CN113184202A - Image recognition technology-based aerial tanker oil delivery hose early warning method and system - Google Patents
Image recognition technology-based aerial tanker oil delivery hose early warning method and system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000005516 engineering process Methods 0.000 title claims abstract description 24
- 239000003921 oil Substances 0.000 claims abstract description 84
- 238000004364 calculation method Methods 0.000 claims abstract description 22
- 239000010721 machine oil Substances 0.000 claims abstract description 20
- 239000000446 fuel Substances 0.000 claims description 45
- 238000003708 edge detection Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000007667 floating Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D39/00—Refuelling during flight
- B64D39/04—Adaptations of hose construction
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Abstract
The invention discloses an aerial tanker aircraft oil delivery hose early warning method and system based on an image recognition technology, wherein the method comprises the following steps of acquiring a 3D video of the oil delivery hose of an tanker aircraft extending to an oil receiver in real time after the tanker aircraft enters a preset range of the oil receiver; acquiring a current frame image of the 3D video in real time; acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image; extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by utilizing the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline; and calculating according to the current coordinate information and a preset early warning calculation rule, and outputting early warning information. The technical scheme of the invention solves the problem that the existing hose type air refueling has certain safety risk because the motion state of the refueling machine close to the oil receiving machine to the oil delivery hose is monitored only by the experience judgment of a driver.
Description
Technical Field
The invention relates to the technical field of early warning equipment, in particular to an aerial tanker oil pipeline early warning method and system based on an image recognition technology.
Background
The refuelling equipment used for hose type air refuelling consists of a hose and a funnel type floating anchor. The floating anchor is provided with a mechanical self-locking device which can be locked with the taper sleeve when catching the taper sleeve. The hose refueling process is as follows: the fuel dispenser releases the hose and turns on a signal lamp arranged below the hose, when receiving a fuel receiving signal sent by the fuel receiving machine, the fuel dispenser switches on and locks the pipeline, and then fuel transmission is started. Control of the fuel receiver is challenging because the fuel dispenser and the fuel receiver remain in formation and stationary during airborne fueling. The existing hose type air refueling has the problem that the refueling machine is close to the oil receiving machine to monitor the motion state of the oil delivery hose only by the experience judgment of a driver, so that certain safety risk exists.
Disclosure of Invention
The invention mainly aims to provide an aerial tanker oil delivery hose early warning method and system based on an image recognition technology, and aims to solve the problem that the existing hose type aerial tanker has certain safety risks because the tanker is close to an oil receiving machine to monitor the motion state of the oil delivery hose and only the experience judgment of a driver is needed.
In order to achieve the above object, the invention provides an aerial tanker oil delivery hose early warning method based on image recognition technology, which comprises the following steps:
acquiring a 3D video of the oil delivery hose of the oiling machine extending to the oil receiver in real time after the oiling machine enters a preset range of the oil receiver;
acquiring a current frame image of the 3D video in real time;
acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image;
extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by utilizing the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline;
and calculating according to the current coordinate information and a preset early warning calculation rule, and outputting early warning information.
Preferably, the preset early warning calculation rule includes:
calculating a spatial distance D from the current taper sleeve opening contour center to a connecting line between an oil conveying pipe installation position of the oiling machine and an oil receiving machine according to the current coordinate information;
and judging whether the space distance D is greater than a threshold value, and if so, generating early warning information.
Preferably, the step of determining whether the spatial distance D is greater than a threshold, and if so, generating the warning information includes the following steps:
when the spatial distance D is larger than a threshold value, judging the proportion that the spatial distance D is larger than the threshold value, and sending out corresponding different early warning information according to different proportions;
the early warning information includes: caution, safety warning, stopping oiling and other alarm information are noticed.
Preferably, the step of extracting the taper sleeve mouth contour of the fuel delivery hose of the fuel dispenser according to a preset method by using the two-dimensional image feature information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth contour includes: performing graying processing on the two-dimensional image characteristic information to obtain a grayscale image;
carrying out binarization processing on the gray level image to obtain an image to be extracted;
carrying out edge detection on the image to be extracted, and extracting a contour line in the image to be extracted;
acquiring the space coordinates of each pixel point of the contour line by using each contour line and combining the depth characteristic information;
and taking the average value of the space coordinates of each pixel point of the contour line as the current coordinate information.
