CN112265646B

CN112265646B - Control method of boarding bridge and related equipment

Info

Publication number: CN112265646B
Application number: CN202011187311.5A
Authority: CN
Inventors: 邱增; 罗伟; 黄杏; 任予华; 王燕妮
Original assignee: Shenzhen CIMC Tianda Airport Support Ltd
Current assignee: Shenzhen CIMC Tianda Airport Support Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2022-04-29
Anticipated expiration: 2040-10-30
Also published as: CN112265646A

Abstract

The embodiment of the disclosure provides a control method and device of a boarding bridge, a computer readable storage medium and electronic equipment, and belongs to the technical field of computers and communication. The method comprises the following steps: judging whether a wheel carrier of the boarding bridge can directly rotate to the direction pointed by the handle or not according to the angle of the handle and the angle of the pick-up port; when the wheel frame can directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate forwards so that the connector port moves towards the direction pointed by the handle; and when the wheel frame cannot directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction opposite to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate backwards so that the machine connecting port moves towards the direction pointed by the handle. The method disclosed by the invention can realize the omnibearing orientation driving of the interface.

Description

Control method of boarding bridge and related equipment

Technical Field

The present disclosure relates to the field of computer and communication technologies, and in particular, to a method and an apparatus for controlling a boarding bridge, a computer-readable storage medium, and an electronic device.

Background

The boarding bridge is a movable channel for connecting a terminal building and an airplane, and with the continuous growth of the boarding bridge market, the boarding bridge is operated efficiently and conveniently, so that an operator can be butted to an airplane door of the airplane in a short time, and the boarding bridge is an urgent requirement of an airport operation department. The boarding bridge control method in the invention solves the requirement to a great extent.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The embodiment of the disclosure provides a control method and device of a boarding bridge, a computer readable storage medium and electronic equipment, which can realize omnibearing directional driving of a machine interface.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, there is provided a method of controlling a boarding bridge, including:

acquiring an angle of a handle and an angle of a machine receiving port, wherein the angle of the handle is an included angle between the handle and the machine receiving port, and the angle of the machine receiving port is an included angle between the machine receiving port and a channel of a boarding bridge;

judging whether a wheel carrier of the boarding bridge can directly rotate to the direction pointed by the handle or not according to the angle of the handle and the angle of the pick-up port;

when the wheel frame can directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate forwards so that the connector port moves towards the direction pointed by the handle; and

when the wheel frame cannot directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction opposite to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate backwards, so that the machine connecting port moves towards the direction pointed by the handle.

In one embodiment, the handle may be directed to any one of the parties in a range of 0 to 360 degrees with respect to the console, the interface may be directed to any one of the parties in a range of 90 degrees left and right with respect to the tunnel of the boarding bridge, the wheel carriage may be directed to any one of the parties in a range of 90 degrees left and right with respect to the tunnel of the boarding bridge, and when the interface is not rotated with respect to the tunnel of the boarding bridge:

the handle is in a pointing range of more than or equal to 0 to less than or equal to 180 degrees relative to the operating platform and is a rotating range in which the wheel frame can directly rotate to the direction pointed by the handle, and the handle is in a pointing range of more than 180 to less than 360 degrees relative to the operating platform and is a rotating range in which the wheel frame cannot directly rotate to the direction pointed by the handle.

In one embodiment, when the airport pickup is turned to the left by an angle m relative to the tunnel of the boarding bridge:

the handle is in a pointing range of more than or equal to m and less than or equal to 180+ m degrees relative to the operating platform, and is a rotating range in which the wheel frame can directly rotate to the direction pointed by the handle, and the handle is in a pointing range of more than 180+ m and less than or equal to 360 degrees and in a pointing range of more than or equal to 0 and less than m relative to the operating platform, and is a rotating range in which the wheel frame cannot directly rotate to the direction pointed by the handle.

In one embodiment, when the airport pickup is turned to the right by an angle n relative to the tunnel of the boarding bridge:

the handle is in a pointing range of more than or equal to 0 and less than or equal to 180-n degrees and a pointing range of more than or equal to 360-n and less than or equal to 360 degrees relative to the operating platform, and is a rotating range in which the wheel frame can directly rotate to the direction pointed by the handle, and the handle is in a pointing range of more than 180-n and less than 360-n degrees relative to the operating platform, and is a rotating range in which the wheel frame cannot directly rotate to the direction pointed by the handle.

In one embodiment, the handle can point to any one of the directions within the range of 0 to 360 degrees, the handle is divided into four areas on the average within the rotation range of 0 to 360 degrees, the upper left area is the first area of the handle, the upper right area is the second area of the handle, the lower left area is the third area of the handle, and the lower right area is the fourth area of the handle, wherein, within the first area of the handle, the angle of the handle is from 0 to 90 degrees counterclockwise, within the second area of the handle, the angle of the handle is from-90 to 0 degrees counterclockwise, within the third area of the handle, the angle of the handle is from-90 to 0 degrees counterclockwise, within the fourth area of the handle, the angle of the handle is from 0 to 90 degrees counterclockwise;

the machine receiving port can point to any one party within the range of 0 to 180 degrees, the rotation range of the machine receiving port from 0 to 180 degrees is averagely divided into two areas, the upper left corner area is a first area of the machine receiving port, and the upper right corner area is a second area of the machine receiving port, wherein the angle of the machine receiving port in the first area of the machine receiving port ranges from 0 degree to 90 degrees in a counterclockwise mode, and the angle of the machine receiving port in the second area of the machine receiving port ranges from-90 degrees to 0 degrees in the counterclockwise mode;

