CN111812669B - Winding machine inspection device, positioning method thereof and storage medium - Google Patents
Winding machine inspection device, positioning method thereof and storage medium Download PDFInfo
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- CN111812669B CN111812669B CN202010690698.XA CN202010690698A CN111812669B CN 111812669 B CN111812669 B CN 111812669B CN 202010690698 A CN202010690698 A CN 202010690698A CN 111812669 B CN111812669 B CN 111812669B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The application discloses a winding machine inspection device, a positioning method thereof and a readable storage medium. Controlling the machine-surrounding inspection device to run around the aircraft, and establishing a laser radar point cloud map of the aircraft wheel under the aircraft coordinate system according to the laser radar point clouds of the aircraft wheel at different moments; in the checking process, performing point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the machine-around checking device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel in the coordinate system of the machine-around checking device; and determining the pose of the on-the-fly inspection device under an aircraft coordinate system according to the conversion matrix. The problem that the pose information of the winding machine checking device is inaccurate in the prior art is solved by a GPS positioning method.
Description
Technical Field
The application relates to the technical field of laser radar positioning, in particular to a winding machine inspection device, a positioning method thereof and a storage medium.
Background
The aircraft has the characteristics of high speed, high safety and the like, and becomes an indispensable transportation tool for people to travel. In order to ensure the navigation safety of an airplane, safety inspection before flying is an essential link. However, because the safety inspection time before flight is short and the task is heavy, the manual inspection is inevitably performed to avoid omission, and the efficiency and the reliability of the manual inspection under the influence of the environment are also reduced. Compared with manual inspection, the inspection can be performed by using the ground unmanned vehicle or the unmanned vehicle, so that the inspection efficiency and reliability can be improved, and the recorded images can be reproduced conveniently after inspection.
At present, in an outdoor environment, the positioning of a ground unmanned vehicle mainly adopts a satellite/inertial sensor fusion method, but the satellite refused environment exists in the passenger plane inspection process, so that the reliability of GPS positioning is low. In a factory environment, an unmanned vehicle generally adopts a mode of pre-paving guide rails or magnetic strips for navigation, but the method is complex, difficult in track change and not suitable for an airport environment.
Disclosure of Invention
The embodiment of the application aims to solve the problem that the positioning of the winding machine inspection device is inaccurate due to the existence of a satellite refused environment in the passenger plane inspection process when the satellite/inertial sensor fusion mode is adopted to position the winding machine inspection device at present.
To achieve the above object, an aspect of the present application provides a positioning method of a winding machine inspection device, the positioning method of the winding machine inspection device including the steps of:
controlling the machine-surrounding inspection device to run around the aircraft, and establishing a laser radar point cloud map of the aircraft wheel under the aircraft coordinate system according to the laser radar point clouds of the aircraft wheel at different moments;
in the inspection process, performing point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the machine-around inspection device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel in the coordinate system of the machine-around inspection device;
And determining the pose of the on-the-fly inspection device under an aircraft coordinate system according to the conversion matrix.
Optionally, the step of performing point cloud matching on the obtained laser radar point cloud of the aircraft wheel under the coordinate system of the around-the-aircraft inspection device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the aircraft wheel from the coordinate system of the around-the-aircraft inspection device to the aircraft coordinate system includes:
when the winding machine inspection device is at an initial inspection time, acquiring laser radar point clouds of a machine wheel of the initial inspection time under a coordinate system of the winding machine inspection device;
and performing point cloud matching on the laser radar point cloud of the airplane wheel and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel in the coordinate system of the machine-around inspection device at the initial inspection time.
Optionally, the step of performing point cloud matching on the laser radar point cloud of the aircraft wheel under the around-the-aircraft inspection device coordinate system and the laser Lei Dadian cloud map to obtain a conversion matrix of converting the laser radar point cloud of the aircraft wheel to the aircraft coordinate system under the around-the-aircraft inspection device coordinate system further includes:
When the winding machine inspection device is at a non-initial inspection time, acquiring laser radar point clouds of a machine wheel under a coordinate system of the winding machine inspection device at the current time;
converting the laser radar point cloud according to the pose of the on-board inspection under the plane coordinate system at the previous moment to obtain an original laser radar point cloud;
and performing point cloud matching on the original laser radar point cloud and the laser radar point cloud map to obtain a transformation matrix of the laser radar point cloud of the airplane wheel at the current moment under the coordinate system of the machine-around inspection device to the coordinate system of the airplane.
Optionally, the step of determining the pose of the on-machine inspection device under the plane coordinate system according to the transformation matrix includes:
if the winding machine inspection device is at the initial inspection time, determining a first pose of the winding machine inspection device under an aircraft coordinate system at the initial inspection time according to a conversion matrix of the initial inspection time;
and if the on-machine inspection device is at the non-initial inspection time, determining a first pose of the on-machine inspection device under an aircraft coordinate system at the current time according to the conversion matrix at the current time.
Optionally, after the step of determining the first pose of the on-board inspection device in the aircraft coordinate system according to the transformation matrix, the method includes:
acquiring the pose of the winding machine inspection device under the SLAM coordinate system;
if the winding machine inspection device is at the initial inspection time, acquiring a first pose of the initial inspection time, and converting the pose of the winding machine inspection device at the initial time under the SLAM coordinate system into the pose of the winding machine inspection device under the aircraft coordinate system;
and if the winding machine checking device is at the non-initial checking time, acquiring the pose of the winding machine checking device under the plane coordinate system at the moment previous to the current moment, and converting the pose under the SLAM coordinate system at the current moment into the second pose under the plane coordinate system.
