CN110764615A - Checking and maintaining method of aircraft landing gear retraction system based on AR equipment - Google Patents
Checking and maintaining method of aircraft landing gear retraction system based on AR equipment Download PDFInfo
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Abstract
The invention relates to an inspection and maintenance method of an aircraft undercarriage retraction system based on AR equipment, wherein an inspection and maintenance person wears AR glasses, enters a target aircraft parking place to be detected and starts an undercarriage retraction system inspection system with built-in AR glasses, so that the problems of low inspection efficiency, untimely failure and inaccurate inspection operation which completely depend on manpower are solved, the inspection method is efficient and intelligent, the working efficiency is obviously improved, and the potential safety hazard of an aircraft is reduced to the maximum extent.
Description
Technical Field
The invention relates to the field of safety inspection, maintenance and repair of aircrafts, in particular to an inspection and repair method of an undercarriage retraction system based on AR equipment.
Background
As is known, aviation ground logistics support maintenance plays an important role in maintenance of an airplane, an excellent logistics support maintenance team is an important guarantee that the airplane can fly safely, and the undercarriage is used as a part of the airplane and directly influences whether the airplane can take off and land safely.
Due to the complexity of the structure of the airplane, the maintenance of airplane equipment often needs to learn a large amount of data and can be mastered through a large amount of practice, so that the maintenance personnel are trained to conduct long-term behaviors and need to pay high cost, and the most basic skill which one maintenance personnel should have is to complete safety inspection of all parts of the airplane within required time so as to avoid the airplane from performing flight tasks in a fault state.
The landing gear is an important component of an airplane, and the efficient and accurate inspection of the landing gear is particularly important, but the following problems still exist in the existing inspection which only depends on manpower: firstly, the working efficiency is low, the fault finding is not timely, in addition, the execution operation in the checking process is different from person to person, and the irregular and inaccurate behaviors are easy to occur, so that the checking result is influenced, and the potential safety hazard exists.
Disclosure of Invention
The invention aims to provide an inspection and maintenance method of an undercarriage retraction system based on an AR device, which aims to solve the problems of low inspection efficiency, untimely failure and inaccurate inspection operation which are caused by completely depending on manpower.
In order to achieve the purpose, the invention provides the following technical scheme:
an inspection and maintenance method of an aircraft landing gear retraction system based on AR equipment is technically characterized by comprising the following steps:
step 1, an inspection maintenance worker wears AR glasses, enters a target aircraft parking place to be inspected, and starts an undercarriage retraction system inspection system built in the AR glasses;
step 2, identifying the target aircraft according to the navigation arrow indication of the undercarriage retraction system inspection system, determining the type of the maintenance aircraft and the inspection content, and starting timing at the same time;
step 3, identifying whether the tools are complete or not in the tool box before the tool box is reached according to the navigation arrow indication of the inspection system, and sending an instruction of 'going to the position of the aircraft bracket' by the inspection system after the tools are complete and confirmation feedback is sent;
step 4, according to the navigation arrow of the inspection system, indicating to go to the position of the airplane bracket and identifying the position, calling the bracket to lift up the three-dimensional demonstration animation and the character prompt of the airplane at the position of the airplane bracket after the identification is successful, then utilizing a tool to lift up the airplane wheel according to the animation and the character prompt, and sending confirmation feedback after the action is finished;
step 5, the inspection system continuously sends out an instruction of inspecting whether obstacles exist around the airplane and the landing gear cabin, the inspection maintenance personnel continuously inspect around the periphery of the airplane according to the instruction of the navigation arrow, and walk to the tail to avoid a dangerous area through a dangerous red line alarm mark sent out by the inspection system, and after the obstacle inspection work is finished, the inspection maintenance personnel returns to the position of the airplane bracket to send out confirmation feedback, otherwise, the obstacle removing operation is carried out according to the recognized obstacle condition;
step 6, the inspection system continuously sends an instruction of 'going to the shaft hole to confirm that the front wheel grounding wire is inserted into the shaft hole', the inspection and maintenance personnel continuously reach the shaft hole according to the instruction of a navigation arrow and identify the shaft hole, after the identification is successful, a shaft hole marking ring sent by the inspection system is overlapped at the shaft hole, a picture with the shaft hole and the grounding wire mark and a three-dimensional animation of the shaft hole inserted grounding wire are taken out, the inspection and maintenance personnel finish the operation of inserting the grounding wire into the shaft hole according to animation demonstration, and after the action is finished, confirmation feedback is sent;
