CN110953991B - Display method for monitoring hanging swing of helicopter - Google Patents
Display method for monitoring hanging swing of helicopter Download PDFInfo
- Publication number
- CN110953991B CN110953991B CN201911313429.5A CN201911313429A CN110953991B CN 110953991 B CN110953991 B CN 110953991B CN 201911313429 A CN201911313429 A CN 201911313429A CN 110953991 B CN110953991 B CN 110953991B
- Authority
- CN
- China
- Prior art keywords
- display area
- axis
- information
- hanging
- scale
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Controls And Circuits For Display Device (AREA)
Abstract
The invention discloses a display method for monitoring hanging swing of a helicopter, which mainly solves the problem of displaying information of a hanging point position, an infrared video and a hanging point tension of the helicopter hanging swing monitoring system in real time. The implementation scheme is as follows: 1. continuously receiving information of a monitoring system; 2. dividing a display terminal of the system into six display areas of hanging point projection, infrared video, system state, flight speed, hanging point tension and hanging point position information according to functions; 3. and drawing a coordinate system, scales, a ruler, an indicating line and video information in a display area in a mode of combining numbers, characters, graphs and images to form a monitoring display interface. The invention realizes the drawing of the real-time display helicopter hanging swing monitoring interface, has complete, concise and clear interface display content, provides a friendly man-machine interaction function, is convenient for pilots to truly perceive the information of hanging objects, and can be applied to the display terminal of the helicopter hanging swing monitoring system.
Description
Technical Field
The invention belongs to the technical field of computers, and particularly relates to a monitoring and displaying method which can be used for displaying three-dimensional coordinate parameters, angles, speeds and infrared video information of hanging points on a hanging object measured by a helicopter hanging swing monitoring device on a display terminal of a helicopter hanging swing monitoring system in real time.
Background
The helicopter hanging swing monitoring device is a high-precision real-time positioning and measuring device for monitoring three-dimensional coordinates and angle information of a hanging point on a hanging object relative to a machine body in real time in the transportation process of a helicopter.
Computer graphics are displayed on a screen in units of pixels, which is to say that the computer screen is regarded as a grid, and the pixels are grid points, and the size of the grid depends on the resolution of the computer screen. The display of the graph on the computer screen is to divide the graph into M multiplied by N dot matrixes to form grids, and to establish a one-to-one correspondence relationship between the grid points and pixels on the screen.
At present, the display of the information adopts a traditional programming mode and provides a character-type user interface. The airborne character display is mainly divided into dot matrix character display and vector character display. The dot matrix character has fixed size, simple output, adjustable vector character size and flexible output, but because the dot matrix character depends on the realization effect of anti-aliasing straight lines and anti-aliasing arcs, namely the rotation and scaling transformation of the character are complex multiplication operations on character pixel points, and the rounding of decimal numbers exists when coordinates are calculated, the obvious aliasing phenomenon can occur.
Although the two character interfaces mainly based on the symbols occupy less system resources, are high in running speed and direct and efficient in display, the interfaces are dull, the display form is single, the visual effect is not vivid, the realization is complex, the configuration operation is inconvenient, friendly interaction is lacked, and the real-time information obtained by the helicopter hanging swing monitoring equipment cannot be displayed completely, concisely and clearly.
Disclosure of Invention
The invention aims to provide a display method for monitoring hanging swing of a helicopter aiming at the defects of the prior art so as to realize real-time, complete and concise display of monitoring information of hanging swing of the helicopter and improve the information transmission efficiency.
The technical idea for realizing the purpose of the invention is as follows: the visual information of a plurality of different colors and shapes is used on the display interface, so that the three-dimensional position, the angle, the movement speed and the infrared video information of the hung object of the helicopter are visually displayed, a friendly user interface is used for providing a man-machine interaction function, and a pilot can more truly sense the information of the hung object.