the wheel frame can point to any one side within the range of 0 to 180 degrees, the rotation range of the wheel frame from 0 to 180 degrees is averagely divided into two areas, the upper left corner area is a first area of the wheel frame, and the upper right corner area is a second area of the wheel frame, wherein the angle of the wheel frame in the first area of the wheel frame is from 0 to 90 degrees in a counterclockwise direction, and the angle of the wheel frame in the second area of the wheel frame is from-90 to 0 degrees in the counterclockwise direction;

the wheel carrier can not directly rotate to the direction pointed by the handle, and the wheel carrier comprises:

when the handle is in the first area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is larger than 90 degrees;

when the handle is in the second area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is smaller than-90 degrees;

when the handle is in the third area of the handle, the sum of the angle of the handle and the angle of the interface is larger than-90 degrees; and

when the handle is in the fourth area of the handle, the sum of the angle of the handle and the angle of the connector port is smaller than 90 degrees.

In one embodiment, when the handle is in the first area of the handle, if the sum of the angle of the handle and the angle of the interface is greater than 90 degrees, the angle of the wheel frame is made to be 180 degrees less than the sum of the angle of the handle and the angle of the interface, and the interface moves towards the direction pointed by the handle by driving the wheels of the wheel frame to rotate backwards;

when the handle is in a second area of the handle, if the sum of the angle of the handle and the angle of the machine connecting port is smaller than-90 degrees, the angle of the wheel carrier is 180 degrees added to the sum of the angle of the handle and the angle of the machine connecting port, and the wheel of the wheel carrier is driven to rotate backwards so that the machine connecting port moves towards the direction pointed by the handle;

when the handle is in a third area of the handle, if the sum of the angle of the handle and the angle of the machine receiving port is larger than-90 degrees, the angle of the wheel frame is made to be the sum of the angle of the handle and the angle of the machine receiving port, and the wheel of the wheel frame is driven to rotate backwards so that the machine receiving port moves towards the direction pointed by the handle; and

when the handle is in the fourth area of the handle, if the sum of the angle of the handle and the angle of the machine interface is smaller than 90 degrees, the angle of the wheel frame is made to be the sum of the angle of the handle and the angle of the machine interface, and the wheel of the wheel frame is driven to rotate backwards to enable the machine interface to move towards the direction pointed by the handle.

In one embodiment, the rotation of the wheel frame directly to the direction pointed by the handle comprises:

when the handle is arranged in the first area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is less than or equal to 90 degrees;

when the handle is in the second area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is larger than or equal to-90 degrees;

when the handle is in a third area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is smaller than or equal to-90 degrees; and

when the handle is arranged in the fourth area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is larger than or equal to 90 degrees.

In one embodiment, when the handle is in the first area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is less than or equal to 90 degrees, so that the angle of the wheel frame is the sum of the angle of the handle and the angle of the machine connecting port, and the wheel of the wheel frame is driven to rotate forwards so that the machine connecting port moves towards the direction pointed by the handle;

when the handle is in the second area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is larger than or equal to-90 degrees, so that the angle of the wheel carrier is the sum of the angle of the handle and the angle of the machine connecting port, and the wheel of the wheel carrier is driven to rotate forwards to enable the machine connecting port to move towards the direction pointed by the handle;

when the handle is in a third area of the handle, the sum of the angle of the handle and the angle of the machine receiving port is smaller than or equal to-90 degrees, the angle of the wheel carrier is made to be 180 degrees added to the sum of the angle of the handle and the angle of the machine receiving port, and the wheel of the wheel carrier is driven to rotate forwards so that the machine receiving port moves towards the direction pointed by the handle; and

when the handle is in the fourth area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is larger than or equal to 90 degrees, the angle of the wheel carrier is made to be 180 degrees less than the sum of the angle of the handle and the angle of the machine connecting port, and the wheel of the wheel carrier is driven to rotate forwards so that the machine connecting port moves towards the direction pointed by the handle.

According to an aspect of the present disclosure, there is provided a control apparatus of a boarding bridge, including:

the acquisition module is configured to acquire an angle of a handle and an angle of a machine receiving port, wherein the angle of the handle is an included angle between the handle and the machine receiving port, and the angle of the machine receiving port is an included angle between the machine receiving port and a channel of a boarding bridge;

the judging module is configured to judge whether a wheel carrier of the boarding bridge can directly rotate to the direction pointed by the handle according to the angle of the handle and the angle of the pick-up port; and

the driving module is configured to enable the wheel frame to rotate to the direction pointed by the handle when the wheel frame can directly rotate to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate forwards so that the machine interface moves to the direction pointed by the handle; when the wheel frame cannot directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction opposite to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate backwards, so that the machine connecting port moves towards the direction pointed by the handle.

According to an aspect of the present disclosure, there is provided an electronic device including:

one or more processors;

a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement a method as in any one of the above methods.

According to an aspect of the present disclosure, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the method of any one of the above methods.

The control method of the boarding bridge can realize the directional driving of the machine receiving port within the range of 360 degrees.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The following figures depict certain illustrative embodiments of the invention in which like reference numerals refer to like elements. These described embodiments are to be considered as exemplary embodiments of the disclosure and not limiting in any way.