step 7, the checking system continuously sends out a command of checking whether the signal lamp, the actuating cylinder, the support column, the hub and the tire are intact, checking and maintaining personnel continuously arrive at each corresponding checking position according to the indication of a navigation arrow to perform object recognition, negative feedback is performed when the signal lamp, the actuating cylinder, the support column, the hub or the tire are damaged, a maintenance video is called according to the damage degree, a damaged target object is maintained or replaced according to the video, and if the state of the identified target object is good, the checking and maintaining personnel perform confirmation feedback;
step 8, the inspection system continuously sends out an instruction of 'putting down the airplane wheels to reliably land', the inspection and maintenance personnel continuously arrive at the position of the airplane bracket according to the instruction of the navigation arrow, call and play the video of the dismantling tool, finish the action of landing the airplane wheels by the dismantling tool according to the video, and perform confirmation feedback after finishing;
and 9, after the completion of the step 9, the inspection system sends an 'inspection project end' instruction, and when the inspection is displayed, the inspection and maintenance personnel can confirm to quit the system.
According to the checking and maintaining method of the aircraft landing gear retraction system based on the AR equipment, the AR glasses identify the target object and the target area through the image, and enlarge the characteristic points of the image by increasing the resolution of the registered image and increasing the color saturation and contrast of the image, so that the identification function is realized.
According to the inspection and maintenance method of the aircraft landing gear retraction system based on the AR equipment, when personnel walk to a dangerous area at the tail of the aircraft, the AR glasses give out sound alarm or/and text reminding.
The checking and maintaining method of the aircraft landing gear retraction system based on the AR equipment comprises the steps of identifying a target object or a target area based on a space positioning technology carried by AR glasses and a calibration controller, assigning virtual prompt superposition information which is manufactured in advance to the calibration controller after the identification and the registration of the target object or the area are successful when the target object or the area is identified and registered, recording the initial world coordinate of the current virtual prompt superposition information by the coordinate of the current calibration controller, assigning the real-time world coordinate of the current virtual prompt superposition information to the coordinate of the target object of the calibration controller, moving the virtual prompt superposition information in real time through an up button, a down button, a front button, a back button, a left button and a right button which are pre-designed by the calibration controller, changing the coordinate of the target object and the coordinate difference recorded by the coordinate of the current calibration controller in real time, and accurately moving the virtual prompt superposition information to the preset target position, and recording the current coordinate difference, returning to the development program, and respectively adding or subtracting the virtual prompt superposition information coordinates in the program according to the coordinate difference, so that the virtual prompt superposition information can be accurately superposed on a preset target position, and the precision of the identified target object or the target area reaches the centimeter level, thereby realizing accurate navigation.
According to the checking and maintaining method of the aircraft landing gear retraction system based on the AR equipment, the landing gear retraction system checking system is associated with the remote expert auxiliary system through the AR glasses, so that in the checking and maintaining process, the problem is in face-to-face communication with an expert through the remote expert auxiliary system, and the problem solving precision is realized.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention successfully achieves the purpose of checking, maintaining and maintaining the undercarriage system of the airplane based on the space positioning, object identification technology and calibration controller of the AR equipment, realizes intelligent navigation, intelligent identification and intelligent alarm, makes the checking and maintenance more intelligent and obviously improves the working efficiency.
2. Through the mode more vivid demonstration inspection and maintenance operation processes such as three-dimensional animation, characters, sound, pictures, video and the like, the inspection and maintenance process is simplified and standardized, the inspection and maintenance efficiency is improved, fault points are found in time and are processed in time, the potential safety hazard of the airplane is reduced to the maximum extent, the training cost for inspection and maintenance personnel is also reduced, the inspection and maintenance personnel can enter the working state more quickly, and the working pressure is greatly reduced.