According to the technical idea, the specific implementation of the invention comprises the following steps:
(1) the display terminal of the helicopter hanging swing monitoring system continuously receives information data uploaded by the helicopter hanging swing monitoring system, and the information data comprises: real-time three-dimensional coordinate information (X) of a hanging point, i.e. the point of attachment of the hook to the loadd,Yd,Zd) 3 angular information (α, β, θ); infrared video information and two-dimensional coordinates (X) of the hanging pointh,Yh) (ii) a HelicopterA hanging point tension F on the bus;
(2) determining a 900 multiplied by 1200 display area on a display terminal, and dividing the display area into a hanging point projection display area, an infrared video display area, a system state display area, a flight speed display area, a hanging point tension display area and a hanging point position information display area according to the display function to form a display area interface;
(3) determining the range and the position of each display area, and drawing an auxiliary line in a display area interface;
(4) drawing information of a hanging point projection display area:
(4a) assuming that a helicopter hanging point is coincided with the center of mass of the helicopter, drawing an X-Y two-dimensional plane coordinate system consistent with a helicopter running body coordinate system in a hanging point projection display area, wherein the origin of the coordinate system is the helicopter hanging point, the X axis is forward along the longitudinal axis of the helicopter, the Y axis is rightward along the transverse axis of the helicopter, the Z axis is downward along the vertical axis of the helicopter, and the Z axis is not drawn in the display area because the two-dimensional coordinate system is drawn;
(4b) drawing X, Y axis scale lines and angle scale lines in a two-dimensional coordinate system, marking scale values, and drawing hanging point information, wherein the hanging point information comprises: hanging point projection point and its coordinate (X)1,Y1) The coordinate unit is m; the included angle alpha between the projection point of the hanging point in the X-Y coordinate system and the X axis, the included angle beta between the projection point of the hanging point in the X-Y coordinate system and the Y axis, and the included angle theta between the hanging point and the Z axis, wherein the angle unit is degrees;
(5) drawing information of an infrared video display area:
(5a) drawing the two-dimensional plane coordinate system same as the two-dimensional plane coordinate system in the (4a) in the infrared video display area;
(5b) drawing X, Y axis scale lines in the two-dimensional coordinate system drawn in the step (5a), marking distance display range and scale value, displaying infrared video information uploaded by the helicopter hanging swing monitoring equipment, and drawing infrared two-dimensional coordinates (X) of hanging points2,Y2)；
(6) Drawing information of a system state display area:
(6a) sequentially drawing a communication indication button, a working state indication button, a tension indication button and a swing angle indication button in a system state display area, and marking states indicated by the buttons respectively;
(6b) and drawing function description characters of the instruction buttons in sequence: "communication", "state", "tension", "swing angle";
(7) drawing information of a flight speed display area:
(7a) drawing a speed identification line and a scale in the flight speed display area, and marking a display range and a scale value;
(7b) calculating real-time speed information of a display hanging point below the scale, wherein the speed display unit is Km/h, and drawing a speed indicating line on a speed identification line;
(8) drawing information of a hanging point tension display area:
(8a) drawing a tension identification line and a scale in a tension display area of a hanging point and marking a display range and a scale value;
(8b) displaying real-time tension sensor load information F below the scale, wherein the tension display unit is t, and drawing a tension indicating line on the tension marking line;
(9) drawing information of a hanging point position information display area:
(9a) dividing a hanging point position information display area into an upper part and a lower part, wherein the upper half part displays a display title 'hanging point position information display area', and the lower half part displays information;
(9b) the information is displayed in the lower half in sequence: z-axis included angle theta, X-axis included angle alpha, Y-axis included angle beta and X-axis coordinate XdY axis coordinate YdZ-axis coordinate Zd。
Compared with the prior art, the invention has the following advantages:
firstly, the display data of the invention comes from a helicopter hanging swing monitoring system and a helicopter bus, thereby ensuring the real-time performance and the integrity of the information;
secondly, the information displayed on the display interface is divided into 6 areas according to the needs, so that the picture is simple and the function is clear;
thirdly, the coordinate system of the projection display area of the hanging point is established by the visual angle of the pilot, and the position of the hanging object viewed by the pilot on the helicopter is displayed, so that the pilot can quickly judge whether the hanging point is in a safe area;
fourthly, 3 different line types are adopted in the projection display area of the hanging point to respectively represent theta angles in three ranges of 0-15 degrees, 15-20 degrees and 20-30 degrees, so that a pilot can really sense the swing angle of the hanging object only by observing the angle scale area where the hanging projection point is located;
fifthly, due to the introduction of the infrared video information, the peripheral environment of the hanging object can be truly displayed to the pilot, and compared with the prior art, the information can be known only by the command of ground staff, and the blind area of the pilot on the visual field below the fuselage is eliminated;
sixth, the invention adopts the buttons with different shapes to mark the system status display area as normal and fault, thus improving the identification rate of the status information;
seventh, in the invention, in the flight speed display area and the hanging point tension display area, the flight speed and the hanging tension are respectively displayed in a graphic mode by adopting the indicating lines, so that the display of the interface is diversified and rich;
in summary, the helicopter hanging swing monitoring display method provided by the invention adopts a mode of combining numbers, characters, graphics and images to replace single digital display, realizes real-time, complete and concise display of helicopter hanging swing monitoring information, and improves information transmission efficiency.
The invention is further described with reference to the following figures and detailed description.
Drawings
FIG. 1 is a flow chart of an implementation of the present invention;
fig. 2 is a schematic view of an interface display in the present invention.
Detailed Description
Referring to fig. 1, the implementation steps of this example are as follows:
Wherein: including real-time three-dimensional coordinate information (X) of the hang point in the positioning information data packetd,Yd,Zd) Angle information (alpha, beta, theta), wherein the two kinds of information are obtained by measuring a helicopter hanging swing monitoring system in a radio positioning mode;
the infrared video data packet is suspension point infrared video information and two-dimensional coordinates (X) obtained by continuously sampling by the infrared imaging equipmenth,Yh) Information is obtained by measuring an infrared camera in a helicopter hanging swing monitoring system;
and the hanging point tension information F is from a helicopter bus and is obtained by measuring by a tension sensor.
And 2, determining a fixed display area, finishing interface division and drawing the boundary of each display area.