Preferably, the step of determining whether the spatial distance D is greater than a threshold value, and if so, the step of generating the warning information further includes the following steps:
and sending request assistance information to a ground tower when the threshold triggers the refueling stopping alarm information, wherein the request assistance information comprises approaching videos of the fuel delivery hoses of the fuel dispensers and the fuel receiving machines before alarming and coordinate information of the fuel dispensers.
Preferably, when the spatial distance D is greater than the threshold, the step of determining the proportion greater than the threshold and sending corresponding different warning information according to different proportions further includes the following steps:
acquiring environmental parameter information of the current position of the oiling machine;
and adjusting the threshold value in real time according to the air humidity index of the current position.
In addition, in order to achieve the above object, the present invention further provides an aerial tanker fuel delivery hose early warning system based on an image recognition technology, which is characterized by comprising:
the 3D vision camera is arranged at an oil receiving port of the oil receiving machine, is in communication connection with a control computer in the oil receiving machine, and is used for acquiring a 3D video that an oil delivery hose of the oiling machine extends to the oil receiving machine in real time after the oiling machine enters a preset range of the oil receiving machine;
the video framing mirror module is used for acquiring a current frame image of the 3D video;
the frame information extraction module is used for acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image;
the coordinate calculation module is used for extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by utilizing the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline; and the early warning output module is used for calculating according to the current coordinate information and a preset early warning calculation rule and outputting early warning information.
According to the technical scheme, the 3D video of the oiling machine oil delivery hose extending to the oil receiving machine is shot, the two-dimensional image characteristic information and the depth characteristic information of the current vibrating mirror of the 3D video are utilized to extract the taper sleeve opening outline of the oiling machine oil delivery hose according to a preset method, current coordinate information corresponding to the center of the current taper sleeve opening outline is output, calculation is carried out according to preset early warning calculation rules according to the current coordinate information, and early warning information is output. The automatic monitoring and early warning device can automatically monitor and early warn the oil delivery hose in the process that the oil delivery hose of the oiling machine extends to the oil receiving machine, and improves the safety of air oiling.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment of an aerial tanker fuel delivery hose early warning method based on image recognition technology;
fig. 2 is a schematic diagram illustrating the calculation of the spatial distance D in the oil hose warning method for an aerial tanker based on the image recognition technology;
fig. 3 is a schematic structural diagram of the aerial tanker fuel delivery hose early warning system based on the image recognition technology.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The principles and features of this invention are described below in conjunction with specific embodiments, the examples given are intended to illustrate the invention and are not intended to limit the scope of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, some terminology being used in the description and claims to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the invention, but is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
The refuelling equipment used for hose type air refuelling consists of a hose and a funnel type floating anchor. Fig. 1 is a schematic diagram of the fueling states of an aerial fuel dispenser and an aerial fuel receiver. The floating anchor is provided with a mechanical self-locking device which can be locked with the taper sleeve when catching the taper sleeve. The hose refueling process is as follows: the fuel dispenser releases the hose and turns on a signal lamp arranged below the hose, when receiving a fuel receiving signal sent by the fuel receiving machine, the fuel dispenser switches on and locks the pipeline, and then fuel transmission is started. Control of the fuel receiver is challenging because the fuel dispenser and the fuel receiver remain in formation and stationary during airborne fueling. The existing hose type air refueling has the problem that the refueling machine is close to the oil receiving machine to monitor the motion state of the oil delivery hose only by the experience judgment of a driver, so that certain safety risk exists.
The embodiment of the invention provides an aerial tanker aircraft oil delivery hose early warning method based on an image recognition technology, and referring to fig. 1, fig. 1 is a schematic flow diagram of a first embodiment of the aerial tanker aircraft oil delivery hose early warning method based on the image recognition technology.
In this embodiment, the method for warning the oil delivery hose of the aerial tanker based on the image recognition technology includes the following steps:
step S1: and acquiring a 3D video of the oil delivery hose of the oiling machine extending to the oil receiving machine in real time after the oiling machine enters a preset range of the oil receiving machine.
