CN109927935B - Method for inspecting upper surface of airplane body by combining unmanned aerial vehicle oblique photography holder camera - Google Patents
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Abstract
The invention relates to the field of maintenance of civil aviation airliners, in particular to a method for inspecting the upper surface of an airplane body by combining an unmanned aerial vehicle oblique photography camera, which comprises the following steps: 1. selecting the model of the unmanned aerial vehicle according to the model of the airplane, and determining the camera parameters of the oblique photography holder; 2. adopting a damaged point inspection operation flow or a key point unmanned aerial vehicle inspection operation flow, flying the unmanned aerial vehicle type according to a preset flying path, and simultaneously acquiring data by an oblique photography pan-tilt camera; 3. establishing a three-dimensional model, and marking suspicious damaged points or damaged points; 4. based on the markers, the damage status is assessed. The invention combines the unmanned aerial vehicle and the inclined pan-tilt camera, provides upper surface inspection strategies of different airplane models, can comprehensively, efficiently and accurately inspect the upper surface of the airplane without disassembling parts of the airplane, provides data support for the formulation of a subsequent maintenance scheme, and improves the efficiency of airplane maintenance.
Description
Technical Field
The invention relates to the field of maintenance of civil aviation airliners, in particular to a method for inspecting the upper surface of an airplane body by combining an unmanned aerial vehicle oblique photography pan-tilt camera.
Background
With the continuous development of the aviation industry and the aircraft manufacturing technology, more and more large jet airliners are put into civil aviation operation, accordingly, more requirements are put forward on the maintenance of the aircraft, particularly the maintenance of the wings, and a large amount of equipment is developed in succession to improve the maintenance and detection efficiency of the wings. In the aspect of wing maintenance, patent number CN201820470984 provides a wing detection device in aircraft maintenance, and patent number CN201520886926 provides a wing detection mechanism in aircraft maintenance. These patents protect special aircraft wing check out test set, replace the manual work with special check out test set and detect whether the aircraft wing needs the maintenance, improved the efficiency of detection.
However, although the detection efficiency of the detection method is improved compared with that of manual detection, the detection method still needs to disassemble the wings of the airplane and put the wings into special detection equipment for detection, and the disassembly still consumes more manpower and time.
In addition, different aircraft wings have different configurations, so that in the face of a huge fleet of airlines, dozens of special detection devices are needed to meet the requirements of maintenance personnel for the aircraft, and the universality is not strong.
And thirdly, the airplane is frequently disassembled for maintenance from the time of putting into flight to the final retirement for only ten years, so that the service life of the material of the airplane body and the wings is shortened, and the operation cost is increased.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an unmanned aerial vehicle oblique photography camera combined airplane upper surface inspection method.
In order to achieve the above purpose, the invention provides the following technical scheme:
the method for inspecting the upper surface of the airplane body by combining the unmanned aerial vehicle oblique photography pan-tilt camera comprises the following steps:
s1, selecting the model of the unmanned aerial vehicle according to the model of the airplane, and determining the camera parameters of the oblique photography holder;
s2, under the condition that the damaged point is known, the unmanned aerial vehicle executes a damaged point inspection work flow; under the condition that the damaged point is unknown, the unmanned aerial vehicle executes a key point unmanned aerial vehicle inspection operation flow, in the damaged point inspection operation flow or the key point unmanned aerial vehicle inspection operation flow, the unmanned aerial vehicle flies according to a preset flight path, and the oblique photography pan-tilt camera simultaneously acquires data;
s3, establishing a three-dimensional model according to the acquired data obtained by the tilt photography pan-tilt camera, and marking suspicious damaged points or damaged points;
and S4, evaluating the damage condition according to the marks.
Selecting an unmanned plane model according to the model of the airplane, and determining the camera parameters of the oblique photography holder, wherein the step comprises the following steps:
according to the wing length and the airplane length corresponding to the airplane type of the airplane, the flight distance of the unmanned aerial vehicle and the battery capacity are estimated;
and determining the included angle of the camera of the oblique photography holder and the flying height of the unmanned aerial vehicle according to the wingspan and the airplane height corresponding to the airplane type of the airplane.
The step of setting the flight path comprises the following steps: setting the weight of a polygon in a Voronoi diagram by adopting a two-dimensional horizontal track planning method according to the upper surface layout of the fuselage, the wings and the empennage of the airplane; and establishing a target function, performing convergence calculation, and solving the flight path of the unmanned aerial vehicle with the minimum cost.
The step of setting the flight path comprises the following steps: and extracting a safe expected topological structure by adopting an image processing method, and solving the shortest flight path of the unmanned aerial vehicle by utilizing a two-dimensional A-x algorithm.
