CN113686343A - Visual navigation method for snake-shaped mechanical arm to advance at aircraft air inlet - Google Patents
Visual navigation method for snake-shaped mechanical arm to advance at aircraft air inlet Download PDFInfo
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- CN113686343A CN113686343A CN202110975801.XA CN202110975801A CN113686343A CN 113686343 A CN113686343 A CN 113686343A CN 202110975801 A CN202110975801 A CN 202110975801A CN 113686343 A CN113686343 A CN 113686343A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a visual navigation method for an S-shaped mechanical arm to advance in an aircraft air inlet, which is characterized in that the aircraft air inlet is arranged in a plane coordinate system, a certain point of the section of an air inlet port is taken as a reference point of a visual sensor, the advance step length of the mechanical arm is set, the air inlet is divided into a plurality of sections vertical to an x axis by taking the step length as a unit, the coordinates of the central point of each cross section of the aircraft air inlet are sequentially measured by the visual sensor, and the front end of the S-shaped mechanical arm moves forwards along the central point of each cross section according to the distance measured by the visual sensor, so that the S-shaped mechanical arm moves along the central line in the aircraft air inlet until the front end of the S-shaped mechanical arm reaches the last cross section of the aircraft air inlet, and the S-shaped mechanical arm finishes the advancing process in the aircraft air inlet. The method can effectively solve the problem of navigation of the snake-shaped mechanical arm in the aircraft air inlet, prevents the visual sensor and the snake-shaped mechanical arm from rubbing or colliding with the interior of the aircraft air inlet, and tests prove the effectiveness of the method.
Description
Technical Field
The invention relates to the technical field of visual navigation, in particular to a visual navigation method for a snake-shaped mechanical arm to advance in an air inlet channel of an airplane.
Background
Aircraft port inspection is one of the tasks that must be performed each time before the aircraft takes off. At the present stage, the method for inspecting the air inlet channel still stays in a traditional mode, namely, ground staff enter the air inlet channel to complete inspection work, the method is easy to damage an internal coating, foreign objects are easy to leave to hurt the engine blade, and potential safety hazards exist. With the development of future aircraft technology, demands such as stealth are considered, the configuration of the air inlet channel is often very complex and is difficult to complete in a traditional manual mode, and therefore an auxiliary device with strong operability, high stability and high safety is needed to assist ground staff in completing daily detection work inside the complex air inlet channel of the aircraft. Use snakelike arm to carry vision sensor to go to inspect the engine intake duct, can avoid the potential safety hazard that manual inspection caused to can increase substantially ground service personnel work efficiency, but the problem that faces is exactly how to prevent effectively that arm and the inside friction and the collision of aircraft intake duct.
Disclosure of Invention
The invention discloses a visual navigation method for a snakelike mechanical arm to move in an aircraft air inlet, aiming at the problem of how to effectively prevent the mechanical arm from rubbing and colliding with the interior of the aircraft air inlet in a snakelike manner in the process of inspecting the aircraft air inlet.
The largest size of the snake-shaped mechanical arm is smaller than the diameter of the air inlet channel, and the snake-shaped mechanical arm is controlled to move forwards along the center of the air inlet channel of the engine by using the visual navigation method, so that the aim of avoiding collision is fulfilled.
The invention discloses a visual navigation method for a snake-shaped mechanical arm to advance in an aircraft air inlet passage. The cross section of the aircraft air inlet is circular, and the depth of the aircraft air inlet is irregularly bent.