(2.1) determining 900 x 1200 pixel points on a display terminal to form a display area, setting the upper left corner of a screen as a pixel origin coordinate, setting the origin coordinate as (1,1), and defining that the right side along the screen at the origin coordinate is positive and the downward side is positive;
(2.2) dividing the display interface into about 2 parts of 600 × 1200 and 300 × 1200, wherein:
the 600 × 1200 area on the left is divided into 2 600 × 600 areas, the upper half is a suspension point projection display area, and the lower half is an infrared video display area;
the right 300 × 1200 area is divided into 4 areas, namely a 300 × 100 area, a 150 × 500 area and a 300 × 600 area, and the areas are a system state display area, a flight speed display area, a hanging point tension display area and a hanging point position information display area in sequence;
(2.3) setting 4 vertex coordinates of the suspension point projection display area as (1,1), (600,1), (1,600) and (600 );
(2.4) setting 4 vertex coordinates of the infrared video display area to (1,600), (600 ), (1,1200), (600,1200);
(2.5) setting 4 vertex coordinates of the system status display area as (600,1), (900,1), (600,100), and (900,100), respectively;
(2.6) setting 4 vertex coordinates of the flight speed display area as (600,100), (750,100), (600 ), and (750,600), respectively;
(2.7) setting 4 vertex coordinates of the hanging point tension display area as (750,100), (900,100), (750,600) and (900,600);
(2.8) setting 4 vertex coordinates of the hanging point position information display area as (600 ), (900,600), (600,1200), and (900,1200), respectively;
and (2.9) drawing the auxiliary lines of the boundary of the display area in sequence according to the vertex coordinates of the display areas set in the steps (2.3) to (2.8).
And 3, drawing a hanging point projection display area.
(3.1) drawing an X-Y two-dimensional plane coordinate system:
connecting the pixel points (1,300) and (600,300) to form a horizontal straight line with an arrow to represent a coordinate Y axis, similarly connecting the pixel points (300,600) and (300,1) to form a vertical straight line with an arrow to represent a coordinate X axis, and taking the intersection point of the two lines as the origin (300 ) of a coordinate system;
(3.2) drawing scale marks on the coordinate axis:
on the Y axis, from a coordinate point (60,300), drawing vertical lines with the length of 5 pixel points at intervals of 40 pixel points along the positive direction of the Y axis, wherein the vertical lines are used for representing distance scale lines of the Y axis and are 12, and the positive half shaft and the negative half shaft are 6 respectively;
on the X axis, from coordinate points (300,600) along the positive direction of the X axis, drawing horizontal lines with the length of 5 pixel points at intervals of 40 pixel points, wherein the horizontal lines are used for representing distance scale lines of the X axis and are 12, and the positive half axis and the negative half axis are 6 respectively;
(3.3) drawing an angle scale line of the angle theta:
drawing 6 concentric circles of three different line types by taking the origin (300 ) of a coordinate system as the center of a circle and sequentially taking 40, 80, 120, 160, 200 and 240 as radiuses, counting outwards from the center of the circle, wherein the 1 st to 3 rd circles use a solid line, the 4 th circle uses a dotted line, the 5 th and 6 th circles use a single-point marking line, and the six concentric circles are angle scale lines of a theta angle;
(3.4) based on Z in the received positioning information data packetdAnd angle theta, determining the positioning information XdAnd YdDistance display ofAll ranges are- | Zd|×tanθ～|ZdI × tan θ, dividing the maximum distance by 6 as the minimum distance unit, and marking "0" at coordinates (295 ) to represent the origin, i.e., the scale line of 0 minimum distance units; marking "1" at coordinates (295, 335) and (345,295) to indicate the tick mark of 1 minimum distance cell, and so on, marking the distance scale represented by the tick mark at each distance tick mark in turn beginning at the origin in both the positive and negative directions of axis X, Y;
(3.5) equally dividing 30 degrees into 6 parts according to the included angle theta within the range of 0-30 degrees, and labeling 6 angle scale values at the upper left corner of each angle scale mark in sequence from inside to outside: 5 °,10 °,15 °,20 °, 25 °,30 °;
(3.6) rendering with (X)1,Y1) A solid circle with 1 as the radius as the center of the circle, and the solid circle is used for representing the hanging projection point, wherein
(3.7) connecting the hanging projection point and the origin of coordinates into a straight line;
(3.8) combining the projection points and the connecting lines drawn in (3.6) and (3.7), marking theta on the right side of the projection points, marking alpha on the inner side of an included angle between the connecting line and the X axis, and marking beta on the inner side of an included angle between the connecting line and the Y axis, wherein the angle ranges represented by alpha and beta are-180 degrees, and the angle range represented by theta is 0-30 degrees.
And step 4, drawing an infrared video display area.