It should be noted that the main execution body of the method is a central control computer installed on the oil receiving machine; in this portion step, the 3D video can have the 3D camera to shoot and obtain like binocular vision camera, the 3D camera can be installed near the oil receiving port of oil receiving machine, the control interface and the data interface of 3D camera all with the control computer electrical connection of oil receiving machine, the tanker aircraft gets into the scope of predetermineeing of oil receiving machine and can pass through the perception of airborne radar.
And step S2, acquiring the current frame image of the 3D video in real time.
In this step, the current frame image is a current frame image formed by fusing a two-dimensional image and a depth image shot by each frame of the 3D camera.
Step S3: and acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image.
Namely, two-dimensional image characteristic information representing the shape of an image and a depth map representing the depth information of the image are separated from a current frame image.
Step S4: and extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by using the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline.
In a specific implementation, the current taper sleeve contour can be obtained through an existing machine image recognition algorithm, and after the overall contour of the two-dimensional image is obtained, the taper sleeve contour image can be segmented from the overall two-dimensional image through a preset taper sleeve contour semantic model. The invention does not limit the specific method of edge detection, in the specific implementation, the edge detection can be specifically realized by the Canny edge detection algorithm, the improved algorithm thereof and the like, and the invention does not limit the specific method of edge detection. The Canny edge detection algorithm is an algorithm for extracting a contour line in an image by searching for a strong gradient in the image. The current coordinate information can be obtained by converting related data of the depth image after the installation position of the 3D visual camera is used as an original position.
Step S5: and calculating according to the current coordinate information and a preset early warning calculation rule, and outputting early warning information.
In a specific implementation, the preset early warning calculation rule may be a threshold limit, a classifier limit, and the like, and the early warning information may be displayed through a human-computer interaction device matched with a central control computer of the oil receiving machine.
According to the technical scheme, the 3D video of the oiling machine oil delivery hose extending to the oil receiving machine is shot, the two-dimensional image characteristic information and the depth characteristic information of the current vibrating mirror of the 3D video are utilized to extract the taper sleeve opening outline of the oiling machine oil delivery hose according to a preset method, current coordinate information corresponding to the center of the current taper sleeve opening outline is output, calculation is carried out according to preset early warning calculation rules according to the current coordinate information, and early warning information is output. The automatic monitoring and early warning device can automatically monitor and early warn the oil delivery hose in the process that the oil delivery hose of the oiling machine extends to the oil receiving machine, and improves the safety of air oiling.
Specifically, the preset early warning calculation rule includes:
and calculating the space distance D from the current taper sleeve opening contour center to the connecting line between the oil conveying pipe installation position of the oiling machine and the oil receiving machine according to the current coordinate information. The schematic diagram is shown in fig. 2.
The spatial distance D in the early warning calculation rule can represent a deviation value of the taper sleeve mouth from the target position.
And judging whether the space distance D is greater than a threshold value, and if so, generating early warning information.
The threshold value can be obtained by analyzing the data records collected by the pre-refueling test.
Specifically, in a preferred embodiment of the present invention, determining whether the spatial distance D is greater than a threshold, and if so, generating the warning information includes the following steps:
and when the spatial distance D is larger than a threshold value, judging the proportion that the spatial distance D is larger than the threshold value, and sending out corresponding different early warning information according to different proportions. For example, when the spatial distance D is greater than the threshold value by 0% to 20%, a first type of warning information is issued, when the spatial distance D is greater than 20% to 50% of the threshold value, a second type of warning information is issued, and so on.
The early warning information includes: caution, safety warning, stopping oiling and other alarm information are noticed.
In the preferred embodiment, the early warning information is arranged in a grading manner, so that the pilot can quickly judge the emergency degree of the early warning information, and the pilot can conveniently make corresponding preparation in time.