Fig. 1 is a schematic diagram illustrating an exemplary system architecture to which a control method of a boarding bridge or a control apparatus of a boarding bridge according to an embodiment of the present disclosure may be applied;

FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use with the electronic device implementing embodiments of the present disclosure;

fig. 3 schematically shows a flowchart of a control method of a boarding bridge according to an embodiment of the present disclosure;

fig. 4A is a schematic view of a boarding bridge with the interface not rotating relative to the tunnel of the bridge according to one embodiment of the present disclosure;

fig. 4B is a schematic view of the boarding bridge when the airport pick-up port is rotated to the left by an angle m with respect to the tunnel of the boarding bridge according to an embodiment of the present disclosure;

fig. 4C is a schematic view of the boarding bridge when the airport pick-up port is turned to the right by an angle n with respect to the tunnel of the boarding bridge according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a handle steering range of an embodiment of the present application;

FIG. 6A is a schematic view of the handle of one embodiment of the present disclosure oriented in a first region;

FIG. 6B is a schematic view of the handle of one embodiment of the present disclosure oriented in a second region;

6C-6E are schematic pointing views of the handle of the present disclosure in a third region;

6F-6H are schematic pointing views of the handle of the present disclosure in a fourth region;

fig. 7 schematically shows a block diagram of a control apparatus of a boarding bridge according to an embodiment of the present disclosure;

fig. 8 is a block diagram schematically showing a control apparatus of a boarding bridge according to another embodiment of the present invention;

fig. 9 schematically shows a block diagram of a control apparatus of a boarding bridge according to another embodiment of the present invention.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Fig. 1 shows a schematic diagram of an exemplary system architecture 100 to which the control method of the boarding bridge or the control apparatus of the boarding bridge of the embodiments of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include one or more of

terminal devices

101, 102, 103, a network 104, and a server 105. The network 104 is a medium to provide communication links between the

terminal devices

101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation. For example, server 105 may be a server cluster comprised of multiple servers, or the like.

The boarding bridge or staff may interact with a server 105 via

terminal devices

101, 102, 103 via a network 104 to receive or send messages or the like. The

terminal devices

101, 102, 103 may be a variety of electronic devices including, but not limited to, smart phones, tablets, portable and desktop computers, digital cinema projectors, and the like.

The server 105 may be a server that provides various services. For example, the terminal device 103 (which may also be the terminal device 101 or 102) is used by the boarding bridge or a worker to send a control request of the boarding bridge to the server 105, for example, the worker may view the control request of the boarding bridge as being sent to the server 105 by turning a handle. The server 105 may obtain an angle of a handle and an angle of a pick-up port, where the angle of the handle is an included angle between the handle and the pick-up port, and the angle of the pick-up port is an included angle between the pick-up port and a tunnel of the boarding bridge; judging whether a wheel carrier of the boarding bridge can directly rotate to the direction pointed by the handle or not according to the angle of the handle and the angle of the pick-up port; when the wheel frame can directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate forwards so that the connector port moves towards the direction pointed by the handle; and when the wheel frame cannot directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction opposite to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate backwards so that the machine connecting port moves towards the direction pointed by the handle.

Also, for example, the terminal device 103 (also may be the terminal device 101 or 102) may be a smart tv, a VR (Virtual Reality)/AR (Augmented Reality) helmet display, or a mobile terminal such as a smart phone, a tablet computer, etc. on which navigation, network appointment, instant messaging, video Application (APP), etc. are installed, and the boarding bridge or a worker may send a control request of the boarding bridge to the server 105 through the smart tv, the VR/AR helmet display, or the navigation, network appointment, instant messaging, video APP. The server 105 may obtain a control result of the boarding bridge based on the control request of the boarding bridge, and return the control result of the boarding bridge to the smart television, the VR/AR helmet display, or the navigation, network appointment, instant messaging, and video APP, and then display the returned control result of the boarding bridge through the smart television, the VR/AR helmet display, or the navigation, network appointment, instant messaging, and video APP.

FIG. 2 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present disclosure.

It should be noted that the computer system 200 of the electronic device shown in fig. 2 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 2, the computer system 200 includes a Central Processing Unit (CPU)201 that can perform various appropriate actions and processes in accordance with a program stored in a Read-Only Memory (ROM) 202 or a program loaded from a storage section 208 into a Random Access Memory (RAM) 203. In the RAM 203, various programs and data necessary for system operation are also stored. The CPU 201, ROM 202, and RAM 203 are connected to each other via a bus 204. An input/output (I/O) interface 205 is also connected to bus 204.

The following components are connected to the I/O interface 205: an input portion 206 including a keyboard, a mouse, and the like; an output section 207 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 208 including a hard disk and the like; and a communication section 209 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 209 performs communication processing via a network such as the internet. A drive 210 is also connected to the I/O interface 205 as needed. A removable medium 211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 210 as necessary, so that a computer program read out therefrom is installed into the storage section 208 as necessary.

In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication section 209 and/or installed from the removable medium 211. The computer program, when executed by a Central Processing Unit (CPU)201, performs various functions defined in the methods and/or apparatus of the present application.