Optionally, after the step of determining the first pose of the on-board inspection device in the aircraft coordinate system according to the transformation matrix, the method further includes:
judging whether the first pose and the second pose of the winding machine inspection device at the current moment are accurate or not according to the data information of an inertial sensor and a vehicle-mounted odometer of the winding machine inspection device;
judging whether the first pose and the second pose of the winding machine inspection device at the current moment are accurate or not according to the data information of an inertial sensor and a vehicle-mounted odometer of the winding machine inspection device;
If the position and the orientation of the aircraft are accurate, the first pose, the second pose, the inertial sensor data and the vehicle-mounted odometer data at the current moment are subjected to data fusion by using the extended Kalman filtering, so that the pose of the aircraft-surrounding inspection device under the aircraft coordinate system is more accurate;
and if the position of the on-board inspection device is inaccurate, acquiring the position of the on-board inspection device, which is obtained by recursion of the inertial sensor and the vehicle-mounted odometer, as the position of the on-board inspection device under the plane coordinate system at the current moment.
Optionally, the step of determining whether the first pose and the second pose of the winding inspection device at the current moment are accurate includes:
and comparing the first pose and the second pose of the winding inspection device at the current moment with the predicted pose at the current moment respectively, and if the calculated difference value is within a preset range, considering that the first pose and the second pose at the current moment are accurate.
Optionally, the step of acquiring the laser radar point clouds of the wheels at different moments includes:
controlling a winding inspection device to run around an airplane, and collecting laser radar points;
clustering the scanning points, and screening clustered laser radar points according to the relative distance of the aircraft wheels to obtain laser radar point clouds of the aircraft wheels;
And acquiring laser radar points at different moments, performing clustering, screening the clustered laser radar points according to the relative distance of the aircraft wheels, and obtaining the laser radar point cloud of the wheels so as to obtain the laser radar point cloud of the wheels at different moments.
In addition, to achieve the above object, another aspect of the present application further provides a winding machine inspection device, including:
the acquisition module is used for acquiring global point cloud coordinates of the aircraft wheels scanned by scanning equipment of the aircraft winding inspection device under an aircraft coordinate system;
the conversion module is used for converting the global point cloud coordinates and the point cloud coordinates of the scanning airplane wheels based on the device coordinate system in the process of checking the winding machine;
and the determining module is used for determining the pose of the machine-surrounding inspection device under the plane coordinate system according to the conversion result.
In addition, to achieve the above object, another aspect of the present application provides a computer-readable storage medium, wherein a positioning program of a winding machine inspection device is stored thereon, the positioning program of the winding machine inspection device, when executed by a processor, implementing the steps of the method as set forth in any one of the above.
The method comprises the steps of firstly running around an aircraft to be inspected when the around-the-aircraft inspection device is used for inspecting around the aircraft, acquiring laser radar point clouds of the aircraft wheels at different moments through laser scanning equipment of the around-the-aircraft inspection device, establishing a laser Lei Dadian cloud map of the aircraft wheels under an aircraft coordinate system, and carrying out point cloud matching on the acquired laser radar point clouds of the aircraft wheels under the around-the-aircraft inspection device coordinate system and the laser radar point cloud map in the inspection process to obtain a conversion matrix for converting the laser radar point clouds of the aircraft wheels into the aircraft coordinate system in the around-the-aircraft inspection device coordinate system, and determining the pose of the around-the-aircraft inspection device under the aircraft coordinate system according to the conversion matrix. By the method, when the pose of the winding machine inspection device in the winding machine inspection process is determined, a GPS and other positioning systems are not needed, so that the problem that the positioning of the winding machine inspection device is inaccurate due to the fact that a satellite rejection environment exists when the pose of the winding machine inspection device is determined by the GPS positioning system is avoided, and the effect of improving the positioning accuracy of the winding machine inspection device in the process of executing the inspection task is achieved.
Drawings
FIG. 1 is a schematic structural view of an apparatus according to an embodiment of the present application;
FIG. 2 is a flow chart of an embodiment of a positioning method of a winding machine inspection device according to the present application;
FIG. 3 is a detailed flowchart of step S20 of the positioning method of the winding machine inspection device of the present application;
FIG. 4 is a detailed flowchart of step S20 of the positioning method of the winding machine inspection device of the present application;
FIG. 5 is a flowchart illustrating another embodiment of a positioning method of a winding machine inspection device according to the present application;
fig. 6 is a flowchart of another embodiment of a positioning method of the winding machine inspection device.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The main solutions of the embodiments of the present application are: controlling the machine-surrounding inspection device to run around the aircraft, and establishing a laser radar point cloud map of the aircraft wheel under the aircraft coordinate system according to the laser radar point clouds of the aircraft wheel at different moments; in the inspection process, performing point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the machine-around inspection device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel in the coordinate system of the machine-around inspection device; and determining the pose of the on-the-fly inspection device under an aircraft coordinate system according to the conversion matrix.
In the prior art, a satellite/inertial sensor fusion method is mainly adopted for positioning the on-machine inspection device, but the reliability of positioning the on-machine inspection device is reduced when a satellite refused environment exists in the process of passenger plane inspection.
The invention provides the solution, and aims to improve the positioning accuracy of the winding machine checking device.
The embodiment of the application provides a winding machine inspection device, which comprises a laser radar sensor, a supporting part and a control circuit. The laser radar sensor is used for scanning the aircraft wheel to form laser radar point clouds of the aircraft wheel, the supporting part is used for supporting equipment built in the around-the-aircraft inspection device when the around-the-aircraft inspection device performs inspection tasks around the aircraft, and the control circuit is used for controlling the around-the-aircraft inspection device to perform control operations such as around-the-aircraft inspection and the like.