3. The troubleshooting data of the corresponding equipment are directly called through the AR glasses, so that complicated steps and time for looking up the data and the like are saved, and the inspection and the maintenance are more efficient.
Drawings
FIG. 1 is a block flow diagram of the present invention;
FIG. 2 is a schematic illustration of the field operation of the present invention;
FIG. 3 is a schematic diagram of an inspection and maintenance worker wearing AR glasses and operating gestures according to the present invention.
Detailed Description
The invention is developed based on AR equipment, and particularly uses holtens glasses with space positioning (slam), object identification function, development tool unit 3D and development language c #. Also utilizes the self-carried 1, object recognition technology of AR equipment; 2. 2D plane prompt information technology: identifying an inspection and maintenance target, popping up corresponding inspection and maintenance information, and making corresponding actions by inspection and maintenance personnel according to the inspection and maintenance information; 3. application of gaze, sound, gesture (see fig. 3): corresponding operation is carried out on the information of the inspection and maintenance target through actions such as staring, sound, gestures and the like; 4. the space positioning technology comprises the following steps: and (4) positioning the positions of surrounding objects by taking the inspection and maintenance personnel as reference points so as to perform corresponding processing actions.
The technical principle and the preparation before work of the checking and maintaining method of the aircraft landing gear retraction system based on the AR device are provided.
1. Image recognition: and identifying the target object through the picture characteristic points.
2. 2D prompt information: and popping up corresponding prompt information including character and picture information through the registered identification picture.
3. 3D animation prompt: a) The 3D animation model is made as required, is imported into a program, and simultaneously, relevant animation is made through an animation Controller (animation Controller); b) And popping up the required 3D animation demonstration model through the registered picture.
4. Video prompt information: a) recording required videos in advance; b) importing the sound and video components into a program, and associating the required videos; c) setting control buttons as follows: start playing, stop playing, etc.; d) and registering related pictures to pop up a video interface to play videos.
As shown in fig. 1 and 2, the method for checking and maintaining the landing gear retraction system of the aircraft based on the AR device includes the following steps:
step 1, an inspection maintenance worker wears AR glasses, enters a target aircraft parking place to be inspected, and starts an undercarriage retraction system inspection system built in the AR glasses.
And 2, identifying the target aircraft according to the navigation arrow indication of the undercarriage retraction system inspection system, determining the type of the maintenance aircraft and the inspection content, and starting timing at the same time.
And 3, identifying whether tools are complete or not in the tool box before the tool box is moved according to the navigation arrow indication of the inspection system, if a prompt box for indicating whether tools are complete or not in the tool box is popped up, if yes is clicked, the prompt box of the tool box disappears, a prompt box for indicating to go to the position of the aircraft bracket is popped up, and if no is clicked, a remote tool application is carried out.
And 4, after the tools are complete, the airplane is guided to the position of the airplane bracket according to the navigation arrow indication of the inspection system and is identified, after the identification is successful, the bracket is called to lift up the three-dimensional demonstration animation and the character prompt of the airplane at the position of the airplane bracket, then the airplane wheel is lifted up by using the tools according to the animation and the character prompt, after the action is finished, the confirmation feedback is sent, and namely the 'completion' button is clicked.
And 5, after the completion, the inspection system continuously sends out an instruction (in the form of a prompt frame and with a completion button) for inspecting whether the obstacles exist around the airplane and the landing gear cabin, the inspection and maintenance personnel continuously inspect around the periphery of the airplane according to the instruction of the navigation arrow, walk to the tail and send out a dangerous red line alarm mark and a sound alarm or/and a text prompt through AR glasses, so as to avoid a dangerous area, return to the position of the airplane bracket after the obstacle inspection work is completed, send out a confirmation feedback, click the completion button, and otherwise, perform obstacle elimination operation according to the identified obstacle condition.
