CN113686343B - Visual navigation method for serpentine mechanical arm to travel in aircraft air inlet channel - Google Patents
Visual navigation method for serpentine mechanical arm to travel in aircraft air inlet channel Download PDFInfo
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- CN113686343B CN113686343B CN202110975801.XA CN202110975801A CN113686343B CN 113686343 B CN113686343 B CN 113686343B CN 202110975801 A CN202110975801 A CN 202110975801A CN 113686343 B CN113686343 B CN 113686343B
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention discloses a visual navigation method for a snake-shaped mechanical arm to travel in an air inlet of an aircraft, wherein the air inlet of the aircraft is placed in a plane coordinate system, a certain point of the section of the air inlet is taken as a datum point of a visual sensor, the travel step length of the mechanical arm is set, the air inlet is divided into a plurality of sections perpendicular to an x axis by taking the step length as a unit, the central point coordinates of each section of the air inlet of the aircraft are sequentially measured by the visual sensor, the front end of the snake-shaped mechanical arm moves forwards along the central point of each section according to the distance measured by the visual sensor, and therefore the movement of the snake-shaped mechanical arm along the central line in the air inlet of the aircraft is realized until the front end of the snake-shaped mechanical arm reaches the last section of the air inlet of the aircraft, and the travel process of the snake-shaped mechanical arm in the air inlet of the aircraft is completed. The method can effectively solve the navigation problem of the snake-shaped mechanical arm in the air inlet channel of the airplane, prevent the visual sensor and the snake-shaped mechanical arm from transmitting friction or collision with the interior of the air inlet channel of the airplane, and test proves 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 travel in an air inlet channel of an airplane.
Background
Aircraft air intake inspection is one of the tasks that must be performed before each aircraft take-off. At present, the method for checking the air inlet is still in a traditional mode, namely, ground staff enters the air inlet to finish checking work, so that the method is easy to damage internal coatings and leave foreign matters to damage engine blades, and potential safety hazards exist. With the development of future aircraft technology, the demands of stealth and the like are considered, the configuration of the air inlet channel is quite complex and is difficult to be completed by a traditional manual mode, so that auxiliary equipment with strong operability, high stability and high safety is required to assist ground staff to complete daily detection work in the complex air inlet channel of the aircraft. The snake-shaped mechanical arm is used for carrying the visual sensor to inspect the engine air inlet, so that potential safety hazards caused by manual inspection can be avoided, the working efficiency of ground staff can be greatly improved, and the problem faced by the method is how to effectively prevent friction and collision between the mechanical arm and the interior of the aircraft air inlet.
Disclosure of Invention
Aiming at the problem of how to effectively prevent friction and collision between a mechanical arm and the interior of an aircraft air inlet in a snake-shaped manner in the aircraft air inlet inspection process, the invention discloses a visual navigation method for the snake-shaped mechanical arm to travel in the aircraft air inlet.
The maximum size of the snake-shaped mechanical arm is smaller than the diameter of the air inlet channel, and the visual navigation method is used for controlling the snake-shaped mechanical arm to advance along the center of the air inlet channel of the engine so as to achieve the aim of collision prevention.
The invention discloses a visual navigation method for a snake-shaped mechanical arm to travel in an air inlet channel of an airplane, and the application of the method can effectively solve the navigation problem of the snake-shaped mechanical arm in the air inlet channel of the airplane, so that a visual sensor and the snake-shaped mechanical arm are prevented from transmitting friction or collision with the interior of the air inlet channel of the airplane. The cross section of the air inlet passage of the airplane is circular, and the depth of the air inlet passage of the airplane is irregularly bent.