In the embodiment of the present application, as shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware operating environment of an apparatus according to an embodiment of the present application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 does not constitute a limitation of the terminal device, and may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a positioning program of the machine-surrounding inspection device may be included in a memory 1005 as one type of computer-readable storage medium.
The application also provides a positioning method of the winding machine inspection device.
Referring to fig. 2, an embodiment of a positioning method of a machine-around inspection device of the present application is provided. In this embodiment, the positioning method of the winding machine inspection device includes:
step S10, controlling a machine-surrounding inspection device to run around an airplane, and establishing a laser radar point cloud map of the airplane wheel under an airplane coordinate system according to the laser radar point clouds of the airplane wheel at different moments;
before the winding inspection, the winding inspection device is controlled to run around the aircraft for one circle, wherein the winding inspection device can be specifically provided with a laser radar in the application. Before the winding machine inspection device performs the winding machine inspection, the method for acquiring the laser radar point clouds of the wheels at different moments and establishing the laser radar point cloud map under the plane coordinate system can be a method for constructing a map through a field acquisition mode or a method for constructing a map through a simulation environment (a three-dimensional model of the plane is established in the simulation environment, and the winding machine inspection device is controlled to bypass the plane around the three-dimensional model).
The aircraft coordinate system can specifically take the center of the front wheel of the aircraft as an origin, the y axis points to the tail of the aircraft along the longitudinal axis of the aircraft, and the x axis is vertically constructed right.
In the application, a laser radar point cloud map of a wheel is firstly constructed, and the laser radar point cloud map of the wheel is formed by the way that a round-the-road inspection device rounds an airplane to obtain laser radar point clouds of the wheel at different moments before round-the-road inspection, which can be understood as the preparation work of the round-the-road inspection device in executing the round-the-road inspection task.
The step of acquiring the laser radar point clouds of the wheels at different moments comprises the following steps:
step S11, controlling a winding inspection device to run around an airplane, and collecting laser radar points;
step S12, clustering is carried out on the scanning points, and laser radar points after clustering treatment are screened according to the relative distance of the aircraft wheels, so that laser radar point clouds of the wheels are obtained;
and S13, obtaining laser radar points at different moments and executing clustering processing, and screening the clustered laser radar points according to the relative distance of the aircraft wheels to obtain the laser radar point cloud operation of the aircraft wheels so as to obtain the laser radar point cloud of the aircraft wheels at different moments.
In the process of acquiring the laser radar points of the aircraft around the aircraft by the aircraft-surrounding inspection device (including constructing a laser radar point cloud map of the aircraft and acquiring the laser radar point cloud of the aircraft in the process of performing the aircraft-surrounding inspection task), the laser radar points obtained by the laser scanning device are not all the laser radar points of the aircraft (the laser radar point cloud of the part such as a wing, a fuselage or a tail wing, etc.), so the laser radar point cloud of the aircraft needs to be screened to obtain, and the laser radar point cloud is a collection formed by a plurality of laser radar points. And clustering the laser radar point cloud data by using a nearest neighbor clustering method. Calculating the distance D between adjacent laser points in S (k):wherein ρ (i), ρ (i+1) are the i-th and i+1-th effective points in the laser Lei Dadian cloud, D (ρ (i), ρ (i+1)) is the distance between two adjacent points, D th Is a set breakpoint distance threshold;
if D (ρ (i), ρ (i+1)) is greater than D th Marking rho (i) and rho (i+1) as break points, and marking each type of point cloud after clustering as S d (k)，1≤d≤N D ，N D The number of the clustered laser radar point clouds; then the point cloud S d (k) Averaging the points in the tree to obtain each type of pointThe central point of the cloud is checked by using a ground winding machine at the moment k-1 to screen the class which is segmented by the point cloud, the points which do not meet the requirements are removed, the calculation formula is that, Wherein d LW (k-1) is the Euclidean distance, ψ, between the position of the ground winding machine inspection device in the aircraft coordinate system at time k-1 and the coordinates of the wheels in the aircraft coordinate system LW (k-1) is angle information between the pose of the ground winding inspection device in the plane coordinate system and the coordinates of the wheels in the plane coordinate system according to the moment k-1. d, d LC (k) Is the Euclidean distance from the center point of each type under the machine system to the origin of the machine system at the moment k, and psi LC (k) The direction of each center point under the machine system at the moment k, and the distance threshold and the angle threshold are set up. d, d LW (k)、ψ LW (k)、 d LC (k)、ψ LC (k) The calculation formula of (2) is as follows:
(1)
(2)
(3)
(4)
wherein, the liquid crystal display device comprises a liquid crystal display device,is the coordinate of the center point of the class at the moment k under the machine system; />Is the coordinate of the airplane wheel under the airplane coordinate system; x is x n (k-1)、y n (k-1)、ψ n (k-1) is that the winding machine checking device at time k-1 is on the planeThe position under the coordinate system can have a plurality of groups of point clouds corresponding to a certain machine wheel after screening by the method, and the screened point clouds of the laser radar are marked as +.> n 0 Indicating the number of wheels +.>Representing the number of different point clouds corresponding to each wheel.
Calculating the relative distance between the center points of the laser radar point clouds corresponding to different wheels, and comparing the relative distance relation between the center points with the relative distance relation between the wheels:
Wherein the method comprises the steps ofRepresenting the corresponding machine wheel n 1 Center point of some group of laser radar point clouds and corresponding n 2 Euclidean distance between center points of a certain group of lidar point clouds, +.>Indicating machine wheel n 1 And the machine wheel n 2 The Euclidean distance between d represents the set threshold.
Screening out a group of laser radar point cloud sets meeting all relative position relations among wheelsAnd combining the two points into L (k), wherein L (k) is the laser radar point cloud of the machine wheel.