And 6, after the completion, the inspection system continuously sends an instruction (in a prompting frame form, a completion button is attached) for going to the shaft hole to confirm that the front wheel grounding wire is inserted into the shaft hole, the inspection maintenance personnel continuously reach the shaft hole according to the instruction of the navigation arrow and identify the object of the shaft hole, after the identification is successful, a shaft hole marking ring sent by the inspection system is overlapped at the shaft hole, a picture with the shaft hole and the grounding wire mark and a three-dimensional animation of the shaft hole inserted grounding wire are taken out, the inspection maintenance personnel demonstrate the completion of the operation of inserting the grounding wire into the shaft hole according to the animation, after the completion of the action, a confirmation feedback is sent, and the completion button is clicked.
And 7, after the completion of the steps, the inspection system continuously sends out an instruction (in a prompt frame form) for inspecting whether the signal lamp, the actuating cylinder, the strut, the hub and the tire are intact, the inspection maintenance personnel continuously arrive at each corresponding inspection position according to the guidance arrow for identifying the object, negative feedback is carried out when the signal lamp, the actuating cylinder, the strut, the hub or the tire are damaged, the maintenance video is called according to the damage degree, the damaged object is maintained or replaced according to the video, and the inspection maintenance personnel confirms the feedback if the identification target state is good. The identification objects such as the inspection signal lamp, the actuating cylinder, the strut, the hub and the tire are provided with corresponding virtual buttons, the identification objects are yellow before the inspection and maintenance personnel confirm the feedback, the identification objects are connected by red lines, and after the inspection and maintenance personnel confirm the feedback, the yellow buttons are green, so that the work progress of the inspection and maintenance personnel is prompted.
And 8, after the completion, the inspection system continuously sends an instruction (in a prompt frame form, a completion button is attached) of putting down the airplane wheels to reliably land, inspects that the maintenance personnel continuously arrive at the position of the airplane bracket according to the instruction of the navigation arrow, takes and plays the video of the dismantling tool, finishes the action of landing the airplane wheels by the dismantling tool according to the video, and confirms feedback after the completion.
And 9, after the completion of the step 9, the inspection system sends an 'inspection project ending' instruction (in a form of a prompt box, an 'ending' button is attached), and when the inspection is displayed, the inspection and maintenance personnel can confirm to quit the system.
In the process, the AR glasses recognize the target object and the target area through the image, and enlarge the characteristic points of the image by increasing the resolution of the registered image, increasing the color saturation and the contrast of the image, thereby realizing the recognition function. The requirements for the identified picture are: the details of the identification graph have edges and corners, and the number of the edges and corners is extremely large; the edges and corners of the identification picture are uniformly distributed; the picture individual elements are small.
The invention identifies a target object or a target area based on the self-carried space positioning technology and the calibration controller of AR glasses, when the target object or the area is identified and registered, virtual prompt superposition information which is made in advance is assigned to the calibration controller after the identification and the registration are successful, the current calibration controller coordinates record the initial world coordinates of the current virtual prompt superposition information, simultaneously the real-time world coordinates are assigned to the calibration controller target object coordinates, at the moment, the current calibration controller coordinates are the same as the target object coordinates, then the virtual prompt superposition information is moved in real time through the upper, lower, front, rear, left and right buttons which are pre-designed by the calibration controller, at the moment, the target object coordinates and the coordinate difference recorded by the current calibration controller coordinates are changed in real time continuously, the virtual prompt superposition information is accurately moved to the preset target position, and then the current coordinate difference is recorded, returning to the unity3D development program, respectively adding or subtracting the virtual prompt superposition information coordinates in the program according to the coordinate difference, namely, accurately superposing the virtual prompt superposition information on the preset target position, so that the precision of the identified target object or target area reaches centimeter level, and accurate navigation is realized.
When marking circle sign shaft hole virtually: popping up a virtual shaft hole marking ring after the shaft hole is successfully identified, recording the world coordinate of the current virtual shaft hole marking ring by the coordinate of the current calibration controller, assigning the virtual shaft hole marking ring to the calibration controller, and assigning the real-time world coordinate of the virtual shaft hole marking ring to the coordinate of a target object of the calibration controller; the current calibration controller coordinates and the target object coordinates should now be the same. The virtual shaft hole marking ring is moved in real time through an upper button, a lower button, a front button, a rear button, a left button and a right button of a calibration controller, the coordinate and the coordinate difference of a target object at the moment are constantly changed in real time, the virtual shaft hole marking ring is accurately moved right above the shaft hole and then stops moving, the current coordinate difference is recorded, the virtual shaft hole marking ring returns to the unity3D development program, the coordinate of the virtual shaft hole marking ring in the program is respectively added or subtracted according to the coordinate difference of the calibration controller, and the virtual shaft hole marking ring can be accurately superposed on the shaft hole. Specifically, the process of identifying and registering the shaft hole is represented as follows: and popping up a virtual shaft hole marking ring after the shaft hole is identified and registered successfully, and simultaneously accurately superposing the virtual shaft hole marking ring on the shaft hole.
