CN112052526A - Method for calculating swing angle of sling of external suspension system of helicopter - Google Patents
Method for calculating swing angle of sling of external suspension system of helicopter Download PDFInfo
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Abstract
The invention belongs to the technical field of outer suspension monitoring, and discloses a helicopter outer suspension system sling swing angle calculation method. The non-contact measurement of the outer hanging steel cable is realized; the dynamic measurement, calculation and output of the outer hanging steel cable are realized; the calculation speed and the calculation precision are improved; the mechanical complexity and visual unreliability of conventional contact measurements are avoided.
Description
Technical Field
The invention belongs to the technical field of external hanging monitoring, and particularly relates to a method for calculating a swing angle of a sling of an external hanging system of a helicopter.
Background
With the continuous development of helicopters and rotorcraft, the lifting capacity of the helicopter and rotorcraft is enhanced more and more, and the hanging task scenes generated by the helicopter and rotorcraft are more and more. The outer hanging system with the hook is used as a mature steel cable hanging finished product and is widely applied to various aircrafts needing hanging, transporting and loading work. However, due to the constraint of the center-of-gravity envelope characteristics of the aircraft, in the process of using the outer hanger, the deflection angle of the outer hanger steel cable needs to be controlled within a safe angle, otherwise, the goods can be deviated, the center of gravity of the aircraft is pulled to exceed the envelope, irreversible damage such as overturning, crash and the like is caused, and even the life of a driver is endangered. Therefore, the drift angle of the steel cable when the steel cable is hung outside to hang the goods needs to be monitored in real time, so that a pilot can adjust the flight attitude in time, and the aircraft is ensured to be in a safe state.
At present, the method for measuring the deflection angle of the outer hanging steel cable is mainly a visual method or a video monitoring method, the outer hanging steel cable is observed through the lower end glass of the airplane or a camera arranged on the skin at the lower end of the aircraft, and the approximate angle value of the steel cable is judged through the experience of a driver or an outer hanging operator. The method has higher experience requirements on a driver or an external hanging operator, is limited by the environmental conditions of the aircraft, cannot accurately acquire the offset angle and the offset direction, can disperse the energy of aircrew, and is not suitable for the use requirements under the current multi-scene complex task state. In summary, providing a method capable of rapidly determining an angle value of an outer hanging steel rope, providing an offset direction, and outputting digitally is a key technical problem to be solved in the art.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method for calculating a swing angle of a suspension cable of an external suspension system of a helicopter, so as to solve the problems that the prior art cannot accurately calculate an offset direction and an offset angle of an external suspension cable in real time and cannot dynamically output digital data.
A method for resolving a swing angle of a sling of an external hanging system of a helicopter comprises the following steps:
s1, photographing the sling in the helicopter heading and lateral directions to obtain a heading picture and a lateral picture of the sling, photographing the sling from back to front in the helicopter heading, and photographing the sling from right to left in the helicopter lateral direction, wherein the two directions are on the same horizontal plane;
s2, respectively removing backgrounds and interferences from the course picture and the lateral picture of the sling, and performing binarization processing to obtain a course binarization image and a lateral binarization image;
s3, performing one-dimensional straight line fitting on the heading binary image and the lateral binary image respectively to obtain a heading straight line function y1 and a lateral straight line function y2, wherein the slope of the heading straight line function y1 is k1, and the slope of the lateral straight line function y2 is k 2;
s4, constructing a space unit by taking the intersection point of the course linear function y1 and the lateral linear function y2 as a coordinate origin, recording the included angle between the course linear function y1 and a Z axis as alpha, the included angle between the lateral linear function y2 and the Z axis as beta, and setting y0 as a space straight line where the sling is in a deflection state, wherein the included angle between the y0 and the Z axis is recorded as theta;
s5, calculating an included angle theta between a space straight line and a Z axis in the sling deviation state according to the geometrical relationship of the space unit bodies, and recording the included angle theta as a deviation angle in the sling deviation state;
and S6, determining the deviation direction of the sling in the deviation state according to the slope k1 of the heading straight-line function y1 and the slope k2 of the lateral straight-line function y 2.
(1) S6 specifically includes:
if the slope of the course straight-line function y1 is k1, the deviation direction of the regular sling is leftward, if the slope is zero, the sling does not deviate, and if the slope is not right;
if the slope of the lateral straight function y2 is k2, the regular sling deviation direction is backward, zero the sling does not deviate, otherwise the sling deviation direction is forward.