(4.1) drawing an X-Y two-dimensional plane coordinate system:
connecting the pixel points (1,900) and (600,900) to form a horizontal straight line with an arrow to represent a coordinate Y axis, similarly connecting the pixel points (300,1200) and (300,600) to form a vertical straight line with an arrow to represent a coordinate X axis, and taking the intersection point of the two lines as the origin point (300,900) of a coordinate system;
(4.2) drawing scale marks on the coordinate axis:
on the Y axis, from a coordinate point (60,900), drawing vertical lines with the length of 5 pixel points at intervals of 40 pixel points along the positive direction of the Y axis, wherein the vertical lines are used for representing distance scale lines of the Y axis and are 12, and the positive half shaft and the negative half shaft are 6 respectively;
on the X axis, from a coordinate point (300,1140), along the positive direction of the X axis, drawing horizontal lines with the length of 5 pixel points at intervals of 40 pixel points, wherein the horizontal lines are used for representing distance scale lines of the X axis and are 12, and the positive half axis and the negative half axis are 6 respectively;
(4.3) displaying infrared video information uploaded by the helicopter hanging swing monitoring equipment;
(4.4) according to the information (X) uploaded by the infrared camerah,Yh) Taking the integer of the maximum value divided by 6 as the minimum distance unit, marking distance scale values at the distance scale lines of the X, Y axis in sequence, namely marking '0' at coordinates (295, 895) to represent the origin, namely the scale lines of 0 minimum distance units; marking "1" at coordinates (305, 855) and (345,895) to indicate the tick mark of 1 minimum distance unit, and so on, marking the distance scale represented by the tick mark at each distance tick mark in turn in both positive and negative directions of axis X, Y from the origin;
(4.5) rendering with (X)2,Y2) As the centre of a circle, 1 is the solid circle of radius, represents infrared video imaging point with this solid circle, wherein:
and 5, drawing a system state display area.
(5.1) dividing the display area into 4 areas of equal width;
(5.2) drawing a button with the radius of 5 pixel points at the coordinates (700 and 50) of the center point of the first area, marking the function indication below the button as 'communication', indicating the state of a communication interface between the hanging display terminal and the hanging swing monitoring system, indicating that the communication is normal when the button is O, and indicating that the communication is failed when the button is ●;
(5.3) drawing a button with the radius of 5 pixel points at the coordinates (750 and 50) of the center point of the second area, marking the function indication below the button as the state, indicating the working state of the hanging swing monitoring system, indicating that the button works normally when the button is delta, and indicating that the button is a tangle-solidup;
(5.4) drawing a button with the radius of 5 pixel points at the coordinates (800 and 50) of the center point of the third area, marking the function below the button to indicate that the button is in tension, indicating that the state of a tension sensor for monitoring the hanging load is in normal tension, and indicating that the button diamond indicates that the tension is in normal tension;
(5.5) drawing a button with a radius of 5 pixels at the coordinates of the center point of the fourth area (850, 50), marking the function indication below the button as "swing angle", showing the range size of the included angle theta between the hanging point and the Z axis, indicating that the button is star-shaped, indicating that theta is between 0 and 30 degrees, and indicating that theta is beyond 30 degrees.
And 6, drawing a flight speed display area.
(6.1) respectively connecting the pixel points (625,150) and (700,150), (625,500) and (700,500), (650,150) and (650,500) into 3 straight lines to form a speed identification line;
(6.2) drawing 10 graduation lines which are vertical to the straight line and have the length of 10 pixels between the straight lines of (650,500) and (650,150) at intervals of 30 pixels to form a speed scale;
(6.3) on the right side of the velocity scale, from top to bottom, labeling 300, 270, 240.,. 30, 0 in that order, 11 numbers as scale values, at (665,500) marking "0" to indicate a velocity value of 0Km/h, at (665,470) marking "30" to indicate a velocity value of 30Km/h, and so on, at (665,200) marking "300" to indicate a velocity value of 300 Km/h;
(6.4) assume that t is1、t2At that time, the three-dimensional coordinates of the hanging points are respectively (X)1,Y1,Z1)、(X2,Y2,Z2) The velocity component in the X-axis direction is Vx＝X2-X1The velocity component in the Y-axis direction is Vy＝Y2-Y1The velocity component in the Z-axis direction is Vz＝Z2-Z1Calculating the real-time flying speed of the hanging object as follows:
(6.5) displaying (6.4) the calculated real-time flight velocity value, for example "235.2 Km/h", in numerical form, in the region of the vertices in coordinates (625,500), (725,500), (625,600), (725,600), where 235.2 is the calculated value and Km/h is the velocity unit;
(6.6) in (X)3,Y3) At position, along X3Direction is plotted with an indicator arrow of 20 pixels in length as a speed indicator line, where X3＝650，Y3＝500-V。
And 7, drawing a hanging point tension display area.
(7.1) respectively connecting the pixel points (775,150) and (850,150), (775,500) and (850,500), (800,150) and (800,500) into 3 straight lines to form a tension identification line;
(7.2) drawing a transverse line which is vertical to the straight line and has the length of 10 pixels every 30 pixel points between the straight lines of (800,500) and (800,150), and representing a pull force scale by 10 lines;
(7.3) on the right side of the scale, 11 numbers of 10.0, 9.0 and 8.0 are marked from top to bottom in sequence to serve as scale values, wherein 0 is marked at (815,500) to indicate that the tension value is 0t, 1.0 is marked at (815,470) to indicate that the tension value is 1.0t, and the like, and 10.0 is marked at (815,200) to indicate that the tension value is 10.0 t;
(7.4) displaying the monitored tension value in numerical form, e.g. "6.9 t", in the area with the coordinates (775,500), (875,500), (775,600), (875,600) as vertices, where 6.9 is the tension value and t is the tension unit;
(7.5) in (X)4,Y4) At position along X4The direction is plotted with an indicator arrow of 20 pixels in length, representing a tensile indicator line, where X4＝800，Y4＝500-30×F。
And 8, drawing a hanging point position information display area.