And (3) after the virtual marking ring identification shaft hole is finished, the next step of accurate navigation: in principle, after the virtual marking ring marks the shaft hole, the navigation indication arrow established in the program is assigned to the calibration controller, and after the shaft hole is identified and registered successfully, the navigation indication arrow is moved to accurately point to the position of the next work in the same way. The specific expression in the case is as follows: the virtual marking ring is popped up after the shaft hole is identified successfully, and after a maintenance person accurately inserts the grounding wire into the shaft hole according to three-dimensional animation demonstration, the side prompts that whether the shaft hole work is completed or not and the clicking is yes, the virtual content disappears after the shaft hole maintenance, the navigation indication arrow is popped up, the position to work next step is pointed, and the character prompt is provided, so that the accurate navigation requirement can be met.
When the method is used for identifying the dangerous area of the aircraft engine and alarming, a sector dangerous area model which is manufactured in advance is assigned to a calibration controller after the identification is successful, the model is accurately moved to the tail of the aircraft engine and completely coincided with the tail of the aircraft according to the principle, then a virtual sector world coordinate hypothesis a and a real-time moving coordinate hypothesis b of a first visual angle of an AR device are obtained, the coordinate difference c = (a-b) is calculated in a program, when c is less than 0 or c =0, the model enters the dangerous area, and alarming can be conducted in the forms of characters, pictures, videos, sounds and the like.
In addition, the undercarriage retraction system inspection system is associated with a remote expert auxiliary system through AR glasses, so that in the process of inspection and maintenance, difficult problems are exchanged with experts in a face-to-face mode through the remote expert auxiliary system, and the problem solving precision is realized.
Above for the case of utilizing AR glasses to receive and release system inspection to the aircraft undercarriage, through this case solved the inefficiency that exists when artifical inspection is maintained, training cycle time is long, it is accurate when not in time to acquire data maintenance problems such as, let maintainer have more audio-visual experience of solving the trouble through AR equipment maintenance, let modes such as three-dimensional animation demonstration, sound, characters, picture let their can be faster master maintenance skill, shortened the training cost simultaneously, improved efficiency.
Claims (5)
1. An inspection and maintenance method for an aircraft landing gear retraction system based on an AR device is characterized by comprising the following steps:
step 1, an inspection maintenance worker wears AR glasses, enters a target aircraft parking place to be inspected, and starts an undercarriage retraction system inspection system built in the AR glasses;
step 2, identifying the target aircraft according to the navigation arrow indication of the undercarriage retraction system inspection system, determining the type of the maintenance aircraft and the inspection content, and starting timing at the same time;
step 3, identifying whether the tools are complete or not in the tool box before the tool box is reached according to the navigation arrow indication of the inspection system, and sending an instruction of 'going to the position of the aircraft bracket' by the inspection system after the tools are complete and confirmation feedback is sent;
step 4, according to the navigation arrow of the inspection system, indicating to go to the position of the airplane bracket and identifying the position, calling the bracket to lift up the three-dimensional demonstration animation and the character prompt of the airplane at the position of the airplane bracket after the identification is successful, then utilizing a tool to lift up the airplane wheel according to the animation and the character prompt, and sending confirmation feedback after the action is finished;
step 5, the inspection system continuously sends out an instruction of inspecting whether obstacles exist around the airplane and the landing gear cabin, the inspection maintenance personnel continuously inspect around the periphery of the airplane according to the instruction of the navigation arrow, and walk to the tail to avoid a dangerous area through a dangerous red line alarm mark sent out by the inspection system, and after the obstacle inspection work is finished, the inspection maintenance personnel returns to the position of the airplane bracket to send out confirmation feedback, otherwise, the obstacle removing operation is carried out according to the recognized obstacle condition;