Step S20, in the checking process, performing point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the machine-around checking device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel in the coordinate system of the machine-around checking device;
in the process of the around-the-aircraft inspection, the laser radar point cloud of the aircraft wheel is obtained after screening treatment of the laser radar point obtained by the around-the-aircraft inspection device, the laser radar point cloud obtained at the moment is obtained based on the around-the-aircraft inspection device as a coordinate system, and the laser radar point cloud of the aircraft wheel is subjected to point cloud matching with the laser radar point cloud map obtained before the around-the-aircraft inspection, so that the laser radar point cloud taking the around-the-aircraft inspection device as the coordinate system is converted into the laser radar point cloud under the aircraft coordinate system. The coordinate system of the machine-around checking device takes the mass center of the machine-around checking device as an origin, the y axis is forward along the longitudinal axis of the machine-around checking device, and the x axis is rightward along the longitudinal axis of the machine-around checking device to construct the coordinate system.
Referring to fig. 3, the step of performing point cloud matching on the obtained laser radar point cloud of the aircraft wheel under the coordinate system of the around-the-aircraft inspection device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the aircraft wheel from the coordinate system of the around-the-aircraft inspection device to the aircraft coordinate system includes:
step S21, when the winding machine inspection device is at an initial inspection time, acquiring laser radar point clouds of a machine wheel of the initial inspection time under a coordinate system of the winding machine inspection device;
and S22, performing point cloud matching on the laser radar point cloud of the airplane wheel and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel at the initial inspection time, wherein the conversion matrix is converted from the coordinate system of the machine-around inspection device to the coordinate system of the airplane.
The step of determining the pose of the machine-surrounding inspection device under the plane coordinate system according to the transformation matrix comprises the following steps:
step S23, if the winding machine inspection device is at the initial inspection time, determining a first pose of the winding machine inspection device under an airplane coordinate system at the initial inspection time according to a conversion matrix of the initial inspection time.
In the present embodiment, a pose determination method for confirming the initial inspection timing of the winding machine inspection device is proposed. That is, the on-machine inspection device is performing initial inspectionDuring the task, the laser radar point cloud of the wheel acquired at the initial inspection time is matched with the point cloud map, which can be specifically understood as setting the laser radar point cloud of the wheel acquired at the initial inspection time as the source point cloud, setting the laser radar point cloud map of the wheel as the target point cloud, and enabling the original point cloud to be basically overlapped with the target point cloud through rotation and translation, wherein a conversion matrix R, T from the original point cloud to the target point cloud is obtained. Assume that the transformation matrix R, T is calculated asThe initial checking time is the position of the on-board checking device in the aircraft coordinate system and the heading information of the on-board checking device +.>And determining the pose under the aircraft coordinate system by a point cloud matching method when the machine-surrounding inspection device is at the initial inspection time.
Referring to fig. 4, the step of performing point cloud matching on the laser radar point cloud of the aircraft wheel under the coordinate system of the around-the-aircraft inspection device and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the aircraft wheel from the coordinate system of the around-the-aircraft inspection device to the aircraft coordinate system further includes:
Step S24, when the winding machine inspection device is at a non-initial inspection time, acquiring laser radar point clouds of wheels under a coordinate system of the winding machine inspection device at the current time;
step S25, converting the laser Lei Dadian cloud according to the pose of the on-line inspection under the plane coordinate system at the previous moment to obtain an original laser radar point cloud;
and S26, performing point cloud matching on the original laser radar point cloud and the laser radar point cloud map to obtain a transformation matrix of the laser radar point cloud of the aircraft wheel at the current moment in the coordinate system of the machine-around inspection device.
The step of determining the pose of the on-machine inspection device under the plane coordinate system according to the transformation matrix comprises the following steps:
step S27, if the on-machine inspection device is at a non-initial inspection time, determining a first pose of the on-machine inspection device under an aircraft coordinate system at the current time according to the conversion matrix of the current time.
When the winding machine inspection device (winding machine inspection device) is at the non-initial inspection time, the pose of the winding machine inspection device at the moment of the current time is acquired, and the pose (x) of the winding machine inspection device at the moment of k-1 n (k-1),y n (k-1),ψ n (k-1)), performing coordinate conversion on the laser radar point cloud L (k) of the wheel processed in the step 2 to obtain a new laser radar point cloud L '(k), and setting the L' (k) as an original point cloud;
record p i The ith laser spot of L (k) (i=1, 2, …, N 0 )，N 0 P is recorded as the number of laser spots in L (k) i The ith laser spot (i=1, 2, …, N) of 'L' (k) 0 )，N 0 The conversion relationship is as follows, which is the number of laser points in L' (k):
wherein, the liquid crystal display device comprises a liquid crystal display device,and->Is p' i Coordinates under the rectangular laser radar coordinate system, < >>And->Is p i Coordinates in a rectangular laser radar coordinate system.
And setting the laser radar point cloud map of the wheel acquired by the machine-surrounding inspection device when the machine-surrounding inspection device performs the machine-surrounding inspection task as a target point cloud. Setting parameters including maximum iteration number K s Maximum RMSE of the sum of mean squared errors max Between the two transformation matricesIs the difference deltat between the corresponding points, d max 。
The conversion matrix R, T from the original point cloud to the target point cloud is obtained by a point cloud registration method (such as ICP algorithm), and the pose of the machine-surrounding inspection device in an airplane coordinate system at the moment k is assumed to beThen:
thereby solving and obtaining the pose of the winding machine inspection device under the plane coordinate system at the non-initial inspection time (k time) according to R, T
And step S30, determining the pose of the machine-surrounding inspection device under an airplane coordinate system according to the conversion matrix.