(2) The specific implementation process of S2 is as follows:
(S21) according to the linear characteristic attribute of the sling, respectively finding out pixel point groups capable of constructing a remarkable straight line from the course picture and the lateral picture;
(S22) eliminating other pixel points as backgrounds;
(S23) searching whether the extracted pixel point group has a maximum value, if so, deleting the maximum value to obtain a heading image and a lateral image after removing the background and the interference;
(S24) respectively taking median values of pixels in the heading image and the lateral image after the background and the interference are removed according to gray distribution, and carrying out binarization processing on the corresponding images by taking the median values as binarization thresholds so that the value of a background area is 0 and the value of a sling area is 255 to obtain the heading binarization image and the lateral binarization image.
(3) The specific implementation process of S3 is as follows:
(S31) respectively storing the coordinate values of the non-0 pixel points of the heading binary image and the lateral binary image into a matrix A and a matrix B;
(S32) performing one-dimensional straight line fitting on the matrix A and the matrix B respectively by using a least square method to obtain a heading straight line function y1 and a lateral straight line function y2, wherein the slope of the heading straight line function y1 is k1, and the slope of the lateral straight line function y2 is k 2.
(4) In S4, the geometric relationship of the spatial unit bodies is:
wherein alpha and beta are equal to the slopes k1 and k2 in numerical value, and the included angle theta between the space straight line and the Z axis in the sling deviation state is calculated by substituting the slopes k1 and k2 into a formula.
(5) After S6, the method further includes:
when a signal that a sling of an external suspension system of the helicopter stops working is obtained, photographing of the sling in the two directions of the course and the lateral direction of the helicopter is finished;
and if not, the sling is continuously photographed in the two directions of the course direction and the lateral direction of the helicopter.
(6) At S1, before photographing the sling in both the heading and lateral directions of the helicopter, the method further comprises:
acquiring a vertical plane P0 of the outer hanging steel cable in a free state, wherein the center of the vertical plane is a projection of the outer hanging steel cable in the free state;
selecting two planes P1 and P2 respectively perpendicular to the vertical plane P0, wherein the plane P1 is perpendicular to the plane P2;
and respectively installing an industrial camera on the plane P1 and the plane P2, controlling the two industrial cameras to take pictures simultaneously, and obtaining a heading picture and a side picture of the sling.
(7) After S6, the method further includes: and outputting the deviation angle and the deviation direction of the sling in the deviation state to an on-board display device for displaying.
According to the calculation method for monitoring the swing angle of the sling of the external suspension system of the helicopter, provided by the invention, the calculation of the non-contact steel rope deflection angle is realized through image processing and space geometry construction, the calculation speed is high, the dynamic characteristic is good, the precision is high, and the non-contact measurement requirement of the steel rope is met. The non-contact measurement of the outer hanging steel cable is realized; the dynamic measurement, calculation and output of the outer hanging steel cable are realized; the calculation speed and the calculation precision are improved; the mechanical complexity and visual unreliability of conventional contact measurements are avoided.
Drawings
FIG. 1 is a flow chart of a method for calculating a swing angle of a sling of an external suspension system of a helicopter;
fig. 2 is a schematic diagram of the photo plane and the spatial geometry.
Detailed Description
A calculation method for monitoring swing angles of slings of an external suspension system of a helicopter. The method aims to solve the problems that the prior art can not accurately solve the deviation direction and the deviation angle of the outer hanging steel cable in real time and can not dynamically output digital. The implementation method of the present invention, as shown in fig. 1, includes:
the method comprises 7 STEPs of STEP 01-STEP 07, namely image acquisition STEP 01, image processing STEP 02, data processing STEP 03, spatial body structure and deflection angle calculation STEP 04, deflection direction calculation STEP 05, result output STEP 06 and dynamic cycle judgment STEP 07, and specifically comprises the following STEPs:
the image acquisition STEP 01 method is that two planes P1 and P2 which are respectively perpendicular to the circumferential surface P0 are selected on the circumferential surface P0 with the outer hanging steel rope as the center, and the relation P1 is perpendicular to P2. An industrial camera (CCD) is respectively arranged on the plane P1 and the plane P2, and the two CCDs are controlled to take pictures simultaneously to obtain pictures ph1 and ph 2.