It should be noted that the computer readable storage medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM) or flash Memory), an optical fiber, a portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable storage medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF (Radio Frequency), etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules and/or units and/or sub-units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described modules and/or units and/or sub-units may also be disposed in a processor. Wherein the names of such modules and/or units and/or sub-units in some cases do not constitute a limitation on the modules and/or units and/or sub-units themselves.

As another aspect, the present application also provides a computer-readable storage medium, which may be contained in the electronic device described in the above embodiment; or may exist separately without being assembled into the electronic device. The computer-readable storage medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 3.

In the related art, for example, a machine learning method, a deep learning method, or the like may be used to control the boarding bridge, and the range of application is different depending on the method.

Fig. 3 schematically shows a flowchart of a control method of a boarding bridge according to an embodiment of the present disclosure. The method steps of the embodiment of the present disclosure may be executed by the terminal device, the server, or the terminal device and the server interactively, for example, the server 105 in fig. 1 described above, but the present disclosure is not limited thereto.

In step S310, an angle of a handle and an angle of a landing port are obtained, where the angle of the handle is an included angle between the handle and the landing port, and the angle of the landing port is an included angle between the landing port and a tunnel of a boarding bridge.

In this step, the terminal device or the server may obtain an angle of a handle and an angle of a landing port, where the angle of the handle is an included angle between the handle and the landing port, and the angle of the landing port is an included angle between the landing port and a tunnel of the boarding bridge.

Fig. 4A is a schematic view of a boarding bridge in which the interface does not rotate relative to the tunnel of the boarding bridge according to an embodiment of the present disclosure. As shown in fig. 4A, the boarding bridge 400 includes a pick-up port 410, a tunnel 420, a wheel frame (including wheels) 430, and a terminal 440. In one embodiment, a handle is not shown in fig. 4A, but a handle may be provided in the interface port 410 for controlling the steering of the interface port. In one embodiment, the handle controls the orientation of the upper surface of interface port 410 in FIG. 4A. In one embodiment, as shown in fig. 4A, the handle may be directed to any one of the sides within a range of 0 to 360 degrees with respect to the operating platform, the interface 410 may be directed to any one of the sides within a range of 90 degrees on the left and right with respect to the tunnel 420 of the boarding bridge 400, and the wheel frame 430 may be directed to any one of the sides within a range of 90 degrees on the left and right with respect to the tunnel 440 of the boarding bridge. In fig. 4A, the interface 410 does not (not) rotate with respect to the tunnel 420 of the boarding bridge 400. In fig. 4A, the angular ranges of 0-180 and 180-360 are only used to indicate the range in which the handle can be rotated. In one embodiment, the interface 410 may be directed to either side within a range of 90 ° left to 40 ° right or 40 ° left to 90 ° left with respect to the tunnel 420 of the boarding bridge 400.

In the embodiments of the present disclosure, the terminal device may be implemented in various forms. For example, the terminal described in the present disclosure may include a mobile terminal such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a control device of a boarding bridge, a wearable device, a smart band, a pedometer, a robot, an unmanned vehicle, and the like, and a fixed terminal such as a digital TV (television), a desktop computer, and the like.

In step S320, it is determined whether the wheel frame of the boarding bridge can be directly rotated to the direction pointed by the handle according to the angle of the handle and the angle of the pick-up port.

In this step, the terminal device or the server may determine whether the wheel frame of the boarding bridge may be directly rotated to the direction pointed by the handle according to the angle of the handle and the angle of the pick-up port.

In one embodiment, as shown in fig. 4A, when the interface 410 is not (not) rotated with respect to the tunnel 420 of the boarding bridge 400, the handle is in a direction range of 0 to 180 degrees with respect to the console, which is a rotation range in which the wheel frame 430 can be directly rotated to the direction indicated by the handle, and the handle is in a direction range of 180 to 360 degrees with respect to the console, which is a rotation range in which the wheel frame 430 cannot be directly rotated to the direction indicated by the handle.

Fig. 4B is a schematic view of the boarding bridge when the airport pick-up port is rotated to the left by an angle m with respect to the tunnel of the boarding bridge according to an embodiment of the present disclosure.

In one embodiment, as shown in fig. 4B, when the pick-up port 410 is rotated to the left by an angle m relative to the tunnel 420 of the boarding bridge 400, the handle is in a direction range of m or more to 180+ m degrees or less relative to the console, which is a rotation range in which the wheel frame can be directly rotated to the direction pointed by the handle, the handle is in a direction range of 180+ m or more to 360 degrees or less relative to the console, and in a direction range of 0 or more to m or less, which is a rotation range in which the wheel frame cannot be directly rotated to the direction pointed by the handle.

Fig. 4C is a schematic view of the boarding bridge when the airport pick-up port is turned to the right by an angle n with respect to the tunnel of the boarding bridge according to an embodiment of the present disclosure.

In one embodiment, as shown in fig. 4C, when the pick-up port 410 is rotated to the right by an angle n with respect to the tunnel 420 of the boarding bridge 400, the handle is rotated in a direction range of 0 to 180-n degrees or less and in a direction range of 360-n to 360 degrees or less with respect to the console, which is a rotation range in which the wheel frame can be directly rotated to the direction pointed by the handle, and the handle is rotated in a direction range of 180-n to 360-n degrees or less with respect to the console, which is a rotation range in which the wheel frame cannot be directly rotated to the direction pointed by the handle.