The laser radar point cloud acquired by taking the winding machine inspection device as a coordinate system is matched with a point cloud map, and is converted into the point cloud by taking the plane as the coordinate system, so that the pose changes of the winding machine inspection device at different moments are obtained, and the pose of the winding machine inspection device comprises the position information of an x axis and a y axis of the winding machine inspection device under the plane coordinate system and the running direction of the position information.
In this embodiment, when the on-board inspection device performs inspection around an aircraft, the on-board inspection device first performs a circle around the aircraft to be inspected, laser radar point clouds of the aircraft wheels at different moments are obtained through a laser scanning device of the on-board inspection device, a laser radar point cloud map of the aircraft wheels under an aircraft coordinate system is built, in the inspection process, the obtained laser radar point clouds of the aircraft wheels under the on-board inspection device coordinate system are subjected to point cloud matching with the laser radar point cloud map, a conversion matrix of the laser radar point clouds of the aircraft wheels in the on-board inspection device coordinate system to the aircraft coordinate system is obtained, and the pose of the on-board inspection device under the aircraft coordinate system is determined according to the conversion matrix. By the method, when the pose of the winding machine inspection device in the winding machine inspection process is determined, a GPS and other positioning systems are not needed, so that the problem that the positioning of the winding machine inspection device is inaccurate due to the fact that a satellite rejection environment exists when the pose of the winding machine inspection device is determined by the GPS positioning system is avoided, and the effect of improving the positioning accuracy of the winding machine inspection device in the process of executing the inspection task is achieved.
Referring to fig. 5, fig. 5 is a schematic flow chart of another embodiment of the present application, after the step of determining the first pose of the on-machine inspection device in the plane coordinate system according to the conversion matrix, the method includes:
step S31, acquiring the pose of the winding machine inspection device under the SLAM coordinate system;
step S32, judging whether the winding checking device is at an initial moment;
step S33, if the winding machine inspection device is at the initial inspection time, acquiring a first pose at the initial inspection time, and converting the pose of the winding machine inspection device at the initial time under a SLAM coordinate system into a pose under an airplane coordinate system;
and step S34, if the winding machine inspection device is at the non-initial inspection time, acquiring the pose of the winding machine inspection device under the plane coordinate system at the moment previous to the current moment, and converting the pose of the winding machine inspection device under the SLAM coordinate system at the current moment into a second pose under the plane coordinate system.
Acquiring the acquired laser radar original point cloud data (laser radar point cloud without screening), and obtaining the SLAM solution at the k moment by a simultaneous positioning and composition (SLAM) method to obtain the pose of the machine-surrounding inspection device under the SLAM coordinate system The method for calculating the initial inspection time and the non-initial inspection time of the pose of the winding machine inspection device under the plane coordinate system is determined by a SLAM coordinate system:
if the current k time is the initial inspection time, reading the initial inspection time coiling machine inspection obtained after the point cloud registration in the embodiment oneFirst pose of checking device under aircraft coordinate systemThe conversion relation from SLAM coordinate system to aircraft coordinate system is:
wherein the method comprises the steps ofRepresenting the pose of the winding machine inspection device in an airplane coordinate system, which is obtained by SLAM (solution at the current initial inspection moment k;
if the current time is the non-initial inspection time and if the current time is the k time, reading pose information (x) of the k-1 time winding inspection device under the plane coordinate system n (k-1),y n (k-1),ψ n (k-1)), SLAM at time k-1 obtains the pose of the winding machine inspection device under the SLAM coordinate system by calculation
Correcting a rotation matrix from the SLAM coordinate system to the plane coordinate system through the difference value between the poses according to the following equation:solving to obtain;
when the k moment is obtained, the pose of the winding checking device obtained by SLAM calculation in an airplane coordinate system is obtainedThe method comprises the following steps:
in this embodiment, a SLAM coordinate system is established, so as to obtain the pose of the machine-surrounding inspection device under the plane coordinate system. The laser radar point cloud data acquired in the SLAM coordinate system is original point cloud data, and the first pose of the winding machine inspection device at the initial inspection time and the first pose of the non-initial inspection time are respectively converted to obtain the second pose of the winding machine inspection device at the initial inspection time and the second pose of the non-initial inspection time under the plane coordinate system.
Referring to fig. 6, fig. 6 is a schematic diagram of another embodiment of the present application, after the step of determining the first pose of the on-machine inspection device in the plane coordinate system according to the transformation matrix, the method further includes:
step S34, judging whether the first pose and the second pose of the winding machine checking device at the current moment are accurate or not according to the data information of an inertial sensor and a vehicle-mounted odometer of the winding machine checking device;
step S35, if the position is accurate, performing data fusion on the first pose, the second pose, the inertial sensor data and the vehicle-mounted odometer data at the current moment by using extended Kalman filtering to obtain the pose of the more accurate machine-surrounding inspection device under the aircraft coordinate system;
and step S36, if the position of the winding machine checking device obtained by recursion of the inertial sensor and the vehicle-mounted odometer is not accurate, the position of the winding machine checking device at the current moment is obtained and used as the position of the winding machine checking device under the plane coordinate system.
Judging whether the first pose and the second pose of the winding inspection device at the current moment are accurate according to data information of an inertial sensor and a vehicle-mounted odometer of the winding inspection device, and carrying out data fusion on the pose of the accurate pose information according to a judgment result to obtain the position and the pose information of the winding inspection device in an airplane coordinate system.