The flight path in the damaged point inspection operation flow is as follows:
when the position of the damaged point is located on the connecting line of the two sections of wings close to the front part of the fuselage, the unmanned aerial vehicle takes off from the front part of the fuselage, flies to the position of the damaged point along a linear track, takes the damaged position as the center, flies around a circular path at the flying height of the unmanned aerial vehicle by taking a preset flying radius value, and returns according to the original path after the detection of the damaged point is finished;
when the position of the damaged point is located at the position, close to the rear part of the empennage, of the two-section connecting line of the wing, the unmanned aerial vehicle takes off from the rear part of the fuselage, flies to the position of the damaged point along a straight line track, takes the damaged position as the center, flies around a circular path at the flying height of the unmanned aerial vehicle by taking a preset flying radius value, and after the damaged point is detected, the unmanned aerial vehicle returns according to the original path.
The flight path in the key point unmanned aerial vehicle inspection operation flow is as follows:
s11, taking off from the middle point of the nose, and flying to the middle point of the length of the nose along the nose according to a straight line track;
s12, flying from the middle point of the length of the fuselage to the end point of the left wing according to a straight track;
s13, flying from the end point of the left wing to the midpoint of the tail according to a straight line track;
s14, flying from the midpoint of the tail to the midpoint of the length of the airplane body along the airplane body according to a straight line track;
and S15, flying from the middle point of the length of the body to the end point of the right wing according to a straight track.
Adopt two unmanned aerial vehicles, the flight path in the key point unmanned aerial vehicle inspection operation flow does:
the first unmanned aerial vehicle takes off at a first threshold value from the aircraft nose, flies from the aircraft nose to the midpoint of the left wing along a linear track parallel to the aircraft body, and then flies to the midpoint of the aircraft tail from the midpoint of the left wing along the linear track;
the flight path of the second unmanned aerial vehicle and the flight path of the first unmanned aerial vehicle are distributed in a mirror image mode by taking the body as a reference.
The data acquisition comprises the following steps: camera lens data, longitude and latitude, course angle, pitch angle and roll angle.
The specific steps for judging the damaged point or the suspicious damaged point comprise:
s21, carrying out visual inspection on the three-dimensional model, and marking suspected damaged points;
s22, taking a high-definition photo of the suspected damaged point, comparing the high-definition photo with a factory model or a last maintenance backup model, marking the suspected damaged point as a damaged point, wherein the condition that the suspected damaged point is marked as the damaged point needs to be met includes: the color and luster are obviously changed; scratches with the length of more than 0.1cm appear; the occurrence of blister deformation; cracks with a length greater than 0.1cm occur; pits with the radius larger than 0.3cm appear; obvious gaps occur on the rivets on the surfaces of the wings of the fuselage; the periphery of the rivet is provided with a black ring or a black trail or generates a curling and upwarping phenomenon.
An upper surface inspection system of an airplane body combined with an unmanned aerial vehicle oblique photography camera comprises the unmanned aerial vehicle, the oblique photography pan-tilt camera, at least one processor and a memory in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to cause the at least one processor to perform any of the methods described above.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention combines the unmanned aerial vehicle and the inclined pan-tilt camera, provides upper surface inspection strategies of different airplane models, can comprehensively, efficiently and accurately inspect the upper surface of the airplane without disassembling parts of the airplane, provides data support for the formulation of a subsequent maintenance scheme, and improves the efficiency of airplane maintenance.
2. The flight path planning method for the unmanned plane for detecting the upper surface fuselage wing of the airplane is provided, and the repeatability of detecting the flight path is avoided.
3. The double-unmanned-plane cooperative inspection scheme with multiple key points under the double-unmanned-plane cooperative mechanism is formed, real-scene modeling is performed on the upper surfaces of the fuselage, the wings and the empennage of the airplane, and the inspection and maintenance efficiency is effectively improved.
4. The method for maintenance and inspection has strong universality, can finish data collection and inspection on different airplane models only by adjusting parameters, reduces the maintenance cost and has obvious economic benefit.