In step S330, when the wheel frame can be directly rotated to the direction pointed by the handle, the wheel frame is rotated to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate forward so that the interface moves to the direction pointed by the handle.

In this step, when the wheel carrier can directly rotate to the direction pointed by the handle, the terminal device or the server rotates the wheel carrier to the direction pointed by the handle, and the wheel of the wheel carrier is driven to rotate forwards so that the interface moves towards the direction pointed by the handle.

In step S340, when the wheel frame cannot be directly rotated to the direction pointed by the handle, the wheel frame is rotated to the direction opposite to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate backwards, so that the machine receiving port moves to the direction pointed by the handle.

In this step, when the wheel carrier cannot be directly rotated to the direction pointed by the handle, the terminal device or the server rotates the wheel carrier to the direction opposite to the direction pointed by the handle, and the wheel of the wheel carrier is driven to rotate backwards so that the interface moves towards the direction pointed by the handle.

FIG. 5 is a schematic view of the steering range of the handle of one embodiment of the present application. As shown in fig. 5, the handle can point to any one of the two directions within the range of 0 to 360 degrees, the handle is equally divided into four regions within the rotation range of 0 to 360 degrees, the upper left corner region is the first region of the handle, the upper right corner region is the second region of the handle, the lower left corner region is the third region of the handle, and the lower right corner region is the fourth region of the handle, wherein the handle angle is from 0 to 90 degrees counterclockwise within the first region of the handle, the handle angle is from-90 to 0 degrees counterclockwise within the second region of the handle, the handle angle is from-90 to 0 degrees counterclockwise within the third region of the handle, and the handle angle is from 0 to 90 degrees counterclockwise within the fourth region of the handle.

In one embodiment, as shown in FIG. 4, the region of-3 to +3 is set to 0, greater than 87 is considered 90, and less than-87 is considered-90.

In one embodiment, the actual movement direction of the handle pointing movement is the direction angle of the handle plus the steering angle of the pick-up port, for example, in one embodiment, when the pick-up port angle is 0, the pick-up port and the passage of the boarding bridge are kept on a straight line, and the handle pointing direction is the movement direction of the pick-up port (and the sensing direction of the operator); when the angle of the interface is positive (for example, 45 degrees in the first region) and the angle of the handle is 90 degrees, the wheel frame needs to turn to 135 degrees (when the third region of the wheel frame coordinate system is 90 degrees to 180 degrees counterclockwise), but due to the limit, the wheel frame should turn to 90 degrees at most, so that the wheel frame should turn to the opposite direction (for example, -45 degrees in the second region of the wheel frame) to drive the wheel to move backwards, so as to achieve the purpose that the interface moves to the direction of the angle of 90 degrees pointed by the handle.

The machine receiving port can point to any one party within the range of 0 to 180 degrees, the rotation range of the machine receiving port from 0 to 180 degrees is divided into two areas averagely, the upper left corner area is the first area of the machine receiving port, the upper right corner area is the second area of the machine receiving port, the angle of the machine receiving port in the first area of the machine receiving port ranges from 0 degree to 90 degrees in a counterclockwise mode, and the angle of the machine receiving port in the second area of the machine receiving port ranges from-90 degrees to 0 degrees in the counterclockwise mode.

The wheel frame can point to any one side within the range of 0 to 180 degrees, the rotation range of the wheel frame from 0 to 180 degrees is averagely divided into two areas, the upper left corner area is a first area of the wheel frame, and the upper right corner area is a second area of the wheel frame, wherein the angle of the wheel frame in the first area of the wheel frame is from 0 to 90 degrees in a counterclockwise mode, and the angle of the wheel frame in the second area of the wheel frame is from-90 to 0 degrees in the counterclockwise mode.

The handle being in the first region

FIG. 6A is a schematic view of the handle of one embodiment of the present disclosure oriented in a first region. As shown in fig. 6A, 620 denotes a coordinate system of the wheel frame, 610 denotes a coordinate system of the handle, 630 denotes a docking port, and a direction of the docking port denotes a direction in which the operator faces.

As shown in fig. 6A, an upper left corner region of the wheel frame coordinate system 620 is a first region of the wheel frame, an upper right corner region is a second region of the wheel frame, a lower left corner region is a third region of the wheel frame, and a lower right corner region is a fourth region of the wheel frame, wherein an angle of the wheel frame in the first region of the wheel frame is from 0 degree to 90 degrees counterclockwise, and an angle of the wheel frame in the second region of the wheel frame is from-90 degrees to 0 degrees counterclockwise. The first area of the machine connecting port is overlapped with the first area of the wheel frame, the second area of the machine connecting port is overlapped with the second area of the wheel frame, the angle of the machine connecting port ranges from 0 degree to 90 degrees in a counterclockwise mode in the first area of the machine connecting port, and the angle of the machine connecting port ranges from-90 degrees to 0 degree in the counterclockwise mode in the second area of the machine connecting port. The area and angle definition of the handle coordinate system 610 is the same as in fig. 5 and will not be described herein. The wheel frame coordinate system 620, the handle coordinate system 610 and the region definition of the interface in fig. 6B-6H are the same as those in fig. 6A, and are not repeated in the following.