(8.1) drawing a straight line between the coordinates (600,660) and (900,660) to divide the hanging point position information display area into an upper part and a lower part;
(8.2) drawing the title "hanging point position information display area" in the area having the coordinates (600 ), (900,600), (600,660), (900,660) as the vertices;
(8.3) the lower half part of the hanging point position information display area is averagely divided into 6 equal parts with equal height, and each piece of information is displayed in sequence:
(8.3.1) in the region having the coordinates (600,660), (900,660), (600,750), (900,750) as the vertices, the "Z-axis included angle θ: θ angle value ", such as" Z-axis included angle θ: 15.02 ° ";
(8.3.2) in the region having the coordinates (600,750), (900,750), (600,840), (900,840) as the vertices, the "X-axis included angle α: α angle value ", such as" X-axis included angle α: 66.25 ° ";
(8.3.3) in the region having the coordinates (600,840), (900,840), (600,930), (900,930) as the vertices, the "Y-axis included angle β: angle β values ", such as" Y-axis included angle β: 23.75 ° ";
(8.3.4) in the region having the coordinates (600,930), (900,930), (600,1020), (900,1020) as the vertices, "X-axis coordinate X" is plottedd：XdNumerical values ", e.g." X-axis coordinate Xd：3.22m”；
(8.3.5) in the region having the coordinates (600,1020), (900,1020), (600,1110), (900,1110) as the vertices, "Y-axis coordinate Y is plottedd：YdNumerical values ", e.g." Y-axis coordinate Yd：2.04m”；
(8.3.6) in the region having the coordinates (600,1110), (900,1110), (600,1200), (900,1200) as the vertices, "Z-axis coordinate Z" is plottedd：ZdNumerical values ", e.g." Z-axis coordinate Zd：10.39m”。
The helicopter hanging swing monitoring display interface realized according to the steps 1 to 8 is shown in fig. 2, and 6 display areas are marked in fig. 2, wherein:
the interface that the hanging projection point falls in the first quadrant is indicated in the coordinate system with scales of the hanging projection display zone, (X)1,Y1) Coordinates (3.22,2.04), theta corner between 15 ° and 20 ° angular scale lines;
infrared visionThe infrared head portrait of the frequency display area is replaced by a grid background, and the coordinate of the infrared two-dimensional information is (X)2,Y2) The coordinate is consistent with the coordinate of the hanging projection point;
in the system state display area, the communication indication is O, which represents that the communication between the hanging display terminal and the hanging swing monitoring system is normal; the state indication is a tangle-solidup which represents the working fault of the hanging swing monitoring system; the tension indication is o, representing that the tension of the suspended load is normal; the swing angle is indicated as ^ which represents the included angle theta between the hanging point and the Z axis between 0 DEG and 30 DEG;
a flight speed display area indicating an example speed value with an arrow;
a hanging point tension display area indicates an example tension value by an arrow;
and (4) clearly displaying 6 kinds of information in the hanging point position information display area according to the step 8.
The foregoing description is only an example of the present invention and is not intended to limit the invention, so that it will be apparent to those skilled in the art that various changes and modifications in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (12)
1. A display method for monitoring hanging swing of a helicopter is characterized by comprising the following steps:
(1) the display terminal of the helicopter hanging swing monitoring system continuously receives a data information packet uploaded by the helicopter hanging swing monitoring system, and the data information packet comprises: real-time three-dimensional coordinate information (X) of a hanging point, i.e. the point of attachment of the hook to the loadd,Yd,Zd) 3 angular information (α, β, θ); infrared video information and two-dimensional coordinates (X) of the hanging pointh,Yh) (ii) a A hanging point tension F on the helicopter bus;
(2) determining a display area consisting of 900 multiplied by 1200 pixel points on a display terminal, and dividing the display area into a hanging point projection display area, an infrared video display area, a system state display area, a flight speed display area, a hanging point tension display area and a hanging point position information display area according to a display function to form a display area interface;
(3) determining the range and the position of each display area, and drawing an auxiliary line in a display area interface;
(4) drawing information of a hanging point projection display area:
(4a) assuming that a helicopter hanging point is coincided with the center of mass of the helicopter, drawing an X-Y two-dimensional plane coordinate system consistent with a helicopter running body coordinate system in a hanging point projection display area, wherein the origin of the coordinate system is the helicopter hanging point, the X axis is forward along the longitudinal axis of the helicopter, the Y axis is rightward along the transverse axis of the helicopter, the Z axis is downward along the vertical axis of the helicopter, and the Z axis is not drawn in the display area because the two-dimensional coordinate system is drawn;
(4b) drawing X, Y axis scale lines and angle scale lines in a two-dimensional coordinate system, marking scale values, and drawing hanging point information, wherein the hanging point information comprises: hanging point projection point and its coordinate (X)1,Y1) The coordinate unit is m; the included angle alpha between the projection point of the hanging point in the X-Y coordinate system and the X axis, the included angle beta between the projection point of the hanging point in the X-Y coordinate system and the Y axis, and the included angle theta between the hanging point and the Z axis, wherein the angle unit is degrees;
(5) drawing information of an infrared video display area:
(5a) drawing the two-dimensional plane coordinate system same as the two-dimensional plane coordinate system in the (4a) in the infrared video display area;
(5b) drawing X, Y axis scale lines in the two-dimensional coordinate system drawn in the step (5a), marking distance display range and scale value, displaying infrared video information uploaded by the helicopter hanging swing monitoring equipment, and drawing infrared two-dimensional coordinates (X) of hanging points2,Y2)；
(6) Drawing information of a system state display area:
(6a) sequentially drawing a communication indication button, a working state indication button, a tension indication button and a swing angle indication button in a system state display area, and marking states indicated by the buttons respectively;
(6b) and drawing function description characters of the instruction buttons in sequence: "communication", "state", "tension", "swing angle";
(7) drawing information of a flight speed display area:
(7a) drawing a speed identification line and a scale in the flight speed display area, and marking a display range and a scale value;
(7b) calculating real-time speed information of a display hanging point below the scale, wherein the speed display unit is Km/h, and drawing a speed indicating line on a speed identification line;
(8) drawing information of a hanging point tension display area:
(8a) drawing a tension identification line and a scale in a tension display area of a hanging point and marking a display range and a scale value;
(8b) displaying real-time tension sensor load information F below the scale, wherein the tension display unit is t, and drawing a tension indicating line on the tension marking line;
(9) drawing information of a hanging point position information display area:
(9a) dividing a hanging point position information display area into an upper part and a lower part, wherein the upper half part displays a display title 'hanging point position information display area', and the lower half part displays information;
(9b) the information is displayed in the lower half in sequence: z-axis included angle theta, X-axis included angle alpha, Y-axis included angle beta and X-axis coordinate XdY axis coordinate YdZ-axis coordinate Zd。
2. The method of claim 1, wherein the determining of the range and the position of each display area in (3) and drawing of the auxiliary line in the display area interface are implemented as follows:
(3a) dividing a display interface into a left part and a right part which are composed of 600 × 1200 and 300 × 1200 pixel points, wherein:
the area formed by 600 × 1200 pixel points on the left side is divided into the areas formed by 2 600 × 600 pixel points on the upper part and the lower part, the upper half part is a suspension point projection display area, and the lower half part is an infrared video display area;
the area formed by the right 300 × 1200 pixels is divided into upper and lower 4 areas formed by 300 × 100 pixels, 150 × 500 pixels and 300 × 600 pixels, and the upper and lower areas are a system state display area, a flight speed display area, a hanging point tension display area and a hanging point position information display area in sequence;
(3b) setting the upper left corner of a display area interface as a pixel origin, setting the origin pixel coordinate as (1,1), and setting the coordinate origin as positive right and positive downward along the screen;
(3c) 4 vertex coordinates of the suspension point projection display area are respectively set as (1,1), (600,1), (1,600) and (600 );
(3d) the coordinates of 4 vertexes of the infrared video display area are respectively set to (1,600), (600 ), (1,1200), (600,1200);
(3e) the 4 vertex coordinates of the system status display area are set to (600,1), (900,1), (600,100), (900,100), respectively;
(3f) the 4 vertex coordinates of the flight speed display area are respectively set to (600,100), (750,100), (600 ) and (750,600);
(3g) the coordinates of 4 top points of the hanging point tension display area are respectively set as (750,100), (900,100), (750,600) and (900,600);
(3h) the coordinates of 4 vertices in the hanging point position information display area are (600 ), (900,600), (600,1200) and (900,1200);
(3i) and drawing the auxiliary lines of the boundary of the display area in sequence according to the vertex coordinates of the display areas set in the steps (3a) to (3 h).
3. The method of claim 1, wherein (4b) said plotting X, Y axis tick marks, angle tick marks, and designating scale values in a two-dimensional coordinate system is performed as follows:
(4b1) setting the coordinates of pixel points corresponding to the origin of a coordinate system as (300 ), wherein the pixel ranges of the X axis and the Y axis are both 1-600, respectively representing the distance display range by using 60-540 pixel points on the X, Y axis, and drawing lines with the length of 5 pixel points at intervals of 40 pixel points in the range, wherein the lines are 24 lines, namely distance scale lines;
(4b2) gradually drawing 6 concentric circles by taking the origin of a coordinate system as the center of a circle and every 40 pixel points as the radius, representing angle scale lines of an included angle theta, dividing a display area into 6 parts by the scale lines, representing whether the theta angle is in a safe range by adopting 3 different line types, and carrying out flickering warning if the theta angle is out of the safe range;
(4b3) according to Z in received positioning information data packetdAnd angle theta, determining the positioning information XdAnd YdThe distance display ranges of (a) and (b) are all- | Zd|×tanθ～|ZdTaking the integer of the maximum distance divided by 6 as a minimum distance unit, and sequentially marking distance scale values at a distance scale line of an X, Y axis;
(4b4) according to the range of the included angle theta of 0-30 degrees and the combination of the angle scale lines drawn in (4b2), equally dividing 30 degrees into 6 parts: and 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees and 30 degrees are used as angle scale values, and then 6 angle scale values are marked at the upper left corner of each angle scale line from inside to outside in sequence.