Drawings
FIG. 1 is a flow chart of a method for inspecting the upper surface of an aircraft fuselage incorporating an unmanned aerial vehicle tilt pan-tilt camera;
FIG. 2 is a schematic view of an area included in the circular path in example 1;
FIG. 3 is a diagram showing a format of data collected in example 1;
fig. 4 is a diagram of the flight path of a single unmanned aerial vehicle in embodiment 1;
fig. 5 is a flight path diagram of the dual unmanned aerial vehicle in embodiment 1;
the labels in the figure are: 1-nose, 2-fuselage length midpoint, 3-left wing endpoint, 4-tail midpoint, 5-right wing endpoint, 6-left position, 7-left wing midpoint, 8-right position, and 9-right wing midpoint.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
The method for inspecting the upper surface of the airplane body by combining the oblique photography pan-tilt camera of the unmanned aerial vehicle relates to the upper half part of a connecting line between a head and a wing, the wing and an empennage, and the flow chart is shown in figure 1 and comprises the following steps:
and S1, selecting the model of the unmanned aerial vehicle according to the model of the airplane, and determining the camera parameters of the oblique photography holder.
The length of the wingspan and the length of the airplane can directly influence the path length of the unmanned aerial vehicle operation, the longer the path length is, the larger the required battery capacity of the unmanned aerial vehicle is, so the flying distance of the unmanned aerial vehicle needs to be estimated according to the wing length of the airplane and the length of the airplane, and the minimum value of the battery capacity of the unmanned aerial vehicle is estimated.
And determining the included angle of the oblique photography holder camera and the flying height of the unmanned aerial vehicle according to the wingspan and the height of the airplane type. The included angle of the tilt photography holder camera is a minimum value of an inclination angle which is more than or equal to the minimum value of the inclination angle and a maximum value of the inclination angle which is less than or equal to the maximum value of the inclination angle according to the flight height of the unmanned aerial vehicle, and the problems that a picture of a wingspan cannot be completely shot, the precision of the shot picture cannot meet the precision requirement of three-dimensional modeling and the like can be caused when the included angle exceeds the range. As a preferred scheme of the invention, on the premise that the flying height of the unmanned aerial vehicle is more than or equal to 2.5 meters of the upper surface of the airplane, the minimum value of the inclination angle is typically 30 degrees, and the maximum value of the inclination angle is typically 45 degrees.
And S2, the unmanned aerial vehicle type flies according to a preset flying path, and the oblique photography pan-tilt camera simultaneously acquires data.
And (3) inspecting the damaged point on the premise of knowing the damage reason of the airplane (for example, the left wing of the airplane is definitely known to collide with a maintenance warehouse gate), and executing a damaged point inspection operation flow. When the damaged condition of the airplane is unknown and routine detection is carried out, a key point unmanned aerial vehicle inspection operation process is executed.
The damaged point inspection work flow comprises the following steps:
the first step is as follows: and (5) registering damage conditions, and recording damage reasons, dates, damage positions and the like.
The second step is that: and setting a flight path of the unmanned aerial vehicle according to the damaged position determined in the first step.
According to the two-dimensional flight path planning method, a horizontal flight path planning mode is adopted, the polygon setting weight in the Voronoi graph is set, and an objective function is established to solve the minimum cost flight path. In addition, an image processing method can be adopted to extract a safety expected topological structure, so that the shortest path is solved by using a two-dimensional A-star algorithm. The main steps of a typical unmanned aerial vehicle flight path setting include: (1) determining the position of a damaged point; (2) when the position of the damaged point is positioned on the two-section connecting line of the wing and close to the front part of the fuselage, the unmanned aerial vehicle takes off from the front part of the fuselage, flies straight to the damaged position and flies in a circular path with the damaged position as the center and the radius value as R; (3) when the position of the damaged point is positioned at the position of the two-section connecting line of the wing close to the rear part of the empennage, the unmanned aerial vehicle takes off from the front part of the body, flies straight to the damaged position and flies on a circular path with the damaged position as the center and the radius value of R; (4) and after the damaged point is detected, the unmanned aerial vehicle returns according to the takeoff path.
Fig. 2 shows a schematic diagram of a region included in a circular path with a radius value R, where the radius value R of the circular path is R1、R2Or R3. When the damaged point is seriously damaged, the radius value of the circular path is a first radius value R1When the damaged point is slightly damaged, the radius value of the circular path is the second radius value R2When the damaged part of the airplane is known, but the damaged part is not clear, the radius value of the circular path is the third radius value R3Wherein R is1<R2<R3。
The third step: and carrying out data acquisition on the damaged position.
The data acquisition comprises the following steps: camera lens data, longitude and latitude, course angle, pitch angle, roll angle, etc. The format of the collected data is shown in fig. 3.
The key point unmanned aerial vehicle inspection operation flow comprises the following steps:
the first step is as follows: and registering the damaged condition. And recording the damage reason, the date, the last maintenance date and the maintenance reason.