As shown in fig. 6A, when the pick-up port 630 is rotated to the left by an angle α and the handle pointing angle is β (first region) with respect to the tunnel of the boarding bridge, the wheel carriage cannot be rotated to the pointing target angle α + β when the pointing angle α + β of the pick-up port is >90 °, and at this time, the wheel carriage needs to be rotated to the opposite direction to move the pick-up port to the direction pointed by the handle by driving the wheels of the wheel carriage to rotate backward, that is, the wheel carriage points to the target angle γ of fig. 6A, which is α + β -180 °.

If alpha + beta is less than or equal to 90 degrees, the wheel frame can be normally rotated to point to a target angle, and the wheel of the wheel frame is driven to rotate forwards, so that the connector port moves towards the direction pointed by the handle.

In fig. 6A, the black arrow direction indicates the direction of the handle, which has exceeded the 90 ° limit position of the wheel carrier, so that the wheel carrier needs to be rotated to the target angle γ + β -180 ° and the interface is moved in the direction of the handle by driving the wheel of the wheel carrier to rotate backward.

When the aircraft interface rotates rightwards relative to the channel of the boarding bridge, the aircraft interface angle alpha is smaller than 0, and when the handle is operated in the first area, the handle points to the target angle alpha + beta which is not larger than 90 degrees, so that the wheel carrier target angle gamma is alpha + beta, the wheel carrier can normally rotate to the target angle of the handle and the aircraft interface moves towards the direction pointed by the handle by driving the wheels of the wheel carrier to rotate forwards.

The handle being in the second region

FIG. 6B is a schematic view of the handle of one embodiment of the present disclosure oriented in a second region. As shown in fig. 6B, 620 denotes a coordinate system of the wheel frame, 610 denotes a coordinate system of the handle, 630 denotes a docking port, and a direction of the docking port denotes a direction in which the operator faces.

As shown in fig. 6B, when the pick-up port rotates to the right by an angle α and the handle pointing angle is β relative to the gate of the boarding bridge, if the pointing angle α + β < -90 °, the wheel carrier cannot rotate to the target pointing angle α + β, and at this time, the wheel carrier needs to rotate to the opposite direction to move the pick-up port to the direction pointed by the handle by driving the wheels of the wheel carrier to rotate backwards, that is, the wheel carrier points to the target angle γ being α + β +180 °; if alpha + beta is more than or equal to-90 degrees, the wheel frame can normally rotate to the target position, and the wheel of the wheel frame is driven to rotate forwards, so that the interface moves towards the direction pointed by the handle.

As shown in fig. 6B, the direction of the black arrow indicates the direction of the handle, which exceeds the 90 ° limit position of the wheel frame, so that the wheel frame needs to turn to the opposite direction of the angle indicated by the black arrow and the interface port moves to the direction of the handle by driving the wheel of the wheel frame to rotate backwards.

When the pick-up port rotates leftwards relative to the channel of the boarding bridge by an angle alpha and the pointing angle of the handle is beta, and the direction of the handle is in a second area, at the moment, gamma is alpha + beta > -90 degrees, the wheel carrier can normally rotate to a target angle to drive the wheels of the wheel carrier to rotate forwards so that the pick-up port moves towards the direction pointed by the handle.

The handle is in the third area

Fig. 6C-6E are schematic pointing views of the handle of the present disclosure in a third region. As shown in fig. 6C, 620 denotes a coordinate system of the wheel frame, 610 denotes a coordinate system of the handle, 630 denotes a docking port, and a direction of the docking port denotes a direction in which the operator faces.

As shown in fig. 6C, when the pick-up port is rotated to the left by an angle α and the handle pointing angle is β relative to the tunnel of the boarding bridge, the handle is at a third area, the handle angle β is less than 0 °, at this time, the handle pointing direction belongs to a direction in which the wheel carrier cannot be directly rotated to the handle, the wheel carrier needs to be oriented to a target angle γ + β, and the wheels of the wheel carrier rotate backward to move the pick-up port toward the direction in which the handle points. In fig. 6C, the black arrow points to the handle, and the opposite direction of the black arrow is the direction of the target angle γ of the wheel carriage.

As shown in fig. 6D, when the pick-up port rotates to the right by an angle α relative to the passageway of the boarding bridge, the pick-up port angle α has a negative value, and the handle pointing direction angle β also has a negative value, if α + β > -90 °, the handle pointing direction belongs to the direction in which the wheel frame cannot directly rotate to the handle pointing direction. In fig. 6D, the black arrow direction is the handle pointing direction, and the opposite direction of the black arrow is the target wheel frame angle γ ═ α + β, at which time the wheels of the wheel frame should move backward so that the interface moves toward the direction pointed by the handle.

As shown in fig. 6E, when the interface is turned to the right by an angle α with respect to the passageway of the boarding bridge, the interface angle α is a negative value, and if α + β is smaller than-90 °, the target position of the truck is within the normal reachable range, the target angle γ of the truck is α + β +180 °, and the wheels of the truck move forward so that the interface moves toward the direction indicated by the handle. In fig. 6E, the black arrow indicates the direction of the handle, the wheel frame can rotate to the direction indicated by the handle, and the wheel of the wheel frame moves forward to move the interface toward the direction indicated by the handle.

The handle is arranged in the fourth area

Fig. 6F-6H are schematic pointing views of the handle of the present disclosure in a fourth region. As shown in fig. 6F, 620 denotes a coordinate system of the wheel frame, 610 denotes a coordinate system of the handle, 630 denotes a docking port, and a direction of the docking port denotes a direction in which the operator faces.