The invention discloses a visual navigation method of a snake-shaped mechanical arm at an aircraft inlet, wherein the maximum size of the snake-shaped mechanical arm is smaller than the minimum size of the cross section of the aircraft inlet, a visual sensor is arranged at the front end of the snake-shaped mechanical arm, and the snake-shaped mechanical arm is controlled to advance along the center of the aircraft inlet by using the visual navigation method so as to achieve the purpose of collision avoidance; setting the advancing step length of the snake-shaped mechanical arm by taking a certain point of the cross section of the inlet of the aircraft air inlet as a reference point of a visual sensor, dividing the aircraft air inlet into a plurality of cross sections vertical to the air inlet direction along the air inlet direction by taking the step length as a basic unit, and sequentially measuring the coordinates of the central point of each cross section of the aircraft air inlet by utilizing the visual sensor so that the snake-shaped mechanical arm moves along the central point of each cross section of the aircraft air inlet, wherein the cross section of the aircraft air inlet is circular; the visual navigation method comprises the following specific steps:
s1, taking the lowest point of the outer edge of the inlet of the aircraft air inlet as the original point O of a plane coordinate system, and taking the circle center of the cross section where the outer edge of the aircraft air inlet is located as O0From O to O0The ray of the S-shaped0Has a coordinate of (x)0,y0)；
S2, setting the step length d of the snake-shaped mechanical arm moving along the x axis, wherein d is a user set value; dividing an aircraft air inlet into m cross sections S perpendicular to an x axis in a plane coordinate system by taking a step length d as a basic unit1、S2、……、Sm，O1,O2,…,OmRespectively, cross section S of aircraft inlet1、S2、……、SmAnd the distances of two adjacent central points in the x-axis direction are equal; o is0Point to cross section S1Is d;
s3, measuring the cross section S by using a vision sensor1High point A of1Cross section S1Low point B of1To O0Are each d1、d2，O1、A1、B1Are all in cross section S1The above step (1); to O1Coordinates (x) in a plane coordinate system1,y1) Carry out the calculation of x1＝x0+d，
S4, calculating the central point O of the first cross section of the snake-shaped mechanical arm1Such that the front end edge O of the serpentine arm0To O1Is a connecting line O0O1Proceed to O1Point, snake-like arm front end to O1After the point, the cross section S is measured by a vision sensor2High point A of2Cross section S2Low point B on2To O1Are respectively d21、d22To O, to2Coordinates (x) in a plane coordinate system2,y2) Carry out the calculation of x2＝x1+d，
S5, aligning the cross section S along the air inlet direction of the air inlet of the airplane1And repeating the process of the step S4 for all the latter cross sections, so that the front end of the snake-shaped mechanical arm moves forwards along the central point of each cross section according to the distance measured by the vision sensor, thereby realizing that the snake-shaped mechanical arm moves along the central line in the aircraft inlet until the front end of the snake-shaped mechanical arm reaches the last cross section S of the aircraft inletmThereby the snakelike mechanical arm completes the traveling process in the aircraft air inlet.
The invention has the beneficial effects that:
the visual navigation method does not depend on external signals, and adopts image information and distance measurement to carry out space calculation. And in the air inlet channel coordinate system, connecting lines of the midpoint positions of the cross sections of the air inlet channels are used as a planned advancing route of the mechanical arm. The advantages of selecting the center as the advancing route include: 1) the snake-shaped mechanical arm can avoid being touched with any part of the air inlet channel in the advancing process. 2) The detection probe on the S-shaped mechanical arm is arranged at the centroid position (each cross section S of the air inlet channel)1、S2、……、SmGeometric center of (1)And the detection of all-round no dead angles can be carried out inside the air inlet channel. 3) The centroid is selected as a forward route, and the safety control margin of the snake-shaped mechanical arm can be improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of visual navigation according to the present invention;
FIG. 2 is an example illustration schematic of visual navigation of the present disclosure.
Detailed Description
For a better understanding of the present disclosure, an example is given here. FIG. 1 is a schematic diagram of an embodiment of visual navigation according to the present invention; FIG. 2 is an example illustration schematic of visual navigation of the present disclosure.
The invention discloses a visual navigation method for a snake-shaped mechanical arm to advance in an aircraft air inlet passage. The cross section of the aircraft air inlet is circular, and the depth of the aircraft air inlet is irregularly bent.