One-step prediction of mean square error P k|k-1 The calculation formula of (2) is as follows:
wherein Φ is the stateTransfer matrix, phi k,k-1 Is the state transition matrix of moment k-1 to moment k, Γ k-1 Is the noise matrix of the k-1 moment filter, W k-1 Is the noise matrix of the k-1 moment system;
wherein M is 4×4 ，U 4×3 ，N 3×4 All are intermediate variables, and the calculation method is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,is the coordinate transformation matrix from the k-1 moment machine system to the plane coordinate system, and is +.> Are respectively->First, second and third rows of (a); Δt is the discrete time of the system; i is an identity matrix;
the method for calculating the noise matrix Γ of the filter is shown as follows:
noise matrix of system
Wherein ε wx ，ε wy ，ε wz Respectively areModel noise of (2); epsilon ax ，ε ay ，ε az Are respectively-> Model noise of (2); />Are respectively->Is the noise standard deviation of (2);
are respectively->Is the noise standard deviation of (2);
updating the state according to the quantity measurement;
the calculation method of the filter gain equation of the system is as follows:
wherein K is k Is the filtering gain of the k-moment system, R k Is a measurement noise matrix, H k Is a measurement matrix;
according to the current state of the winding machine inspection device and the different reliability of measurement information, the noise measurement matrix and the measurement matrix are different, and the method specifically comprises the following steps:
a) Judging whether the winding machine checking device is in a zero-speed state currently according to feedback provided by the control mechanism, and if the winding machine checking device is in the zero-speed state, using the position information and the heading information (x) of the winding machine checking device at the moment k-1 n (k-1),y n (k-1),ψ n (k-1)) as a measurement, measurement matrixH (k) and the measurement noise matrix R (k) are respectively:
wherein diag represents matrix diagonalization, whereinRespectively x n (k-1)、 y n (k-1)、ψ n Noise of (k-1); x is x n (k-1)、y n (k-1)、ψ n (k-1) x, y direction coordinates and yaw angle, ψ of the aircraft coordinate system of the machine-wound inspection device at time k-1 respectively n The relationship of (k-1) to the attitude quaternion is as follows:
the state estimation equation calculation method of the system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the estimated value of the state quantity at time k +.>A one-step predicted value of a state variable from the moment k-1 to the moment k; z is Z k The measured value of the checking device of the to-be-wound machine at the moment k; z is Z k ＝[x n (k-1) y n (k-1) ψ n (k-1)]；
The estimated mean square error equation for the system is:
P k|k ＝(I-K k H k )P k|k-1
wherein P is k|k And estimating a mean square error for k time, wherein I is an identity matrix.
b) If the winding machine checking device is not in a zero-speed state currently, the information obtained by the first pose and the second pose is reliable, the information obtained by the first pose, the second pose and the odometer is used as measurement, and the measurement matrix and the measurement noise matrix are respectively as follows:
wherein diag represents matrix diagonalization, whereinRespectively->/>Noise of->The method comprises the steps that a k-time winding machine inspection device obtained from a first pose of a non-initial inspection time is respectively in x-direction coordinates and y-direction coordinates of an aircraft coordinate system and a course angle; / >Respectively isNoise of->The coordinates of the winding checking device at the moment k obtained by SLAM calculation in the x direction and the y direction of an airplane coordinate system and the yaw angle are respectively; />And->Respectively->Noise of->The speeds of the milestones in the x and y directions of the aircraft coordinate system at the moment k are respectively. The relationship between yaw angle and attitude quaternion is as follows:
the state estimation equation calculation method of the system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the estimated value of the state quantity at time k +.>A one-step predicted value of a state variable from the moment k-1 to the moment k; z is Z k For the measurement value of the standby machine inspection device at the time k, the measurement value is calculated as follows: the method comprises the steps of carrying out a first treatment on the surface of the
The estimated mean square error equation for the system is:
P k|k ＝(I-K k H k )P k|k-1
wherein P is k|k And estimating a mean square error for k time, wherein I is an identity matrix.
c) If the winding machine checking device is not in a zero-speed state currently, the information obtained by the first pose is reliable, the information obtained by the second pose is unreliable, the information obtained by the first pose and the odometer is used as measurement, and the measurement matrix and the measurement noise matrix are respectively as follows:
wherein diag represents matrix diagonalization, whereinRespectively-> Noise of->The x-direction coordinate and the y-direction coordinate of the aircraft coordinate system are respectively obtained for the first pose, and the yaw angle of the aircraft around the aircraft inspection device at the moment k; / >And->Respectively->Noise of->The speeds of the milestones in the x and y directions of the aircraft coordinate system at the moment k are respectively. The relationship between yaw angle and attitude quaternion is as follows:
/>
the state estimation equation calculation method of the system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the estimated value of the state quantity at time k +.>A one-step predicted value of a state variable from the moment k-1 to the moment k; z is Z k For the measurement value of the standby machine inspection device at the time k, the following is calculated: />
The estimated mean square error equation for the system is:
P k|k ＝(I-K k H k )P k|k-1
wherein P is k|k And estimating a mean square error for k time, wherein I is an identity matrix.
d) If the winding machine checking device is not in a zero-speed state currently, the information obtained by the first pose is unreliable, the information obtained by the second pose is reliable, and the information obtained by the second pose and the odometer are used as measurement, wherein a measurement matrix and a measurement noise matrix are respectively as follows:
wherein diag represents the diagonalization of the matrix,respectively->Noise of->The x-direction coordinate and the y-direction coordinate of the machine-wound checking device at the moment k obtained by SLAM in the coordinate system of the aircraft and the yaw angle are respectively; />And->Respectively->Noise of-> The speeds of the milestones in the x and y directions of the aircraft coordinate system at the moment k are respectively. The relationship between yaw angle and attitude quaternion is as follows:
The state estimation equation calculation method of the system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the estimated value of the state quantity at time k +.>A one-step predicted value of a state variable from the moment k-1 to the moment k; z is Z k The measured value of the checking device of the to-be-wound machine at the moment k; />
The estimated mean square error equation for the system is:
P k|k ＝(I-K k H k )P k|k-1
wherein P is k|k And estimating a mean square error for k time, wherein I is an identity matrix.
e) If the winding machine checking device is not in a zero-speed state currently, the information of the first pose and the second pose is unreliable, the information obtained by the odometer is used as measurement, and the measurement matrix and the measurement noise matrix are respectively as follows:
H(k)＝[0 2×6 I 2×2 0 2×6 ]
wherein, the liquid crystal display device comprises a liquid crystal display device,and->Respectively->Noise of->The speeds of the odometer in the x and y directions of the navigation system are respectively.