The second step is that: and setting key points to check the flight path of the unmanned aerial vehicle. According to the two-dimensional flight path planning method, a horizontal flight path planning mode is adopted, the polygon setting weight in the Voronoi graph is set, and an objective function is established to solve the minimum cost flight path. In addition, an image processing method can be adopted to extract a safety expected topological structure, so that the shortest path is solved by using a two-dimensional A-star algorithm. The flight path of a single unmanned aerial vehicle is shown in fig. 4, the unmanned aerial vehicle takes off from a nose 1 at the front part of a connecting fuselage of two sections of wings, flies to a point left wing endpoint 3 after passing through a length midpoint 2 of the fuselage, then flies to a point tail midpoint 4, finally flies to the length midpoint 2 of the fuselage along the direction of the fuselage to the nose 1, and finally flies to a right wing endpoint 5.
Still can adopt two unmanned aerial vehicles to gather aircraft upper surface data, two unmanned aerial vehicles flight path is shown in fig. 5, two unmanned aerial vehicles take off simultaneously from the left side position 6 and the right side position 8 that are K (K is the first threshold value this moment) with aircraft nose midpoint distance, left unmanned aerial vehicle is first unmanned aerial vehicle, it flies to left wing midpoint 7 along the straight line orbit that is on a parallel with the fuselage direction, the unmanned aerial vehicle on right side is second unmanned aerial vehicle, it flies to right wing midpoint 9 along the straight line orbit that is on a parallel with the fuselage direction, last first unmanned aerial vehicle and second unmanned aerial vehicle fly to tail midpoint 4 simultaneously.
The third step: and the oblique photography holder camera acquires data on the surface of the airplane in the flight process.
The data collected includes: camera lens data, longitude and latitude, course angle, pitch angle, roll angle, etc. The format of the collected data is shown in fig. 3.
And S3, establishing a three-dimensional model according to the acquired data obtained by the oblique photography pan-tilt camera, and marking the damaged points or suspicious damaged points.
The step of building a three-dimensional model comprises: synthesizing camera lens data, POS data and image control point data; detecting the screening data; encrypting the empty three, and performing joint adjustment; dividing a tile; and (4) three-dimensional reconstruction.
Blurred or distorted photographs are removed in the process of detecting the screening data, since blurred or distorted camera lens data may affect the quality of the three-dimensional modeling.
Under the condition that the damaged point is known, after the damaged area model is output, the damaged area model is compared with a factory model or a last maintenance backup model, the damaged point is marked, and the size information of the damaged point is obtained.
Under the condition that the damaged point is unknown, carrying out visual inspection on the three-dimensional model, and marking the suspected damaged point; calling a high-definition photo of a suspected damaged point, comparing the high-definition photo with a factory model or a last maintenance backup model, marking the suspected damaged point as a damaged point, wherein the condition for marking the suspected damaged point as the damaged point comprises the following steps: the color and luster are obviously changed; scratches with the length of more than 0.1cm appear; the occurrence of blister deformation; cracks with a length greater than 0.1cm occur; pits with the radius larger than 0.3cm appear; obvious gaps occur on the rivets on the surfaces of the wings of the fuselage; the periphery of the rivet is provided with a black ring or a black trail or the phenomenon of curling and upwarping, etc.
And S4, evaluating the damage condition according to the marks.
The judgment of the damage degree is as shown in table 1, the judgment of the damage grade is as shown in table 2, and whether the repair is a disassembly repair or an original repair is judged according to the damage degree and the damage grade. The size information of the damaged part can be accurately measured from the three-dimensional model, and the size of the damaged part and the size information of the required standby material can be accurately described when a maintenance scheme is prepared.
TABLE 1 judgment basis for degree of Damage
TABLE 2 definition of Damage classes
An unmanned aerial vehicle oblique photography camera combined airplane upper surface inspection system comprises an unmanned aerial vehicle, an oblique photography camera, at least one processor and a memory which is in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the methods described above.