4. The method of claim 1, wherein (4b) said plotting hanger point information in a two-dimensional coordinate system is performed as follows:
(4b5) is drawn with (X)1,Y1) A solid circle with 1 as the radius as the center of the circle, and the solid circle is used for representing the hanging projection point, wherein
(4b6) Connecting the hanging projection point and the origin of coordinates into a straight line;
(4b7) in combination with the projection points and the connecting lines drawn in (4b5) and (4b6), θ is marked on the right side of the projection points, α is marked on the inner side of the included angle between the connecting line and the X axis, and β is marked on the inner side of the included angle between the connecting line and the Y axis.
5. The method of claim 1, wherein said step (5b) of plotting X, Y axis marks, indicating distance display range and scale values, and said step of plotting infrared two-dimensional coordinates (X) of the hanging point in said two-dimensional coordinate system plotted in step (5a)2,Y2) The implementation is as follows:
(5b1) setting the coordinates of pixel points corresponding to the origin of a coordinate system as (300,900), the range of an X axis as 600-1200, the range of a Y axis as 1-600, representing the display range of the distance of the X axis by 660-1140 pixel points on the X axis, and representing the display range of the distance of the Y axis by 60-540 pixel points on the Y axis;
(5b2) respectively drawing lines with the length of 5 pixel points on an X, Y axis every 40 pixel points, wherein the lines are 24 lines and represent distance scale lines;
(5b3) according to the information (X) uploaded by the infrared camerah,Yh) Taking the integer of the maximum value and dividing by 6 as a minimum distance unit, and sequentially marking distance scale values at a distance scale line of an X, Y axis;
(5b4) is drawn with (X)2,Y2) As the centre of a circle, 1 is the solid circle of radius, represents infrared video imaging point with this solid circle, wherein:
6. the method according to claim 1, wherein the status indicated by the button in (6a) is marked respectively, which means that two different types of buttons are used to respectively indicate two statuses "normal" and "failure".
7. The method according to claim 1, wherein the speed marking line, the ruler, and the display range and the scale value are drawn in the flying speed display area in (7a) and implemented as follows:
(7a1) respectively connecting pixel points (625,150) and (700,150), (625,500) and (700,500), (650,150) and (650,500) into 3 straight lines to form a speed identification line;
(7a2) drawing 10 lines which are perpendicular to the straight line and have the length of 10 pixels every 30 pixels between the straight lines of (650,500) and (650,150) to form a velocity scale;
(7a3) on the right side of the velocity scale, 11 numbers 300, 270, 240, 30, 0 are marked in sequence from top to bottom as scale values.
8. The method of claim 1, wherein in (7b) real-time speed information is calculated for displaying the hanger point below the ruler, and a speed indicator line is drawn on the speed indicator line, as follows:
(7b1) let us assume at t1、t2At that time, the three-dimensional coordinates of the hanging points are respectively (X)1,Y1,Z1)、(X2,Y2,Z2) The velocity component in the X-axis direction is Vx＝X2-X1The velocity component in the Y-axis direction is Vy＝Y2-Y1The velocity component in the Z-axis direction is Vz＝Z2-Z1The real-time flying speed is
(7b2) Below the velocity scale, the calculated real-time flight velocity values are displayed (7b1) in numerical form, in the format "235.2 Km/h";
(7b3) in (X)3,Y3) At position, along X3Direction is plotted with an indicator arrow of 20 pixels in length as a speed indicator line, where X3＝650，Y3＝500-V。
9. The method according to claim 1, wherein in (8a), a tension identification line and a scale are drawn in the tension display area of the hanging point, and a display range and a scale value are marked, which are realized as follows:
(8a1) respectively connecting pixel points (775,150) and (850,150), (775,500) and (850,500), (800,150) and (800,500) into 3 straight lines to form a tension identification line;
(8a2) drawing a line which is vertical to the straight line and has the length of 10 pixels every 30 pixel points between the straight lines of (800,500) and (800,150), wherein the line is 10 lines to represent the tension ruler;
(8a3) on the right side of the scale, 11 numbers, i.e., 10.0, 9.0, 8.0, 1.0, 0, are marked as scale values from top to bottom.
10. The method of claim 1, wherein in (8b) real-time tension sensor load information F is displayed below the scale and a tension indicator line is drawn over the tension indicator line as follows:
(8b1) displaying the tension value in a digital form under the tension scale, wherein the format is '6.9 t';
(8b2) in (X)4,Y4) At position along X4The direction is plotted with an indicator arrow of 20 pixels in length, representing a tensile indicator line, where X4＝800，Y4＝500-30×F。
11. The method as claimed in claim 1, wherein said dividing (9a) of the hanging point position information display area into upper and lower 2 parts is performed by drawing a straight line between the pixel points (600,660) and (900,660) of the hanging point position information display area to divide the area into two parts.