The state estimation equation calculation method of the system is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the estimated value of the state quantity at time k +.>A one-step predicted value of a state variable from the moment k-1 to the moment k; z is Z k The measured value of the checking device of the to-be-wound machine at the moment k; />
The estimated mean square error equation for the system is:
P k|k ＝(I-K k H k )P k|k-1
wherein P is k|k And estimating a mean square error for k time, wherein I is an identity matrix.
The step of judging whether the first pose and the second pose of the winding inspection device at the current moment are accurate or not comprises the following steps:
In this embodiment, the first pose and the second pose of the winding machine inspection device at the current time are respectively compared with the predicted pose at the current time, and if the calculated difference is within a preset range, the first pose and the second pose at the current time are considered to be accurate.
According to the data of the inertial sensor and the vehicle-mounted odometer, judging whether the first pose and the second pose obtained by the first and the second embodiments under the aircraft coordinate system at the initial inspection time of the winding machine inspection device and the first pose and the second pose at the non-initial inspection time are accurate or not, wherein the steps are as follows:
(1) And predicting the gesture, the speed and the position of the to-be-wound machine inspection device at the current moment according to the inertial sensor information and an extended Kalman filtering algorithm. First, the 14-dimensional state quantity is selected as
q 0 、q 1 、q 2 、q 3 Gesture quaternion, x of winding machine inspection device n 、y n Respectively representing the positions of the winding machine inspection device in the x and y directions of the plane coordinate system,indicating the speed of the machine-around checking device in the x, y direction of the aircraft coordinate system, +.> Respectively represent zero offset of the gyroscope in the x, y and z directions,/for the gyroscope>Respectively represents the accelerometer at x,Zero bias in the y, z direction. The gesture, speed and position of the checking device to be wound at the current moment are predicted by adopting the following formula:
The attitude quaternion prediction formula is:
wherein the k time is the current time, Q (k) = [ Q ] 0 (k),q 1 (k),q 2 (k),q 3 (k)] T The gesture quaternion of the machine winding checking device at the moment k; q (k-1) = [ Q ] 0 (k-1),q 1 (k-1),q 2 (k-1),q 3 (k-1)] T k-1 is a gesture quaternion of the moment winding machine checking device; the superscript T denotes the transpose of the matrix; Δt is the discrete sampling period; Ω (k) is an intermediate variable calculated by the following formula:
/>
the calculation method of (2) is as follows:
wherein the method comprises the steps ofIs omega b (k) Components, ω, in x, y, z directions b (k) The angular velocity of the machine system of the machine around the machine inspection device at the moment k relative to the plane coordinate system is expressed under the machine system;
(2) The position prediction formula is:
wherein x is n (k)、y n (k) The position of the winding checking device at the moment k in the plane coordinate system; x is x n (k-1)、 y n (k-1) is the position of the machine-surrounding inspection device in the plane coordinate system at time k-1.Is the component of the projection of the linear velocity of the machine system of the machine around the machine inspection device relative to the plane coordinate system in the X-axis and Y-axis directions of the plane coordinate system at the time k-1;
(3)calculated by the following formula: />
Wherein the method comprises the steps ofIs the projection of the acceleration of the aircraft system relative to the aircraft coordinate system of the aircraft inspection device at time k, and +.>Is the projection of the acceleration (except gravitational acceleration) of the machine system of the machine around the machine inspection device relative to the plane coordinate system at time k. / >The attitude matrix is obtained from the machine system to the plane coordinate system, and the calculation formula is as follows:
(4) The predictive formula for speed is:
reading the pose obtained by the calculation in the non-initial inspection time (k time)And predicting the pose (x) n (k),y n (k),ψ n (k) Comparison, calculating the difference between the two:
the Δx, Δy and Δψ are set thresholds, and if the conditions are met, the pose obtained in the step 4 is considered to be reliable;
then, the pose of the current moment winding machine inspection device under the SLAM coordinate system is obtainedAnd predicting to obtain pose (x) n (k),y n (k),ψ n (k) Comparison, calculating the difference between the two:
and if the conditions are met, the pose obtained through SLAM is considered to be reliable.
In this embodiment, the first pose and the second pose at the initial inspection time, the first pose and the second pose at the non-initial inspection time are determined by acquiring the odometer information of the winding machine inspection device, so as to obtain the pose of the more accurate winding machine inspection device under the plane coordinate system.
In addition, the present application further provides a computer readable storage medium storing a positioning program of a winding machine inspection device, where the positioning program of the winding machine inspection device implements the steps of the positioning method of the winding machine inspection device when being executed by a processor.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While alternative embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications can be made in this application without departing from the invention
Clear spirit and scope. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (9)
1. A method of positioning a winding inspection apparatus, the method comprising:
controlling the machine-surrounding inspection device to run around the aircraft, and establishing a laser radar point cloud map of the aircraft wheel under the aircraft coordinate system according to the laser radar point clouds of the aircraft wheel at different moments;
when the winding machine inspection device is at a non-initial inspection time, acquiring laser radar point clouds of a machine wheel under a coordinate system of the winding machine inspection device at the current time;
converting the laser radar point cloud according to the pose of the machine-surrounding inspection device in the plane coordinate system at the last moment to obtain an original laser radar point cloud;
Performing point cloud matching on the original laser radar point cloud and the laser radar point cloud map to obtain a transformation matrix of the laser radar point cloud of the airplane wheel at the current moment under the coordinate system of the machine-around inspection device to the coordinate system of the airplane;
and determining the pose of the on-the-fly inspection device under an aircraft coordinate system according to the conversion matrix.