As shown in fig. 6F, when the airport pickup is turned to the left by an angle α and the handle pointing angle is β with respect to the tunnel of the boarding bridge, α is greater than 0, and the handle pointing angle is also greater than 0 in the fourth region. As shown in fig. 6F, when α + β is less than or equal to 90 °, the handle is pointed in a direction in which the wheel frame cannot directly rotate, so that the target angle γ of the wheel frame is α + β, and the wheels of the wheel frame move backward to move the interface toward the direction pointed by the handle. In fig. 6F, the black arrow indicates the handle pointing direction, and the opposite direction of the black arrow indicates the target angle direction of the wheel frame.

As shown in fig. 6G, when α + β >90 °, the handle pointing angle is an angle that the wheel frame can normally reach, so that the wheel frame target angle γ is α + β -180. As shown in fig. 6G, the black arrow line indicates the pointing angle of the handle, which is also the target angle of the wheel frame, and the wheels of the wheel frame are moved forward so that the interface moves toward the direction pointed by the handle.

As shown in fig. 6H, when the pick-up port rotates to the right by an angle α relative to the passageway of the boarding bridge, the pick-up port angle α is smaller than 0, and the handle pointing angle is larger than β > 0, so that the target angle of the wheel frame does not exceed ± 90 °, and the handle pointing direction belongs to the direction in which the wheel frame cannot directly rotate to the handle pointing direction. And (3) enabling the wheel frame target angle gamma to be alpha + beta, and enabling the wheels of the wheel frame to move backwards to enable the connector port to move towards the direction pointed by the handle. As shown in fig. 6H, the black arrows indicate the handle pointing first, and the black arrows indicate the target direction of the wheel carriage in the opposite direction.

Referring to fig. 5 and 6A-6H, the handle can point to any one of the directions within the range of 0 to 360 degrees, the handle is equally divided into four regions within the rotation range of 0 to 360 degrees, the upper left corner region is the first region of the handle, the upper right corner region is the second region of the handle, the lower left corner region is the third region of the handle, and the lower right corner region is the fourth region of the handle, wherein the angle of the handle is counterclockwise from 0 to 90 degrees within the first region of the handle, the angle of the handle is counterclockwise from-90 to 0 degrees within the second region of the handle, the angle of the handle is counterclockwise from-90 to 0 degrees within the third region of the handle, and the angle of the handle is counterclockwise from 0 to 90 degrees within the fourth region of the handle;

wherein, the wheel carrier can not directly rotate to the direction that the handle points to includes:

When the handle is in the first area of the handle, if the sum of the angle of the handle and the angle of the machine interface is greater than 90 degrees, the angle of the wheel frame is made to be 180 degrees less than the sum of the angle of the handle and the angle of the machine interface, and the wheel of the wheel frame is driven to rotate backwards so that the machine interface moves towards the direction pointed by the handle;

when the handle is in a third area of the handle, if the sum of the angle of the handle and the angle of the machine receiving port is larger than-90 degrees, the angle of the wheel frame is made to be the sum of the angle of the handle and the angle of the machine receiving port, and the wheel of the wheel frame is driven to rotate backwards so that the machine receiving port moves towards the direction pointed by the handle;

Wherein, the wheel carrier can directly rotate to the direction that the handle points to include:

When the handle is in the first area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is smaller than or equal to 90 degrees, so that the angle of the wheel carrier is the sum of the angle of the handle and the angle of the machine connecting port, and the wheel of the wheel carrier is driven to rotate forwards so that the machine connecting port moves towards the direction pointed by the handle;

Fig. 7 schematically shows a block diagram of a control apparatus of a boarding bridge according to an embodiment of the present disclosure. The control device 700 of the boarding bridge according to the embodiment of the present disclosure may be provided in the terminal device, may be provided in the server side, or may be partially provided in the terminal device and partially provided in the server side, for example, may be provided in the server 105 in fig. 1, but the present disclosure is not limited thereto.

The control device 700 of the boarding bridge provided by the embodiment of the present disclosure may include an acquisition module 710, a determination module 720, and a driving module 730.

The obtaining module 710 is configured to obtain an angle of a handle and an angle of a pick-up port, where the angle of the handle is an included angle between the handle and the pick-up port, and the angle of the pick-up port is an included angle between the pick-up port and a tunnel of a boarding bridge; the judging module 720 is configured to judge whether the wheel carrier of the boarding bridge can directly rotate to the direction pointed by the handle according to the angle of the handle and the angle of the pick-up port; the driving module 730 is configured to rotate the wheel frame to the direction pointed by the handle when the wheel frame can directly rotate to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate forwards to enable the machine interface to move to the direction pointed by the handle; when the wheel frame cannot directly rotate to the direction pointed by the handle, the wheel frame is rotated to the direction opposite to the direction pointed by the handle, and the wheel of the wheel frame is driven to rotate backwards, so that the machine connecting port moves towards the direction pointed by the handle.

The control device 700 of the boarding bridge of the present disclosure can realize all-directional driving of the boarding gate.

According to an embodiment of the present disclosure, the control apparatus 700 of the boarding bridge may be used to implement the control method of the boarding bridge described in the embodiment of fig. 3.

Fig. 8 schematically shows a block diagram of a control apparatus 800 of a boarding bridge according to another embodiment of the present invention.