Specifically, in a preferred embodiment of the present invention, the step of extracting a taper socket contour of the fuel filler delivery hose according to a preset method by using the two-dimensional image feature information and outputting current coordinate information corresponding to a center of the current taper socket contour includes:
performing graying processing on the two-dimensional image characteristic information to obtain a grayscale image;
carrying out binarization processing on the gray level image to obtain an image to be extracted;
carrying out edge detection on the image to be extracted, and extracting a contour line in the image to be extracted;
acquiring the space coordinates of each pixel point of the contour line by using each contour line and combining the depth characteristic information;
and taking the average value of the space coordinates of each pixel point of the contour line as the current coordinate information.
Specifically, in a preferred embodiment of the present invention, the step of determining whether the spatial distance D is greater than a threshold, and if so, after the step of generating the warning information, the method further includes the following steps:
and sending request assistance information to a ground tower when the threshold triggers the refueling stopping alarm information, wherein the request assistance information comprises approaching videos of the fuel delivery hoses of the fuel dispensers and the fuel receiving machines before alarming and coordinate information of the fuel dispensers.
In the preferred embodiment, the alarm information can send the approaching video and the coordinate information of the oil delivery hose to the ground control console through the airborne wireless communication equipment of the oil receiver, so that the control console can know the real-time conditions of the oiling machine and the oil receiver conveniently, and know the weather condition of the position of the oiling machine according to the coordinate information, and the control console can conveniently make an auxiliary decision on the oiling machine and the oil receiver pilots.
In a preferred embodiment of the present invention, when the spatial distance D is greater than the threshold, the step of determining the ratio greater than the threshold further includes the following steps before the step of sending out corresponding different warning information according to different ratios:
acquiring environmental parameter information of the current position of the oiling machine;
and adjusting the threshold value in real time according to the air humidity index of the current position.
The environmental parameter information may be air humidity, temperature, wind power, wind speed, etc. The environment parameter change and the threshold value are set in a linkage mode, so that the effectiveness of the method in different environment states is further optimized.
The embodiment of the invention also provides an aerial tanker oil delivery hose early warning system based on the image recognition technology. Referring to fig. 3, fig. 3 is a block diagram illustrating a first embodiment of an aerial tanker fuel delivery hose early warning system based on image recognition technology.
The aerial tanker aircraft oil delivery hose early warning system based on image recognition technology includes:
the 3D vision camera is arranged at an oil receiving port of the oil receiving machine, is in communication connection with a control computer in the oil receiving machine, and is used for acquiring a 3D video that an oil delivery hose of the oiling machine extends to the oil receiving machine in real time after the oiling machine enters a preset range of the oil receiving machine;
it should be noted that an execution main body of the system is a central control computer installed on the oil receiving machine, the 3D video can be shot by a 3D camera to obtain a binocular vision camera, the 3D camera can be installed near an oil receiving port of the oil receiving machine, a control interface and a data interface of the 3D camera are both electrically connected with a control computer of the oil receiving machine, and the preset range of the oil receiving machine entering the oil receiving machine can be sensed by an airborne radar.
The video framing mirror module is used for acquiring a current frame image of the 3D video;
the frame information extraction module is used for acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image;
the coordinate calculation module is used for extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by utilizing the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline;
and the early warning output module is used for calculating according to the current coordinate information and a preset early warning calculation rule and outputting early warning information.
According to the technical scheme, the 3D video of the oiling machine oil delivery hose extending to the oil receiving machine is shot, the two-dimensional image characteristic information and the depth characteristic information of the current vibrating mirror of the 3D video are utilized to extract the taper sleeve opening outline of the oiling machine oil delivery hose according to a preset method, current coordinate information corresponding to the center of the current taper sleeve opening outline is output, calculation is carried out according to preset early warning calculation rules according to the current coordinate information, and early warning information is output. The automatic monitoring and early warning device can automatically monitor and early warn the oil delivery hose in the process that the oil delivery hose of the oiling machine extends to the oil receiving machine, and improves the safety of air oiling.
Other embodiments or specific implementation manners of the aerial tanker fuel delivery hose early warning system based on the image recognition technology can refer to the above method embodiments, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. The aerial tanker aircraft oil delivery hose early warning method based on the image recognition technology is characterized by comprising the following steps of:
acquiring a 3D video of the oil delivery hose of the oiling machine extending to the oil receiver in real time after the oiling machine enters a preset range of the oil receiver;
acquiring a current frame image of the 3D video in real time;
acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image;
extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by utilizing the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline;
and calculating according to the current coordinate information and a preset early warning calculation rule, and outputting early warning information.