The invention discloses a visual navigation method of a snake-shaped mechanical arm in an air inlet channel of an airplane, wherein the maximum size of the snake-shaped mechanical arm is smaller than the minimum size of the cross section of the air inlet channel of the airplane, a visual sensor is arranged at the front end of the snake-shaped mechanical arm, and the visual navigation method is used for controlling the snake-shaped mechanical arm to advance along the center of the air inlet channel of the airplane so as to achieve the aim of collision prevention; taking a certain point of the inlet cross section of the air inlet of the aircraft as a datum point of a vision sensor, setting the advancing step length of the snake-shaped mechanical arm, dividing the air inlet of the aircraft into a plurality of cross sections perpendicular to the air inlet direction along the air inlet direction by taking the step length as a basic unit, sequentially measuring the center point coordinates of each cross section of the air inlet of the aircraft by using the vision sensor, so that the snake-shaped mechanical arm moves along the center point of each cross section of the air inlet of the aircraft, and the cross section of the air inlet of the aircraft is round; the visual navigation method comprises the following specific steps:
s1, taking the lowest point of the outer edge of an inlet of an air inlet channel of an airplane as an origin O of a plane coordinate system, wherein the circle center of a cross section where the outer edge of the air inlet channel of the airplane is positioned is O 0 From O to O 0 Is the y-axis, is selected to lie on a horizontal plane perpendicular to the y-axis, passes through OThe straight line which is perpendicular to the cross section of the outer edge of the aircraft air inlet is taken as an x-axis, the positive direction of the x-axis points to the air inlet direction of the aircraft air inlet, and the snake-shaped mechanical arm is positioned at O at the starting position of advancing along the aircraft air inlet 0 Where the coordinates are (x) 0 ,y 0 )；
S2, setting the step length d of the serpentine mechanical arm moving along the x axis, wherein d is a user set value; dividing the plane air inlet channel into m cross sections S perpendicular to the x axis by taking the step length d as a basic unit in a plane coordinate system 1 、S 2 、……、S m ，O 1 ,O 2 ,…,O m Respectively the cross section S of the air inlet channel of the airplane 1 、S 2 、……、S m The distances between two adjacent center points in the x-axis direction are equal; o (O) 0 Point-to-cross section S 1 Is d;
s3, measuring the cross section S by using a vision sensor 1 High point A of (2) 1 Cross section S 1 Low point B of (2) 1 To O 0 The distances at are d respectively 1 、d 2 ，O 1 、A 1 、B 1 Are all at cross section S 1 Applying; for O 1 In the plane coordinate system (x 1 ,y 1 ) Performing calculation, x 1 ＝x 0 +d，
S4, the snake-shaped mechanical arm calculates a first cross section center point O 1 Such that the leading edge O of the serpentine robotic arm 0 To O 1 Is connected with line O of (2) 0 O 1 Travel to O 1 Point, the front end of the snake-shaped mechanical arm reaches O 1 After the point, the visual sensor is used for measuring the cross section S 2 High point A on 2 Cross section S 2 Low point B on 2 To O 1 The distance at each is d 21 、d 22 For O 2 In the plane coordinate system (x 2 ,y 2 ) Performing calculation, x 2 ＝x 1 +d，
S5, the cross section S is opposite to the air inlet direction of the air inlet channel of the airplane 1 Repeating the process of the step S4 on all the rear cross sections, so that the front end of the snake-shaped mechanical arm moves forwards along the center point of each cross section according to the distance measured by the visual sensor, thereby realizing that the snake-shaped mechanical arm moves along the center line in the air inlet of the airplane until the front end reaches the last cross section S of the air inlet of the airplane m Thus the serpentine robotic arm completes the travel within the aircraft inlet.
The beneficial effects of the invention are as follows:
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, taking a connecting line of the midpoint position of the cross section of the air inlet channel as a planned advancing route of the mechanical arm. The advantages of selecting the center as the forward route include: 1) The snake-shaped mechanical arm can avoid touching any part of the air inlet channel in the running process. 2) The detection probe on the serpentine mechanical arm is arranged at the centroid position (each cross section S of the air inlet channel 1 、S 2 、……、S m The geometric center of the air inlet channel), the inside of the air inlet channel can be detected in an omnibearing manner without dead angles. 3) The centroid is selected as a forward route, so that the safety control margin of the snake-shaped mechanical arm can be improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the visual navigation of the present invention;
FIG. 2 is an example illustrative schematic diagram of the visual navigation of the present invention.
Detailed Description
For a better understanding of the present disclosure, an embodiment is presented herein. FIG. 1 is a schematic diagram of an embodiment of the visual navigation of the present invention; FIG. 2 is an example illustrative schematic diagram of the visual navigation of the present invention.
The invention discloses a visual navigation method for a snake-shaped mechanical arm to travel in an air inlet channel of an airplane, and the application of the method can effectively solve the navigation problem of the snake-shaped mechanical arm in the air inlet channel of the airplane, so that a visual sensor and the snake-shaped mechanical arm are prevented from transmitting friction or collision with the interior of the air inlet channel of the airplane. The cross section of the air inlet passage of the airplane is circular, and the depth of the air inlet passage of the airplane is irregularly bent.
The invention discloses a visual navigation method of a snake-shaped mechanical arm in an air inlet channel of an airplane, wherein the maximum size of the snake-shaped mechanical arm is smaller than the minimum size of the cross section of the air inlet channel of the airplane, a visual sensor is arranged at the front end of the snake-shaped mechanical arm, and the visual navigation method is used for controlling the snake-shaped mechanical arm to advance along the center of the air inlet channel of the airplane so as to achieve the aim of collision prevention; taking a certain point of the inlet cross section of the air inlet of the aircraft as a datum point of a vision sensor, setting the advancing step length of the snake-shaped mechanical arm, dividing the air inlet of the aircraft into a plurality of cross sections perpendicular to the air inlet direction along the air inlet direction by taking the step length as a basic unit, sequentially measuring the center point coordinates of each cross section of the air inlet of the aircraft by using the vision sensor, so that the snake-shaped mechanical arm moves along the center point of each cross section of the air inlet of the aircraft, and the cross section of the air inlet of the aircraft is round; the visual navigation method comprises the following specific steps:
s1, taking the lowest point of the outer edge of an inlet of an air inlet channel of an airplane as an origin O of a plane coordinate system, wherein the circle center of a cross section where the outer edge of the air inlet channel of the airplane is positioned is O 0 From O to O 0 The radial line of the air inlet is taken as a y axis, a straight line which is positioned on a horizontal plane vertical to the y axis, passes through an O point and is vertical to a cross section where the outer edge of the air inlet of the aircraft is positioned is taken as an x axis, the positive direction of the x axis points to the air inlet direction of the air inlet of the aircraft, and the snake-shaped mechanical arm is positioned at the O position at which the snake-shaped mechanical arm advances along the air inlet of the aircraft 0 Where the coordinates are (x) 0 ,y 0 )；
S2, setting the step length d of the serpentine mechanical arm moving along the x axis, wherein d is a user set value; dividing the plane air inlet channel into m cross sections S perpendicular to the x axis by taking the step length d as a basic unit in a plane coordinate system 1 、S 2 、……、S m ，O 1 ,O 2 ,…,O m Respectively the cross section S of the air inlet channel of the airplane 1 、S 2 、……、S m Corresponding center of (3)The two adjacent center points are equal in distance in the x-axis direction; o (O) 0 Point-to-cross section S 1 Is d;
s3, measuring the cross section S by using a vision sensor 1 High point A of (2) 1 Cross section S 1 Low point B of (2) 1 To O 0 The distances at are d respectively 1 、d 2 ，O 1 、A 1 、B 1 Are all at cross section S 1 Applying; for O 1 In the plane coordinate system (x 1 ,y 1 ) Performing calculation, x 1 ＝x 0 +d，
S4, the snake-shaped mechanical arm calculates a first cross section center point O 1 Such that the leading edge O of the serpentine robotic arm 0 To O 1 Is connected with line O of (2) 0 O 1 Travel to O 1 Point, the front end of the snake-shaped mechanical arm reaches O 1 After the point, the visual sensor is used for measuring the cross section S 2 High point A on 2 Cross section S 2 Low point B on 2 To O 1 The distance at each is d 21 、d 22 For O 2 In the plane coordinate system (x 2 ,y 2 ) Performing calculation, x 2 ＝x 1 +d，
S5, the cross section S is opposite to the air inlet direction of the air inlet channel of the airplane 1 Repeating the process of the step S4 on all the rear cross sections, so that the front end of the snake-shaped mechanical arm moves forwards along the center point of each cross section according to the distance measured by the visual sensor, thereby realizing that the snake-shaped mechanical arm moves along the center line in the air inlet of the airplane until the front end reaches the last cross section S of the air inlet of the airplane m Thus the serpentine robotic arm completes the travel within the aircraft inlet.
An aircraft inlet is a curved circular tube with a depth of about 2m, as shown in fig. 2, and the method according to the invention is particularly applicable.
Step 1, placing the initial position of a vision sensor at O 0 Here, in order to emphasize the path planning capability of the method, it is assumed that the initial position is slightly deviated from 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 cross sections S perpendicular to the cross section x-axis by taking the step length of 20cm as a unit in a plane coordinate system 1 、S 2 ……，。
Step 3, measuring the section S by using a sensor 1 High point A of (2) 1 Low point B 1 To O 0 Distance d at 1 ＝30cm、d 2 =25 cm. Calculating to obtain O 1 The coordinates are (20,18.68).
Step 4, the mechanical arm drives the vision sensor to independently move along O 0 To O 1 Is connected with line O of (2) 0 O 1 Travel to O 1 Point where the visual sensor is located at O 1 Point and measure section S 2 High point A on 2 Low point B 2 To O 1 Distance d at 21 ＝45cm、d 22 =21 cm. Calculating to obtain O 2 The coordinates are (40,35.63).
O is added with 2 To O 1 As a planned route for the robot arm to travel. Along this path, the vision sensor at the front end of the mechanical arm, from O 1 Move to O 2 。
In the whole working process, the mechanical arm sets a connecting line in the center of the cross section of the air inlet channel as a target advancing line, and the method can effectively avoid collision to the wall of the air inlet channel because the diameter of the mechanical arm is smaller than that of the cross section of the air inlet channel. In a specific complex air inlet of an aircraft, the overall configuration of the air inlet is relatively complex, but the cross-sectional configuration is relatively simple, and the air inlet is mostly circular, so that the navigation method is sufficient for completing work assumption.
The method can be extended and expanded, and if the section of the engine air inlet is elliptical or rectangular, the intersection point of two symmetrical axes of the section shape is the center point of the section. And respectively calculating the distance between the two symmetry axes and the intersection point of the section patterns by using the calculation method, so as to obtain the space coordinate of the center of the target section.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (2)
1. A visual navigation method for a snake-shaped mechanical arm to travel in an air inlet of an airplane 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 air inlet of the airplane, a visual sensor is arranged at the front end of the snake-shaped mechanical arm, and the visual navigation method is used for controlling the snake-shaped mechanical arm to travel along the center of the air inlet of the airplane so as to achieve the aim of collision avoidance; taking a certain point of the inlet cross section of the air inlet of the aircraft as a datum point of a vision sensor, setting the advancing step length of the snake-shaped mechanical arm, dividing the air inlet of the aircraft into a plurality of cross sections perpendicular to the air inlet direction by taking the step length as a basic unit, and sequentially measuring the center point coordinates of each cross section of the air inlet of the aircraft by using the vision sensor so that the snake-shaped mechanical arm moves along the center point of each cross section of the air inlet of the aircraft; the visual navigation method comprises the following specific steps:
s1, taking the lowest point of the outer edge of an inlet of an air inlet channel of an airplane as an origin O of a plane coordinate system, wherein the circle center of a cross section where the outer edge of the air inlet channel of the airplane is positioned is O 0 From O to O 0 The radial line of the air inlet is taken as a y axis, a straight line which is positioned on a horizontal plane vertical to the y axis, passes through an O point and is vertical to a cross section where the outer edge of the air inlet of the aircraft is positioned is taken as an x axis, the positive direction of the x axis points to the air inlet direction of the air inlet of the aircraft, and the snake-shaped mechanical arm is positioned at the O position at which the snake-shaped mechanical arm advances along the air inlet of the aircraft 0 Where the coordinates are (x) 0 ,y 0 )；
S2, setting the step length d of the serpentine mechanical arm moving along the x axis, wherein d is a user set value; dividing an aircraft air inlet into m vertical planes by taking a step length d as a basic unit in a plane coordinate systemCross section S perpendicular to the x-axis 1 、S 2 、……、S m ，O 1 ,O 2 ,…,O m Respectively the cross section S of the air inlet channel of the airplane 1 、S 2 、……、S m The distances between two adjacent center points in the x-axis direction are equal; o (O) 0 Point-to-cross section S 1 Is d;
s3, measuring the cross section S by using a vision sensor 1 High point A of (2) 1 Cross section S 1 Low point B of (2) 1 To O 0 The distances at are d respectively 1 、d 2 ，O 1 、A 1 、B 1 Are all at cross section S 1 Applying; for O 1 In the plane coordinate system (x 1 ,y 1 ) Performing calculation, x 1 ＝x 0 +d，
S4, the snake-shaped mechanical arm calculates a first cross section center point O 1 Such that the leading edge O of the serpentine robotic arm 0 To O 1 Is connected with line O of (2) 0 O 1 Travel to O 1 Point, the front end of the snake-shaped mechanical arm reaches O 1 After the point, the visual sensor is used for measuring the cross section S 2 High point A on 2 Cross section S 2 Low point B on 2 To O 1 The distance at each is d 21 、d 22 For O 2 In the plane coordinate system (x 2 ,y 2 ) Performing calculation, x 2 ＝x 1 +d，
S5, the cross section S is opposite to the air inlet direction of the air inlet channel of the airplane 1 All the following cross sections, repeating the process of the step S4, so that the front end of the snake-shaped mechanical arm is along the middle of each cross section according to the distance measured by the vision sensorThe center point moves forwards, so that the serpentine mechanical arm moves along the center line in the air inlet channel of the airplane until the front end of the serpentine mechanical arm reaches the last cross section S of the air inlet channel of the airplane m Thus the serpentine robotic arm completes the travel within the aircraft inlet.
2. The method of claim 1, wherein the cross section of the air inlet is circular.
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| US11034026B2 (en) * | 2019-01-10 | 2021-06-15 | General Electric Company | Utilizing optical data to dynamically control operation of a snake-arm robot |
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| 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 |
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