Claims (4)
1. The method for inspecting the upper surface of the airplane body by combining the unmanned aerial vehicle oblique photography holder camera is characterized by comprising the following steps of:
s1, selecting the model of the unmanned aerial vehicle according to the model of the airplane, and determining the camera parameters of the oblique photography holder;
s2, under the condition that the damaged point is known, the unmanned aerial vehicle executes a damaged point inspection work flow; under the condition that a damaged point is unknown, the unmanned aerial vehicle executes a key point unmanned aerial vehicle inspection operation flow, in the damaged point inspection operation flow or the key point unmanned aerial vehicle inspection operation flow, the unmanned aerial vehicle flies according to a preset flight path, and the oblique photography pan-tilt camera simultaneously acquires data;
s3, establishing a three-dimensional model according to the acquired data obtained by the oblique photography pan-tilt camera, and marking suspicious damaged points or damaged points;
s4, evaluating the damage condition according to the mark;
the method comprises the following steps of selecting an unmanned aerial vehicle model according to the model of the airplane, and determining the camera parameters of the oblique photography holder, wherein the steps comprise:
according to the wing length and the airplane length corresponding to the airplane type of the airplane, the flight distance of the unmanned aerial vehicle and the battery capacity are estimated;
determining the inclined photography pan-tilt camera included angle and the flight height of the unmanned aerial vehicle according to the wingspan and the aircraft height corresponding to the model of the aircraft, wherein the value range of the inclined photography pan-tilt camera included angle is greater than or equal to the minimum value of the inclination angle and less than or equal to the maximum value of the inclination angle according to the flight height of the unmanned aerial vehicle, the typical value of the minimum value of the inclination angle is 30 degrees, and the typical value of the maximum value of the inclination angle is 45 degrees on the premise that the flight height of the unmanned aerial vehicle is greater than;
the step of setting the flight path comprises the following steps: setting the weight of a polygon in a Voronoi diagram by adopting a two-dimensional horizontal track planning method according to the upper surface layout of the fuselage, the wings and the empennage of the airplane; establishing a target function, carrying out convergence calculation, and solving the flight path of the unmanned aerial vehicle with the minimum cost;
the flight path in the damaged point inspection work flow is as follows:
when the position of the damaged point is located on the connecting line of the two sections of wings close to the front part of the fuselage, the unmanned aerial vehicle takes off from the front part of the fuselage, flies to the position of the damaged point along a straight line track, takes the damaged position as the center, flies around a circular path at the flying height of the unmanned aerial vehicle by taking a preset flying radius value, and returns according to the original path after the detection of the damaged point is finished;
when the position of the damaged point is positioned at the position of the rear part of the tail wing, which is close to the rear part of the tail wing, of the two-section connecting line of the wing, the unmanned aerial vehicle takes off from the rear part of the fuselage, flies to the position of the damaged point along a straight line track, takes the damaged position as the center, flies around a circular path at the flying height of the unmanned aerial vehicle by taking a preset flying radius value, and returns to the original path after the damaged point is detected;
the flight path in the key point unmanned aerial vehicle inspection operation flow is as follows:
s11, taking off from the middle point of the nose, and flying to the middle point of the length of the nose along the nose according to a straight line track;
s12, flying from the middle point of the length of the fuselage to the endpoint of the left wing according to a straight line track;
s13, flying from the left wing end point to the middle point of the tail according to a straight line track;
s14, flying from the midpoint of the tail to the midpoint of the length of the airplane body along the airplane body according to a straight line track;
and S15, flying from the middle point of the length of the fuselage to the endpoint of the right wing according to a straight line track.
2. The method for inspecting the upper surface of the body of an airplane by combining an unmanned aerial vehicle oblique photography pan-tilt camera according to claim 1, wherein two unmanned aerial vehicles are adopted, and the flight path in the process of key point unmanned aerial vehicle inspection operation is as follows:
a first unmanned aerial vehicle takes off at a first threshold from the aircraft nose, flies from the aircraft nose to the midpoint of the left wing along a linear track parallel to the fuselage, and then flies from the midpoint of the left wing to the midpoint of the tail along the linear track;
the flight path of the second unmanned aerial vehicle and the flight path of the first unmanned aerial vehicle are distributed in a mirror image mode by taking the body as a reference.
3. The method of claim 1, wherein said collecting data comprises: camera lens data, longitude and latitude, course angle, pitch angle and roll angle.
4. The method for inspecting the upper surface of the body of an airplane with the unmanned aerial vehicle oblique photography pan-tilt camera according to claim 1, wherein the specific step of judging the damaged point or the suspicious damaged point comprises the following steps:
s21, carrying out visual inspection on the three-dimensional model, and marking suspected damaged points;
s22, calling the high-definition photo of the suspected damaged point, comparing the high-definition photo with a factory model or a last maintenance backup model, marking the suspected damaged point as a damaged point, wherein the condition that the suspected damaged point is marked as the damaged point needs to be met includes: the color and luster are obviously changed; scratches with the length of more than 0.1cm appear; the occurrence of blister deformation; cracks with a length greater than 0.1cm occur; pits with the radius larger than 0.3cm appear; obvious gaps occur on the rivets on the surfaces of the wings of the fuselage; the periphery of the rivet is provided with a black ring or a black trail or generates a curling and upwarping phenomenon.
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