2. The method for positioning a round-the-clock inspection apparatus according to claim 1, wherein the step of controlling the round-the-clock inspection apparatus to run around the aircraft and creating a laser radar point cloud map of the aircraft in the aircraft coordinate system based on the laser radar point clouds of the aircraft wheels at different times is performed further comprises:
when the winding machine inspection device is at an initial inspection time, acquiring laser radar point clouds of a machine wheel of the initial inspection time under a coordinate system of the winding machine inspection device;
and performing point cloud matching on the laser radar point cloud of the airplane wheel and the laser radar point cloud map to obtain a conversion matrix of the laser radar point cloud of the airplane wheel in the coordinate system of the machine-around inspection device at the initial inspection time.
3. The method of positioning a reeler inspection apparatus in accordance with claim 1 wherein said step of determining the pose of said reeler inspection apparatus in an aircraft coordinate system based on said transformation matrix comprises:
If the winding machine inspection device is at the initial inspection time, determining a first pose of the winding machine inspection device under an aircraft coordinate system at the initial inspection time according to a conversion matrix of the initial inspection time;
and if the on-machine inspection device is at the non-initial inspection time, determining a first pose of the on-machine inspection device under an aircraft coordinate system at the current time according to the conversion matrix at the current time.
4. A method of positioning a reeler inspection apparatus according to claim 3, wherein said step of determining a first pose of said reeler inspection apparatus in an aircraft coordinate system based on said transformation matrix comprises:
acquiring the pose of the winding machine inspection device under the SLAM coordinate system;
judging whether the winding checking device is at an initial moment or not;
if the winding machine inspection device is at the initial inspection time, acquiring a first pose of the initial inspection time, and converting the pose of the winding machine inspection device at the initial time under the SLAM coordinate system into the pose of the winding machine inspection device under the aircraft coordinate system;
and if the winding machine checking device is at the non-initial checking time, acquiring the pose of the winding machine checking device under the plane coordinate system at the moment previous to the current moment, and converting the pose under the SLAM coordinate system at the current moment into the second pose under the plane coordinate system.
5. The method of positioning a reeler inspection apparatus of claim 4 wherein said step of determining a first pose of said reeler inspection apparatus in an aircraft coordinate system based on said transformation matrix further comprises:
judging whether the first pose and the second pose of the winding machine inspection device at the current moment are accurate or not according to the data information of an inertial sensor and a vehicle-mounted odometer of the winding machine inspection device;
if the position and the orientation of the aircraft are accurate, the first pose, the second pose, the inertial sensor data and the vehicle-mounted odometer data at the current moment are subjected to data fusion by using the extended Kalman filtering, so that the pose of the aircraft-surrounding inspection device under the aircraft coordinate system is more accurate;
and if the position of the on-board inspection device is inaccurate, acquiring the position of the on-board inspection device, which is obtained by recursion of the inertial sensor and the vehicle-mounted odometer, as the position of the on-board inspection device under the plane coordinate system at the current moment.
6. The method of positioning a lap machine inspection device according to claim 5, wherein the step of determining whether the first pose and the second pose of the lap machine inspection device at the current time are accurate includes:
and comparing the first pose and the second pose of the winding inspection device at the current moment with the predicted pose at the current moment respectively, and if the calculated difference value is within a preset range, considering that the first pose and the second pose at the current moment are accurate.
7. The method for positioning a winding machine inspection device according to claim 1, wherein the step of acquiring laser radar point clouds of wheels at different moments comprises:
controlling a winding inspection device to run around an airplane, and collecting laser radar points;
clustering the laser radar points, and screening the clustered laser radar points according to the relative distance of the aircraft wheel to obtain laser radar point clouds of the aircraft wheel;
and acquiring laser radar points at different moments and executing clustering processing, and screening the clustered laser radar points according to the relative distance of the aircraft wheel to obtain the operation of the laser radar point cloud of the aircraft wheel so as to obtain the laser radar point cloud of the aircraft wheel at different moments.
8. A winding inspection apparatus, the apparatus comprising:
the acquisition module is used for controlling the machine-surrounding inspection device to run around the aircraft, and establishing a laser radar point cloud map of the aircraft wheel under the aircraft coordinate system according to the laser radar point clouds of the aircraft wheel at different moments;
the conversion module is used for acquiring laser radar point clouds of the wheels under the coordinate system of the winding machine inspection device at the current moment when the winding machine inspection device is at the non-initial inspection moment; converting the laser radar point cloud according to the pose of the machine-surrounding inspection device in the plane coordinate system at the last moment to obtain an original laser radar point cloud; performing point cloud matching on the original laser radar point cloud and the laser radar point cloud map to obtain a transformation matrix of the laser radar point cloud of the airplane wheel at the current moment under the coordinate system of the machine-around inspection device to the coordinate system of the airplane;
And the determining module is used for determining the pose of the machine-surrounding inspection device under the plane coordinate system according to the conversion result.
9. A computer-readable storage medium, on which a positioning program of a winding machine inspection device is stored, characterized in that the positioning program of the winding machine inspection device, when executed by a processor, implements the steps of the method of any one of claims 1 to 7.
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