step 6, the inspection system continuously sends an instruction of 'going to the shaft hole to confirm that the front wheel grounding wire is inserted into the shaft hole', the inspection and maintenance personnel continuously reach the shaft hole according to the instruction of a navigation arrow and identify the shaft hole, after the identification is successful, a shaft hole marking ring sent by the inspection system is overlapped at the shaft hole, a picture with the shaft hole and the grounding wire mark and a three-dimensional animation of the shaft hole inserted grounding wire are taken out, the inspection and maintenance personnel finish the operation of inserting the grounding wire into the shaft hole according to animation demonstration, and after the action is finished, confirmation feedback is sent;
step 7, the checking system continuously sends out a command of checking whether the signal lamp, the actuating cylinder, the support column, the hub and the tire are intact, checking and maintaining personnel continuously arrive at each corresponding checking position according to the indication of a navigation arrow to perform object recognition, negative feedback is performed when the signal lamp, the actuating cylinder, the support column, the hub or the tire are damaged, a maintenance video is called according to the damage degree, a damaged target object is maintained or replaced according to the video, and if the state of the identified target object is good, the checking and maintaining personnel perform confirmation feedback;
step 8, the inspection system continuously sends out an instruction of 'putting down the airplane wheels to reliably land', the inspection and maintenance personnel continuously arrive at the position of the airplane bracket according to the instruction of the navigation arrow, call and play the video of the dismantling tool, finish the action of landing the airplane wheels by the dismantling tool according to the video, and perform confirmation feedback after finishing;
and 9, after the completion of the step 9, the inspection system sends an 'inspection project end' instruction, and when the inspection is displayed, the inspection and maintenance personnel can confirm to quit the system.
2. The method for inspecting and repairing an aircraft landing gear retraction system based on an AR device according to claim 1, wherein: the AR glasses recognize a target object and a target area through an image, and enlarge the characteristic points of the image by increasing the resolution of the registered image and increasing the color saturation and contrast of the image, so that the recognition function is realized.
3. The method for inspecting and repairing an aircraft landing gear retraction system based on an AR device according to claim 1, wherein: when the person walks to a dangerous area at the tail of the airplane, the AR glasses give out sound alarm or/and text reminding.
4. The method for inspecting and repairing an aircraft landing gear retraction system based on an AR device according to claim 1, wherein: identifying a target object or a target area based on the self-carried space positioning technology of AR glasses and a calibration controller, assigning virtual prompt superposition information which is made in advance to the calibration controller after the identification and the registration are successful when the target object or the area is identified and registered, recording the initial world coordinate of the current virtual prompt superposition information by the coordinate of the current calibration controller, assigning the real-time world coordinate of the current virtual prompt superposition information to the coordinate of the target object of the calibration controller, wherein the coordinate of the current calibration controller is the same as the coordinate of the target object, then moving the virtual prompt superposition information in real time through an upper button, a lower button, a front button, a rear button, a left button and a right button which are pre-designed by the calibration controller, changing the coordinate of the target object and the coordinate difference recorded by the coordinate of the current calibration controller in real time, accurately moving the virtual prompt superposition information to a preset target position, and recording the current coordinate, returning to the development program, respectively adding or subtracting the virtual prompt superposition information coordinates in the program according to the coordinate difference, namely accurately superposing the virtual prompt superposition information on a preset target position to ensure that the precision of the recognized target object or the target area reaches the centimeter level, so as to realize accurate navigation.
5. The method for inspecting and repairing an aircraft landing gear retraction system based on an AR device according to claim 1, wherein: the undercarriage retraction system inspection system is associated with a remote expert auxiliary system through AR glasses, so that in the process of inspection and maintenance, difficult problems are exchanged with experts face to face through the remote expert auxiliary system, and the problem solving precision is realized.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111942616A (en) * | 2020-08-24 | 2020-11-17 | 北京特种机械研究所 | 1553B bus type falling frame test equipment and method |
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| CN110764615B (en) | 2023-08-04 |
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