2. The image recognition technology-based aerial tanker fuel delivery hose early warning method of claim 1, wherein the preset early warning calculation rules comprise:
calculating a spatial distance D from the current taper sleeve opening contour center to a connecting line between an oil conveying pipe installation position of the oiling machine and an oil receiving machine according to the current coordinate information;
and judging whether the space distance D is greater than a threshold value, and if so, generating early warning information.
3. The image recognition technology-based aerial tanker fuel delivery hose early warning method as recited in claim 2, wherein determining whether said spatial distance D is greater than a threshold, and if so, generating early warning information comprises the steps of:
when the spatial distance D is larger than a threshold value, judging the proportion that the spatial distance D is larger than the threshold value, and sending out corresponding different early warning information according to different proportions;
the early warning information includes: caution, safety warning, stopping oiling and other alarm information are noticed.
4. The image recognition technology-based air tanker fuel delivery hose early warning method of claim 2, wherein the step of extracting the taper socket contour of the tanker fuel delivery hose according to a preset method by using the two-dimensional image characteristic information and outputting the current coordinate information corresponding to the center of the current taper socket contour comprises: performing graying processing on the two-dimensional image characteristic information to obtain a grayscale image;
carrying out binarization processing on the gray level image to obtain an image to be extracted;
carrying out edge detection on the image to be extracted, and extracting a contour line in the image to be extracted;
acquiring the space coordinates of each pixel point of the contour line by using each contour line and combining the depth characteristic information;
and taking the average value of the space coordinates of each pixel point of the contour line as the current coordinate information.
5. The image recognition technology-based aerial tanker fuel delivery hose early warning method as recited in claim 3, wherein said step of determining whether said spatial distance D is greater than a threshold value, and if so, generating early warning information further comprises the steps of:
and sending request assistance information to a ground tower when the threshold triggers the refueling stopping alarm information, wherein the request assistance information comprises approaching videos of the fuel delivery hoses of the fuel dispensers and the fuel receiving machines before alarming and coordinate information of the fuel dispensers.
6. The image recognition technology-based aerial tanker fuel delivery hose early warning method as claimed in claim 2, wherein when the spatial distance D is greater than a threshold, the proportion greater than the threshold is determined, and the step of sending out corresponding different early warning information according to different proportions further comprises the steps of:
acquiring environmental parameter information of the current position of the oiling machine;
and adjusting the threshold value in real time according to the air humidity index of the current position.
7. The utility model provides an aerial tanker aircraft fuel delivery hose early warning system based on image recognition technology which characterized in that includes:
the 3D vision camera is arranged at an oil receiving port of the oil receiving machine, is in communication connection with a control computer in the oil receiving machine, and is used for acquiring a 3D video that an oil delivery hose of the oiling machine extends to the oil receiving machine in real time after the oiling machine enters a preset range of the oil receiving machine; the video framing mirror module is used for acquiring a current frame image of the 3D video;
the frame information extraction module is used for acquiring two-dimensional image characteristic information and depth characteristic information of the oiling machine oil delivery hose from the current frame image;
the coordinate calculation module is used for extracting the taper sleeve mouth outline of the oiling machine oil delivery hose according to a preset method by utilizing the two-dimensional image characteristic information and outputting current coordinate information corresponding to the center of the current taper sleeve mouth outline;
and the early warning output module is used for calculating according to the current coordinate information and a preset early warning calculation rule and outputting early warning information.
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| CN109085845A (en) * | 2018-07-31 | 2018-12-25 | 北京航空航天大学 | A kind of bionical vision navigation control system and method for autonomous air refuelling docking |
| CN108983815A (en) * | 2018-08-03 | 2018-12-11 | 北京航空航天大学 | A kind of anti-interference autonomous docking control method based on the control of terminal iterative learning |
| CN209192253U (en) * | 2018-09-25 | 2019-08-02 | 陕西飞机工业（集团）有限公司 | A kind of auxiliary monitoring system for being docked in the air by oil |
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