The invention discloses a visual navigation method of a snake-shaped mechanical arm at an aircraft inlet, wherein the maximum size of the snake-shaped mechanical arm is smaller than the minimum size of the cross section of the aircraft inlet, a visual sensor is arranged at the front end of the snake-shaped mechanical arm, and the snake-shaped mechanical arm is controlled to advance along the center of the aircraft inlet by using the visual navigation method so as to achieve the purpose of collision avoidance; setting the advancing step length of the snake-shaped mechanical arm by taking a certain point of the cross section of the inlet of the aircraft air inlet as a reference point of a visual sensor, dividing the aircraft air inlet into a plurality of cross sections vertical to the air inlet direction along the air inlet direction by taking the step length as a basic unit, and sequentially measuring the coordinates of the central point of each cross section of the aircraft air inlet by utilizing the visual sensor so that the snake-shaped mechanical arm moves along the central point of each cross section of the aircraft air inlet, wherein the cross section of the aircraft air inlet is circular; the visual navigation method comprises the following specific steps:
s1, taking the lowest point of the outer edge of the inlet of the aircraft air inlet as the origin O of the plane coordinate system, and obtaining the cross section of the outer edge of the aircraft air inletThe center of the circle of the surface is O0From O to O0The ray of the S-shaped0Has a coordinate of (x)0,y0)；
S2, setting the step length d of the snake-shaped mechanical arm moving along the x axis, wherein d is a user set value; dividing an aircraft air inlet into m cross sections S perpendicular to an x axis in a plane coordinate system by taking a step length d as a basic unit1、S2、……、Sm，O1,O2,…,OmRespectively, cross section S of aircraft inlet1、S2、……、SmAnd the distances of two adjacent central points in the x-axis direction are equal; o is0Point to cross section S1Is d;
s3, measuring the cross section S by using a vision sensor1High point A of1Cross section S1Low point B of1To O0Are each d1、d2，O1、A1、B1Are all in cross section S1The above step (1); to O1Coordinates (x) in a plane coordinate system1,y1) Carry out the calculation of x1＝x0+d，
S4, calculating the central point O of the first cross section of the snake-shaped mechanical arm1Such that the front end edge O of the serpentine arm0To O1Is a connecting line O0O1Proceed to O1Point, snake-like arm front end to O1After the point, the cross section S is measured by a vision sensor2High point A of2Cross section S2Low point B on2To O1Are respectively d21、d22To O, to2Coordinates (x) in a plane coordinate system2,y2) Carry out the calculation of x2＝x1+d，
S5, aligning the cross section S along the air inlet direction of the air inlet of the airplane1And repeating the process of the step S4 for all the latter cross sections, so that the front end of the snake-shaped mechanical arm moves forwards along the central point of each cross section according to the distance measured by the vision sensor, thereby realizing that the snake-shaped mechanical arm moves along the central line in the aircraft inlet until the front end of the snake-shaped mechanical arm reaches the last cross section S of the aircraft inletmThereby the snakelike mechanical arm completes the traveling process in the aircraft air inlet.
An aircraft inlet duct is a curved circular tube with a depth of about 2m, as shown in fig. 2, and is specifically applied according to the method of the present invention.
Step 1, placing the initial position of a vision sensor at O0To emphasize the path planning capability of the method, assume that the initial position is slightly off the center point and its coordinates are (0, 15).
Step 2, setting the advancing step length of the mechanical arm to be 20cm, and dividing the air inlet channel into a plurality of sections S perpendicular to the x-axis of the section in a plane coordinate system by taking the step length of 20cm as a unit1、S2……，。
Step 3, measuring the section S by using a sensor1High point A of1Low point B1To O0At a distance d1＝30cm、d225 cm. Calculated to obtain O1The coordinates are (20, 18.68).
Step 4, the mechanical arm drives the vision sensor to automatically follow the O0To O1Is a connecting line O0O1Proceed to O1Point, when the vision sensor is at O1Point, and measure the section S2High point A of2Low point B2To O1At a distance d21＝45cm、d2221 cm. Calculated to obtain O2The coordinates are (40, 35.63).
Mixing O with2To O1The spatial connection line of the robot arm serves as a planned route for the robot arm to travel. The vision sensor at the front end of the arm follows this path, from O1Move to O2。
In the whole working process, the mechanical arm sets a connecting line of the centers of the cross sections of the air inlet channels as a target advancing line, and the diameter of the mechanical arm is smaller than that of the cross sections of the air inlet channels, so that the method can effectively avoid collision on the walls of the air inlet channels. In a specific complex air inlet of an airplane, the overall configuration of the air inlet is relatively complex, but the cross section configuration is relatively simple and is mostly circular, so that the navigation method is enough to complete the work assumption.