The method of the image processing STEP 02 is,
firstly, importing pictures ph1 and ph2 into a computer, and finding out pixel point groups capable of constructing a remarkable straight line in an image according to the straight line characteristic attribute of a steel cable;
eliminating other pixel points as background colors, searching whether a great value exists in the extracted pixel point group, and deleting the great value if the great value exists so as to avoid influence on subsequent calculation;
taking a median from non-white pixels in the whole image according to gray distribution, and performing binarization processing on the whole image by taking the median as a binarization threshold value to enable the value of a background area to be 0 and the value of a steel cable area to be 255;
fourthly, checking the processed binary image according to the row, and eliminating data which are not 0 and exist in the background area;
after the processing, two black and white images can be obtained, wherein the images are respectively the images which only have the steel cable characteristic in the photos collected by the two CCDs.
The process of the data processing STEP 03 is as follows:
firstly, storing coordinate values of non-0 pixel points of two black and white images obtained in the image processing STEP 02 into a matrix A and a matrix B respectively;
and secondly, performing one-dimensional straight line fitting on the matrix A and the matrix B by using a least square method to obtain two straight line functions y1 and y2, wherein the slopes are k1 and k2 respectively, and the two straight lines are projection straight line functions of the steel cable on a plane P1 and a plane P2.
As shown in fig. 2, the STEP of calculating STEP 04 for the spatial volume structure and the deflection angle includes:
taking the intersection point of y1 and y2 as the origin of coordinates, constructing a space unit body with the side length of 1, taking the included angle between y1 and the Z axis as alpha, the included angle between y2 and the Z axis as beta, and setting y0 as a space straight line where the steel cable is located, wherein the included angle between the y0 and the Z axis is theta;
according to the geometric relationship of the space unit bodies, a formula is constructed:
wherein alpha and beta are equal to the slopes k1 and k2 in value, and the value of the included angle theta between the steel cable and the Z axis can be obtained by substituting the slopes k1 and k2 into a formula.
The offset direction solving STEP 05 process is as follows:
judging whether the slope k1 of the linear function y1 is positive or negative, if the slope k1 is regular, the slope is zero and does not deviate, and if not, the slope is north;
judging whether the slope k2 of the linear function y2 is positive or negative, if the slope k2 is regular, the slope k is east, zero does not deviate, and if not, the slope k is west;
and outputting actual offset directions according to the results of the first step and the second step, wherein the actual offset directions comprise 9 directions of true east, true west, true south, true north, south east, north, west, north and west and an origin.
The content of the result output STEP 06 is as follows:
and obtaining information of 'deviation direction + angle' according to the results obtained in the STEP 04 and STEP 05 STEPs, and outputting a resolving result to a display screen through a computer processor for a driver or an external hanging operator to read.
The dynamic loop discrimination process is as follows:
and after the STEP 06 STEP is finished, reading whether an end signal is accessed through a computer processor, namely judging whether a stop switch is pressed down, if the end signal is not accessed, jumping back to STEP 01 to continue photographing and calculating the deflection angle of the steel cable, and if the end signal is accessed, ending the photographing and calculating action, and resetting the module to stop working.
Through the steps, the requirements of non-contact measurement, dynamic calculation, dynamic output, state controllability and the like of the outer hanging steel cable are met, the calculation speed and calculation precision are improved, the mechanism complexity of the traditional contact measurement is avoided, the problem of unreliability caused by a visual method is also avoided, and the method is an excellent method which can be applied to calculation of the deflection angle of the outer hanging steel cable of the aircraft.
According to the calculation method for monitoring the swing angle of the sling of the external suspension system of the helicopter, provided by the invention, the calculation of the non-contact steel rope deflection angle is realized through image processing and space geometry construction, the calculation speed is high, the dynamic characteristic is good, the precision is high, and the non-contact measurement requirement of the steel rope is met. The non-contact measurement of the outer hanging steel cable is realized; the dynamic measurement, calculation and output of the outer hanging steel cable are realized; the calculation speed and the calculation precision are improved; the mechanical complexity and visual unreliability of conventional contact measurements are avoided.