As shown in fig. 8, the control apparatus 800 of the boarding bridge further includes a display module 810 in addition to the acquisition module 710, the judgment module 720 and the driving module 730 described in the embodiment of fig. 7.

Specifically, the display module 810 displays the determination result on the terminal after the determination module 720 determines whether the wheel frame of the boarding bridge can be directly rotated to the direction pointed by the handle.

In the boarding bridge control device 800, the display module 810 can visually display the determination result.

Fig. 9 schematically shows a block diagram of a control apparatus 900 of a boarding bridge according to another embodiment of the present invention.

As shown in fig. 9, the control apparatus 700 of the boarding bridge further includes a storage module 910 in addition to the acquisition module 710, the determination module 720 and the driving module 730 described in the embodiment of fig. 7.

Specifically, the storage module 910 is configured to store the determination result of the way determining module 720, so as to facilitate subsequent invoking and reference.

It is understood that the obtaining module 710, the determining module 720, the driving module 730, the displaying module 810 and the storing module 910 may be combined into one module to be implemented, or any one of the modules may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present invention, at least one of the obtaining module 710, the determining module 720, the driving module 730, the displaying module 810 and the storing module 910 may be at least partially implemented as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or in a suitable combination of three implementations of software, hardware and firmware. Alternatively, at least one of the obtaining module 710, the determining module 720, the driving module 730, the displaying module 810 and the storing module 910 may be at least partially implemented as a computer program module, which may perform the functions of the respective modules when the program is executed by a computer.

For details that are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the above-described embodiments of the control method of the boarding bridge of the present invention for details that are not disclosed in the embodiments of the apparatus of the present invention, since the respective modules of the control apparatus of the boarding bridge of the exemplary embodiment of the present invention can be used to implement the steps of the above-described exemplary embodiment of the control method of the boarding bridge described in fig. 3.

The specific implementation of each module, unit and subunit in the control device of the boarding bridge provided by the embodiments of the present disclosure may refer to the content in the control method of the boarding bridge, and will not be described herein again.

It should be noted that although several modules, units and sub-units of the apparatus for action execution are mentioned in the above detailed description, such division is not mandatory. Indeed, the features and functionality of two or more modules, units and sub-units described above may be embodied in one module, unit and sub-unit, in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module, unit and sub-unit described above may be further divided into embodiments by a plurality of modules, units and sub-units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for controlling a boarding bridge, comprising:

acquiring an angle of a handle and an angle of a machine receiving port, wherein the angle of the handle is an included angle between the handle and the machine receiving port, the angle of the machine receiving port is an included angle between the machine receiving port and a channel of a boarding bridge, and the handle is arranged on an operation console of the machine receiving port;

2. The method of claim 1, wherein the handle is directable to any one of a range of 0 to 360 degrees with respect to a console, the interface port is directable to any one of a range of 90 degrees left and right with respect to a tunnel of the boarding bridge, the wheel carriage is directable to any one of a range of 90 degrees left and right with respect to a tunnel of the boarding bridge, and when the interface port is not rotated with respect to the tunnel of the boarding bridge:

3. The method of claim 2, wherein, when the airport pickup is rotated to the left by an angle m with respect to the tunnel of the boarding bridge:

4. The method of claim 2, wherein, when the pick-up port is turned to the right by an angle n with respect to the tunnel of the boarding bridge:

5. The method of claim 1,

the handle can point to any one of the two directions within the range of 0 to 360 degrees, the handle is averagely divided into four regions within the rotation range of 0 to 360 degrees, the upper left corner region is the first region of the handle, the upper right corner region is the second region of the handle, the lower left corner region is the third region of the handle, and the lower right corner region is the fourth region of the handle, wherein, within the first region of the handle, the angle of the handle is from 0 degree to 90 degrees counterclockwise, within the second region of the handle, the angle of the handle is from-90 degrees to 0 degrees counterclockwise, within the third region of the handle, the angle of the handle is from-90 degrees to 0 degrees counterclockwise, within the fourth region of the handle, the angle of the handle is from 0 degree to 90 degrees counterclockwise;

6. The method of claim 5,

when the handle is in the first area of the handle, if the sum of the angle of the handle and the angle of the machine interface is larger than 90 degrees, the angle of the wheel frame is made to be 180 degrees less than the sum of the angle of the handle and the angle of the machine interface, and the wheel of the wheel frame is driven to rotate backwards so that the machine interface moves towards the direction pointed by the handle;

7. The method of claim 5, wherein the wheel carriage being directly rotatable to the direction pointed by the handle comprises:

8. The method of claim 7,

when the handle is in the first area of the handle, the sum of the angle of the handle and the angle of the machine connecting port is smaller than or equal to 90 degrees, the angle of the wheel frame is made to be the sum of the angle of the handle and the angle of the machine connecting port, and the wheel of the wheel frame is driven to rotate forwards so that the machine connecting port moves towards the direction pointed by the handle;

9. A control device for a boarding bridge, characterized by comprising:

the device comprises an acquisition module, a control module and a display module, wherein the acquisition module is configured to acquire the angle of a handle and the angle of a machine receiving port, the angle of the handle is the included angle between the handle and the machine receiving port, the angle of the machine receiving port is the included angle between the machine receiving port and a channel of a boarding bridge, and the handle is arranged on an operation console of the machine receiving port;

10. An electronic device, comprising:

one or more processors;

a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-8.

11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.