The method can be used for extension and expansion, and if the cross section of the engine air inlet channel is an ellipse or a rectangle, the intersection point of two symmetry axes of the cross section is the central point of the cross section. By using the calculation method, the distances between the two symmetry axes and the intersection point of the section graph are respectively calculated, and the space coordinate of the center of the target section can be obtained.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (2)
1. A visual navigation method for a snake-shaped mechanical arm to advance at an aircraft air inlet is characterized in that the maximum size of the snake-shaped mechanical arm is smaller than the minimum size of the cross section of the aircraft air inlet, a visual sensor is arranged at the front end of the snake-shaped mechanical arm, and the snake-shaped mechanical arm is controlled to advance along the center of the aircraft air inlet by the visual navigation method so as to achieve the purpose of collision avoidance; setting the advancing step length of the snake-shaped mechanical arm by taking a certain point of the cross section of the inlet of the aircraft air inlet as a reference point of a visual sensor, dividing the aircraft air inlet into a plurality of cross sections vertical to the air inlet direction along the air inlet direction by taking the step length as a basic unit, and sequentially measuring the coordinates of the central point of each cross section of the aircraft air inlet by utilizing the visual sensor so that the snake-shaped mechanical arm moves along the central point of each cross section of the aircraft air inlet; the visual navigation method comprises the following specific steps:
s1, taking the lowest point of the outer edge of the inlet of the aircraft air inlet as the original point O of a plane coordinate system, and taking the circle center of the cross section where the outer edge of the aircraft air inlet is located as O0From O to O0The ray of the S-shaped0Has a coordinate of (x)0,y0)；
S2, setting the step length d of the snake-shaped mechanical arm moving along the x axis, wherein d is a user set value; dividing an aircraft air inlet into m cross sections S perpendicular to an x axis in a plane coordinate system by taking a step length d as a basic unit1、S2、……、Sm，O1,O2,…,OmRespectively, cross section S of aircraft inlet1、S2、……、SmAnd the distances of two adjacent central points in the x-axis direction are equal; o is0Point to cross section S1Is d;
s3, measuring the cross section S by using a vision sensor1High point A of1Cross section S1Low point B of1To O0Are each d1、d2，O1、A1、B1Are all in cross section S1The above step (1); to O1Coordinates (x) in a plane coordinate system1,y1) Carry out the calculation of x1＝x0+d，
S4, calculating the central point O of the first cross section of the snake-shaped mechanical arm1Such that the front end edge O of the serpentine arm0To O1Is a connecting line O0O1Proceed to O1Front end of point, snake-shaped mechanical armTo O1After the point, the cross section S is measured by a vision sensor2High point A of2Cross section S2Low point B on2To O1Are respectively d21、d22To O, to2Coordinates (x) in a plane coordinate system2,y2) Carry out the calculation of x2＝x1+d，
S5, aligning the cross section S along the air inlet direction of the air inlet of the airplane1And repeating the process of the step S4 for all the latter cross sections, so that the front end of the snake-shaped mechanical arm moves forwards along the central point of each cross section according to the distance measured by the vision sensor, thereby realizing that the snake-shaped mechanical arm moves along the central line in the aircraft inlet until the front end of the snake-shaped mechanical arm reaches the last cross section S of the aircraft inletmThereby the snakelike mechanical arm completes the traveling process in the aircraft air inlet.
2. The method of claim 1, wherein the cross-section of the aircraft inlet is circular.
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| CN202110975801.XA CN113686343B (en) | 2021-08-24 | 2021-08-24 | Visual navigation method for serpentine mechanical arm to travel in aircraft air inlet channel |
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| US20200223069A1 (en) * | 2019-01-10 | 2020-07-16 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
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- 2021-08-24 CN CN202110975801.XA patent/CN113686343B/en active Active
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|---|---|---|---|---|
| US20160279789A1 (en) * | 2015-03-23 | 2016-09-29 | Rolls-Royce Plc | Flexible tools and apparatus for machining objects |
| CN109227551A (en) * | 2018-11-21 | 2019-01-18 | 中国科学院合肥物质科学研究院 | A kind of vision positioning Robot Hand-eye coordinate transformation method |
| US20200223069A1 (en) * | 2019-01-10 | 2020-07-16 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
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