Claims (8)
1. A method for resolving a swing angle of a sling of an external hanging system of a helicopter is characterized by comprising the following steps:
s1, photographing the sling in the helicopter heading and lateral directions to obtain a heading picture and a lateral picture of the sling, photographing the sling from back to front in the helicopter heading, and photographing the sling from right to left in the helicopter lateral direction, wherein the two directions are on the same horizontal plane;
s2, respectively removing backgrounds and interferences from the course picture and the lateral picture of the sling, and performing binarization processing to obtain a course binarization image and a lateral binarization image;
s3, performing one-dimensional straight line fitting on the heading binary image and the lateral binary image respectively to obtain a heading straight line function y1 and a lateral straight line function y2, wherein the slope of the heading straight line function y1 is k1, and the slope of the lateral straight line function y2 is k 2;
s4, constructing a space unit by taking the intersection point of the course linear function y1 and the lateral linear function y2 as a coordinate origin, recording the included angle between the course linear function y1 and a Z axis as alpha, the included angle between the lateral linear function y2 and the Z axis as beta, and setting y0 as a space straight line where the sling is in a deflection state, wherein the included angle between the y0 and the Z axis is recorded as theta;
s5, calculating an included angle theta between a space straight line and a Z axis in the sling deviation state according to the geometrical relationship of the space unit bodies, and recording the included angle theta as a deviation angle in the sling deviation state;
and S6, determining the deviation direction of the sling in the deviation state according to the slope k1 of the heading straight-line function y1 and the slope k2 of the lateral straight-line function y 2.
2. The method for calculating the swing angle of the sling of the helicopter external suspension system according to claim 1, wherein S6 specifically comprises:
if the slope of the course straight-line function y1 is k1, the deviation direction of the regular sling is leftward, if the slope is zero, the sling does not deviate, and if the slope is not right;
if the slope of the lateral straight function y2 is k2, the regular sling deviation direction is backward, zero the sling does not deviate, otherwise the sling deviation direction is forward.
3. The method for calculating the swing angle of the sling of the helicopter external suspension system according to claim 1, wherein the specific implementation process of S2 is as follows:
(S21) according to the linear characteristic attribute of the sling, respectively finding out pixel point groups capable of constructing a remarkable straight line from the course picture and the lateral picture;
(S22) eliminating other pixel points as backgrounds;
(S23) searching whether the extracted pixel point group has a maximum value, if so, deleting the maximum value to obtain a heading image and a lateral image after removing the background and the interference;
(S24) respectively taking median values of pixels in the heading image and the lateral image after the background and the interference are removed according to gray distribution, and carrying out binarization processing on the corresponding images by taking the median values as binarization thresholds so that the value of a background area is 0 and the value of a sling area is 255 to obtain the heading binarization image and the lateral binarization image.
4. The method for calculating the swing angle of the sling of the helicopter external suspension system according to claim 1, wherein the specific implementation process of S3 is as follows:
(S31) respectively storing the coordinate values of the non-0 pixel points of the heading binary image and the lateral binary image into a matrix A and a matrix B;
(S32) performing one-dimensional straight line fitting on the matrix A and the matrix B respectively by using a least square method to obtain a heading straight line function y1 and a lateral straight line function y2, wherein the slope of the heading straight line function y1 is k1, and the slope of the lateral straight line function y2 is k 2.
5. The method for calculating the swing angle of the suspension cable of the helicopter external suspension system according to claim 1, wherein in S4, the geometric relationship of the spatial unit system is as follows:
wherein alpha and beta are equal to the slopes k1 and k2 in numerical value, and the included angle theta between the space straight line and the Z axis in the sling deviation state is calculated by substituting the slopes k1 and k2 into a formula.
6. The helicopter out-of-crane sling swing angle solution method of claim 1, further comprising after S6:
when a signal that a sling of an external suspension system of the helicopter stops working is obtained, photographing of the sling in the two directions of the course and the lateral direction of the helicopter is finished;
and if not, the sling is continuously photographed in the two directions of the course direction and the lateral direction of the helicopter.
7. The method for resolving the swing angle of the suspension cable of the helicopter outboard suspension system as claimed in claim 1, wherein in S1, before photographing the suspension cable in both the helicopter heading and lateral directions, the method further comprises:
acquiring a vertical plane P0 of the outer hanging steel cable in a free state, wherein the center of the vertical plane is a projection of the outer hanging steel cable in the free state;
selecting two planes P1 and P2 respectively perpendicular to the vertical plane P0, wherein the plane P1 is perpendicular to the plane P2;
and respectively installing an industrial camera on the plane P1 and the plane P2, controlling the two industrial cameras to take pictures simultaneously, and obtaining a heading picture and a side picture of the sling.
8. The helicopter out-of-crane sling swing angle solution method of claim 1, further comprising after S6: and outputting the deviation angle and the deviation direction of the sling in the deviation state to an on-board display device for displaying.
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