bridge.

FIG. 6A is a partial plan view of a cab of a first boarding bridge, and FIG. 6B is a partial plan view of a cab of a second boarding bridge.

FIG. 7 is a flowchart of collision prevention control.

FIG. 8 is a plan view of a boarding bridge.

FIG. 9 is a diagram for explaining a positional relationship between center lines of first and second boarding bridges.

[Explanation of symbols]

 1, 2 Boarding bridge 3 Terminal building 4, 5 Rotanda 6, 7 Boarding gate 8, 9 Cab 8a, 9a Cab body 8b, 9b Communication section 10, 11 Tunnel section 21 Turning angle detection section 22 Tunnel length detection section 23 Cab times Moving angle detection unit 24 Operation unit 25 Alarm unit 26 Forced stop unit 27 Execution unit

Claims (4)

[Claims] 1. A collision prevention device for a boarding bridge for preventing collision between boarding bridges when attaching or detaching at least two boarding bridges from an aircraft door, wherein at least one of the boarding bridges is provided. Calculating a distance between a predetermined corner portion of the bridge and a predetermined side portion of the other boarding bridge, and performing a collision prevention operation of the boarding bridge when the distance becomes equal to or less than a predetermined value. Anti-collision device. 2. An anti-collision device for a boarding bridge for preventing a collision between at least two boarding bridges when the boarding bridge is attached to or detached from an aircraft door, the boarding bridge comprising at least one boarding bridge. Calculating a distance between a predetermined corner of the bridge and a predetermined corner of the other boarding bridge, and performing a collision prevention operation of the boarding bridge when the distance becomes equal to or less than a predetermined value. Anti-collision device. 3. A distance between a predetermined corner of one boarding bridge and a predetermined side of the other boarding bridge is calculated, and when the distance becomes equal to or less than a predetermined value, a collision preventing operation of the boarding bridge is performed. The collision prevention device for a boarding bridge according to claim 2. 4. The boarding bridge includes a rotatable rotatable connected to a terminal building, a rotatable cab mounted on an aircraft door, and a telescoping partition that defines a passage connecting the roanda and the cab. Turning angle detecting means for detecting the turning angle of the rotor, tunnel length detecting means for detecting the length of the tunnel section, and cab turning angle for detecting the turning angle of the cab. Detecting means, based on a detection value of each of the detecting means, a distance between a predetermined corner of one boarding bridge and a predetermined side of the other boarding bridge, or a predetermined corner of one boarding bridge; A calculating unit for calculating a distance between the boarding bridge and a predetermined corner of the other boarding bridge; The collision-avoidance apparatus for boarding bridge as claimed in claim 1, and a part.