12. The method according to claim 1, wherein the information is displayed in sequence in the lower half of the (9b) by dividing the lower half of the display area of the hanging point position information into 6 equal parts with equal height, and each piece of information is displayed in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911313429.5A CN110953991B (en) | 2019-12-19 | 2019-12-19 | Display method for monitoring hanging swing of helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911313429.5A CN110953991B (en) | 2019-12-19 | 2019-12-19 | Display method for monitoring hanging swing of helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110953991A CN110953991A (en) | 2020-04-03 |
| CN110953991B true CN110953991B (en) | 2021-04-02 |
Family
ID=69982665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911313429.5A Active CN110953991B (en) | 2019-12-19 | 2019-12-19 | Display method for monitoring hanging swing of helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110953991B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112052526B (en) * | 2020-09-25 | 2022-09-06 | 中国直升机设计研究所 | Method for calculating swing angle of sling of external suspension system of helicopter |
| CN112485811B (en) * | 2020-11-03 | 2023-09-08 | 中国直升机设计研究所 | Method for measuring movement of outer hanging object of helicopter |
| CN117885896A (en) * | 2024-03-15 | 2024-04-16 | 四川腾盾科技有限公司 | Unmanned helicopter hanging load throwing monitoring method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045277B (en) * | 2015-07-08 | 2017-10-31 | 西安电子科技大学 | A kind of multiple no-manned plane manipulates information display system |
| CN105353354B (en) * | 2015-11-11 | 2017-10-27 | 陕西长岭电子科技有限责任公司 | Double B formulas display methods of landing guidance radar |
| JP6493267B2 (en) * | 2016-03-25 | 2019-04-03 | 東京電力ホールディングス株式会社 | Wind state determination device and flying object |
| CN105930129B (en) * | 2016-04-12 | 2019-01-22 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | One kind being applied to helicopter hanger hunting of load angle quelling time-varying division method |
| CN106873624B (en) * | 2017-03-26 | 2020-03-03 | 天津大学 | Four-rotor unmanned aerial vehicle suspension flight control method based on partial feedback linearization |
| CN107688431B (en) * | 2017-08-23 | 2021-04-30 | 上海喵呜信息科技有限公司 | Man-machine interaction method based on radar positioning |
| RU2716035C1 (en) * | 2017-12-20 | 2020-03-05 | СиТиАй Системс С.а.р.л. | Collision avoidance assist system for movable working platforms |
-
2019
- 2019-12-19 CN CN201911313429.5A patent/CN110953991B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| Spot hover control of helicopter and swing control of helicopter sling load by using Zhang-gradient method;Liao Bolin;《2015 34th Chinese Control Conference: Proceedings of the 34th Chinese Control Conference》;20150728;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110953991A (en) | 2020-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110953991B (en) | Display method for monitoring hanging swing of helicopter | |
| US6862501B2 (en) | Method for producing 3D perspective view avionics terrain displays | |
| US20070247336A1 (en) | Display System for Aircraft | |
| US9092113B2 (en) | Cursor display method and cursor display device | |
| CN103576901B (en) | Hand-hold electronic equipments enter the implementation method and the equipment of line cursor control to screen | |
| CN102567570B (en) | Method for plane display of configurable machine room layouts | |
| JP2006044577A (en) | Low noise flight assist system | |
| CN110069590B (en) | GIS-based multi-source data front end three-dimensional display method and system | |
| WO2021212519A1 (en) | Flight guidance method, apparatus and system, and remote control terminal and readable storage medium | |
| KR102639272B1 (en) | Method and system for calculating and expressing line-of-sight penetration reachable area | |
| US6317059B1 (en) | Method and apparatus for display of flight guidance information | |
| CN114356271B (en) | Multi-dimensional disaster information multi-screen linkage visualization method for underground space | |
| CN110187314A (en) | Radar primary information display methods and system | |
| CN101488029A (en) | Ground measurement and control station real-time information monitoring system for coaxial unmanned helicopter | |
| US8224508B2 (en) | Viewing device for aircraft comprising means of displaying the final destination and associated display method | |
| CN107679015B (en) | Three-dimensional map-based real-time monitoring range simulation method for pan-tilt camera | |
| CN115327499A (en) | Radar target track simulation method based on load unmanned aerial vehicle | |
| CN107451958A (en) | A kind of angular transition algorithm towards ArcGIS polar regions vector field visualization | |
| JP2000276700A (en) | Control information display system | |
| CN111204469B (en) | Flight energy change display system and display position determining method | |
| CN115273559B (en) | Method for carrying out virtual simulation on aircraft cabin head-up display | |
| CN102419168B (en) | Device for measuring and displaying horizontal angle of inclination of airplane and measurement and display method thereof | |
| CN108557091B (en) | Device and method for head-up display in integrated avionics equipment | |
| US20120004792A1 (en) | Weber-box, an aviation display device to support spatial awareness | |
| CN103034345B (en) | Geographical virtual emulation 3D mouse pen in a kind of real space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |