阅读说明：本技术 绕机检查装置及其定位方法、存储介质 (Winding inspection device, positioning method thereof and storage medium ) 是由 吕品 季博文 赖际舟 卢坤 陆建 徐扬 于 2020-07-16 设计创作，主要内容包括：本申请公开了一种绕机检查装置的定位方法,该方法包括：获取绕机检查装置坐标系下的机轮的激光雷达点云,根据所述激光雷达点云确定所述绕机检查装置在飞机坐标系下的第一位姿；获取绕机检查装置通过同步定位与建图的方法构建的位姿,根据所述绕机检查装置通过同步定位与建图的方法构建的位姿确定所述绕机检查装置在飞机坐标系下的第二位姿；将所述第一位姿、所述第二位姿和绕机检查装置的行驶数据进行数据融合,以得到绕机检查装置在飞机坐标系下的目标位姿。本申请还公开了一种绕机检查装置、系统和可读存储介质。本申请旨在提高在执行绕机检查任务的过程中,所述绕机检查装置的位姿的准确性。(The application discloses a positioning method of a winding machine inspection device, which comprises the following steps: the method comprises the steps of obtaining laser radar point cloud of a wheel under a coordinate system of a winding inspection device, and determining a first pose of the winding inspection device under the coordinate system of an airplane according to the laser radar point cloud; acquiring a pose constructed by the winding inspection device through a synchronous positioning and mapping method, and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the winding inspection device through the synchronous positioning and mapping method; and carrying out data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain the target pose of the winding inspection device in an airplane coordinate system. The application also discloses a winding inspection device, a winding inspection system and a readable storage medium. The present application aims to improve the accuracy of the pose of the winding inspection apparatus in the process of performing a winding inspection task.)

1. A method of positioning a winding inspection device, the method comprising:

the method comprises the steps of obtaining laser radar point cloud of a wheel under a coordinate system of a winding inspection device, and determining a first pose of the winding inspection device under the coordinate system of an airplane according to the laser radar point cloud;

acquiring a pose constructed by the winding inspection device through a synchronous positioning and mapping method, and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method;

and carrying out data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain the target pose of the winding inspection device in an airplane coordinate system.

2. The method of claim 1, wherein the step of determining the first pose of the inspection apparatus in the aircraft coordinate system from the lidar point cloud comprises:

acquiring laser radar point clouds of airplane wheels at different moments to establish a laser radar point cloud map of the airplane wheels under an airplane coordinate system;

carrying out point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the winding inspection device and the laser radar point cloud map to obtain a conversion matrix for converting the laser radar point cloud of the airplane wheel to the airplane coordinate system in the coordinate system of the winding inspection device;

and determining a first pose of the winding inspection device under an airplane coordinate system according to the transformation matrix.

3. The method of positioning a winding inspection device according to claim 2, wherein the step of determining the pose of the winding inspection device in an aircraft coordinate system from the transformation matrix comprises:

if the winding inspection device is at the initial inspection time, determining a first pose of the winding inspection device under an airplane coordinate system at the initial inspection time according to a transformation matrix of the initial inspection time;

and if the winding inspection device is at the non-initial inspection time, determining a first pose of the winding inspection device in the airplane coordinate system according to the transformation matrix at the current time.

4. The method of positioning a winding inspection device according to claim 3, wherein the step of determining a second pose of the winding inspection device in an aircraft coordinate system from the poses constructed by the synchronized positioning and mapping method comprises:

and when the winding inspection device is in a non-initial inspection moment, acquiring the pose of the winding inspection device under the airplane coordinate system at the previous moment of the current moment, and converting the pose constructed by the synchronous positioning and mapping method into a second pose under the airplane coordinate system according to the pose of the winding inspection device under the airplane coordinate system at the previous moment of the current moment.

5. The method of claim 4, wherein the step of data fusing the first pose, the second pose, and the travel data of the winding inspection device to obtain the target pose of the winding inspection device in the aircraft coordinate system is preceded by the step of:

judging whether the first position and the second position of the winding inspection device are accurate or not according to data of running data of the winding inspection device;

if the first pose and the second pose are accurate, performing data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain a target pose of the winding inspection device in an airplane coordinate system;

and if the target pose of the winding inspection device in the airplane coordinate system is not accurate, acquiring the pose of the winding inspection device calculated by the running data of the winding inspection device as the target pose of the winding inspection device in the airplane coordinate system.

6. The method of positioning a winding inspection device according to claim 5, wherein the step of determining whether the first position and the second position of the winding inspection device are accurate comprises:

acquiring the predicted pose of the winding inspection device;

and respectively comparing the first position and the second position of the winding inspection device with predicted positions, and if the calculated difference value is within a preset range, determining that the first position and the second position at the current moment are accurate.

7. The method of claim 2, wherein the step of obtaining the lidar point cloud for the wheels at different times comprises:

controlling the winding inspection device to run around the airplane and collecting laser radar points;

clustering the laser radar points, and screening the clustered laser radar points according to the relative distance of the airplane wheels to obtain laser radar point cloud of the airplane wheels;

and acquiring laser radar points at different moments, executing the clustering processing, and screening the clustered laser radar points according to the relative distance of the airplane wheels to obtain laser radar point clouds of the airplane wheels at different moments.

8. A winding inspection apparatus, characterized by comprising: a memory, a processor, and a positioning program stored on the memory and executable on the processor for a spooled inspection device; the positioning program of the winding inspection apparatus, when executed by the processor, implements the steps of the positioning method of the winding inspection apparatus according to any one of claims 1 to 7.

9. The winding inspection apparatus according to claim 8, wherein said apparatus comprises:

the first acquisition module is used for acquiring laser radar point cloud of the airplane wheel under a coordinate system of the winding inspection device and determining a first pose of the winding inspection device under the coordinate system of the airplane according to the laser radar point cloud;

the second acquisition module is used for acquiring the pose constructed by the winding inspection device through the synchronous positioning and mapping method and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method;

and the fusion module is used for carrying out data fusion on the first pose, the second pose and the running data of the winding inspection device so as to obtain the target pose of the winding inspection device in an airplane coordinate system.

10. A computer-readable storage medium, characterized in that a positioning program of a winding inspection apparatus is stored thereon, which when executed by a processor implements the steps of the method of any one of claims 1 to 7.

Technical Field

The application relates to the technical field of laser radar positioning, in particular to a winding machine inspection device, a positioning method and a storage medium thereof.

Background

The airplane becomes an indispensable vehicle for people to go out due to the characteristics of high speed, high safety and the like. In order to ensure the navigation safety of the airplane, safety inspection before flight is an essential link.

The synchronous positioning and Mapping (SLAM) technology is a great research hotspot in the technical field of autonomous navigation of robots, and is also a key technology in the practical application of robots. At present, the position and pose are usually solved by matching point data scanned by a laser radar, the laser radar is usually controlled to operate around an airplane to obtain a laser radar point of the airplane, but when the laser radar detects an object in the moving process, the obtained scanning point can directly influence the matching result, so that a large error is caused, and the position and pose information of a winding inspection device is inaccurate.

Disclosure of Invention

The embodiment of the application aims to solve the problem that in the process of matching point data of laser radar points acquired by laser scanning by adopting a synchronous positioning and composition (SLAM) technology, the acquired pose is inaccurate because the scanning points directly influence a matching result.

In order to achieve the above object, an aspect of the present application provides a positioning method of a winding inspection apparatus, including:

the method comprises the steps of obtaining laser radar point cloud of a wheel under a coordinate system of a winding inspection device, and determining a first pose of the winding inspection device under the coordinate system of an airplane according to the laser radar point cloud;

acquiring a pose constructed by the winding inspection device through a synchronous positioning and mapping method, and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method;

and carrying out data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain the target pose of the winding inspection device in an airplane coordinate system.

Optionally, the step of determining the first pose of the orbiting inspection device in the airplane coordinate system according to the lidar point cloud includes:

acquiring laser radar point clouds of airplane wheels at different moments to establish a laser radar point cloud map of the airplane wheels under an airplane coordinate system;

carrying out point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the winding inspection device and the laser radar point cloud map to obtain a conversion matrix for converting the laser radar point cloud of the airplane wheel to the airplane coordinate system in the coordinate system of the winding inspection device;

and determining a first pose of the winding inspection device under an airplane coordinate system according to the transformation matrix.

Optionally, the step of determining the pose of the orbiting inspection device in the aircraft coordinate system according to the transformation matrix includes:

if the winding inspection device is at the initial inspection time, determining a first pose of the winding inspection device under an airplane coordinate system at the initial inspection time according to a transformation matrix of the initial inspection time;

and if the winding inspection device is at the non-initial inspection time, determining a first pose of the winding inspection device in the airplane coordinate system according to the transformation matrix at the current time.

Optionally, the step of determining a second pose of the orbiting inspection device in an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method includes:

and when the winding inspection device is in a non-initial inspection moment, acquiring the pose of the winding inspection device under the airplane coordinate system at the previous moment of the current moment, and converting the pose constructed by the synchronous positioning and mapping method into a second pose under the airplane coordinate system according to the pose of the winding inspection device under the airplane coordinate system at the previous moment of the current moment.

Optionally, before the step of performing data fusion on the first pose, the second pose and the driving data of the orbiting checking device to obtain the target pose of the orbiting checking device in the airplane coordinate system, the method includes:

judging whether the first position and the second position of the winding inspection device are accurate or not according to data of running data of the winding inspection device;

if the first pose and the second pose are accurate, performing data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain a target pose of the winding inspection device in an airplane coordinate system;

and if the target pose of the winding inspection device in the airplane coordinate system is not accurate, acquiring the pose of the winding inspection device calculated by the running data of the winding inspection device as the target pose of the winding inspection device in the airplane coordinate system.

Optionally, the step of determining whether the first position and the second position of the winding inspection device are accurate includes:

acquiring the predicted pose of the winding inspection device;

and respectively comparing the first position and the second position of the winding inspection device with predicted positions, and if the calculated difference value is within a preset range, determining that the first position and the second position at the current moment are accurate.

Optionally, the step of acquiring the lidar point cloud of the wheel at different times includes:

controlling the winding inspection device to run around the airplane and collecting laser radar points;

clustering the laser radar points, and screening the clustered laser radar points according to the relative distance of the airplane wheels to obtain laser radar point cloud of the airplane wheels;

and acquiring laser radar points at different moments, executing the clustering processing, and screening the clustered laser radar points according to the relative distance of the airplane wheels to obtain laser radar point clouds of the airplane wheels at different moments.

In addition, in order to achieve the above object, another aspect of the present application further provides a winding inspection apparatus, including: a memory, a processor, and a positioning program stored on the memory and executable on the processor for a spooled inspection device; the positioning program of the winding inspection apparatus realizes the steps of the positioning method of the winding inspection apparatus according to any one of the above items when executed by the processor.

Optionally, the winding inspection apparatus includes:

the first acquisition module is used for acquiring laser radar point cloud of the airplane wheel under a coordinate system of the winding inspection device and determining a first pose of the winding inspection device under the coordinate system of the airplane according to the laser radar point cloud;

the second acquisition module is used for acquiring the pose constructed by the winding inspection device through the synchronous positioning and mapping method and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method;

and the fusion module is used for carrying out data fusion on the first pose, the second pose and the running data of the winding inspection device so as to obtain the target pose of the winding inspection device in an airplane coordinate system.

In addition, in order to achieve the above object, another aspect of the present application further provides a winding inspection apparatus, including: a memory, a processor, and a positioning program stored on the memory and executable on the processor for a spooled inspection device; the positioning program of the winding inspection apparatus realizes the steps of the positioning method of the winding inspection apparatus according to any one of the above items when executed by the processor.

In addition, to achieve the above object, another aspect of the present application further provides a computer readable storage medium having a positioning program of a winding inspection apparatus stored thereon, where the positioning program of the winding inspection apparatus, when executed by a processor, implements the steps of the method according to any one of the above.

The method comprises the steps of firstly obtaining laser radar point cloud of a wheel under a coordinate system of the winding inspection device, determining a first pose of the winding inspection device under the coordinate system of the airplane according to the laser radar point cloud, then obtaining a pose constructed by the winding inspection device through a synchronous positioning and mapping method, determining a second pose of the winding inspection device under the coordinate system of the airplane according to the pose constructed by the synchronous positioning and mapping method, and further performing data fusion on the obtained first pose, the second pose and driving data of the winding inspection device to obtain a target pose of the winding inspection device under the coordinate system of the airplane. By the aid of the method, when the pose of the winding inspection device in the winding inspection process is determined, the first pose of the winding inspection device determined by the acquired laser radar point cloud of the airplane wheel in the airplane coordinate system and the second pose of the winding inspection device in the airplane coordinate system are determined by the synchronous positioning and mapping method, data fusion is performed by combining driving data of the winding inspection device, and the positioning accuracy of the winding inspection device in the airplane coordinate system is improved.

Drawings

Fig. 1 is a schematic structural diagram of a winder inspection apparatus according to an embodiment of the present application;

FIG. 2 is a schematic flow chart illustrating an embodiment of a positioning method for a winding inspection apparatus according to the present application;

FIG. 3 is a schematic flow chart illustrating a positioning method of the winding inspection apparatus according to another embodiment of the present disclosure;

FIG. 4 is a schematic flow chart illustrating another embodiment of a positioning method for a winding inspection apparatus according to the present application;

FIG. 5 is a schematic flow chart illustrating a positioning method of the winding inspection apparatus according to another embodiment of the present disclosure;

fig. 6 is a schematic block diagram of a positioning method of the winding inspection device according to the present application.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

The main solution of the embodiment of the application is as follows: the method comprises the steps of obtaining laser radar point cloud of a wheel under a coordinate system of a winding inspection device, and determining a first pose of the winding inspection device under the coordinate system of an airplane according to the laser radar point cloud; acquiring a pose constructed by the winding inspection device through a synchronous positioning and mapping method, and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method; and carrying out data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain the target pose of the winding inspection device in an airplane coordinate system.

When the prior art determines the pose of the winding inspection device through a synchronous positioning and mapping method (SLAM) in the positioning process of the winding inspection device, the reliability of the positioning of the winding inspection device is influenced because the point cloud data of the laser radar points acquired in the moving process is inaccurate.

The present application provides the above-mentioned solution, aiming at improving the accuracy of the positioning of the winding inspection device.

The embodiment of the application provides a winding machine inspection device, and the winding machine inspection device comprises a laser radar sensor, a supporting part and a control circuit. The laser radar sensor is used for scanning an airplane wheel to form laser radar point cloud of the airplane wheel, the supporting part is used for supporting equipment built in the winding inspection device when the winding inspection device performs inspection tasks around the airplane, and the control circuit is used for controlling the winding inspection device to perform control operations such as winding inspection.

In the embodiment of the present application, as shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment of a device according to an embodiment of the present application.

As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the terminal structure shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and a positioning program of the bypass inspection apparatus.

The application also provides a positioning method of the winding machine inspection device.

Step S10, acquiring laser radar point cloud of the airplane wheel under a coordinate system of the winding inspection device, and determining a first pose of the winding inspection device under the coordinate system of the airplane according to the laser radar point cloud;

the first pose is the pose of the winding inspection device under an airplane coordinate system determined by acquiring laser radar point clouds of airplane wheels through laser radar scanning equipment in the process of executing a winding inspection task. The laser radar point cloud of the airplane wheel is a set of laser radar points obtained by scanning the airplane through a screening laser scanning device. In this application, the winding inspection device may be an unmanned vehicle.

In this embodiment, a laser radar point cloud of the airplane wheel acquired by the winding inspection device in the process of executing the winding inspection task is matched with a laser radar point cloud map, wherein the laser radar point cloud map is established based on an airplane coordinate system, the laser radar point cloud of the airplane wheel acquired by the winding inspection device in the process of executing the task is based on the laser radar point cloud under the winding inspection device coordinate system, and the pose of the winding inspection device in the airplane coordinate system in the process of executing the winding inspection task is determined by performing point cloud matching on the laser radar point cloud of the airplane wheel under the winding inspection device coordinate system and the laser radar point cloud map under the airplane coordinate system, and is a first pose.

Step S20, acquiring a pose constructed by the winding inspection device through a synchronous positioning and mapping method, and determining a second pose of the winding inspection device in an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method;

the second pose is determined by the winding inspection device through a synchronous positioning and mapping method, and the pose determined by the different positioning and mapping method is called the pose under the SLAM coordinate system of the winding inspection device.

And step S30, performing data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain the target pose of the winding inspection device in the airplane coordinate system.

The running data of the winding inspection device comprises data information of an inertial sensor and a vehicle-mounted odometer of the winding inspection device. And comparing the running data information of the winding inspection device with the acquired first posture and second posture, judging whether the first posture and the second posture are correct, and if the first posture and the second posture are correct, performing data fusion on the first posture, the second posture and the running data of the winding inspection device to obtain the target posture of the winding inspection device in an airplane coordinate system.

The embodiment provides a positioning method of a winding inspection device, which comprises the steps of firstly obtaining laser radar point cloud of a wheel under a coordinate system of the winding inspection device, determining a first pose of the winding inspection device under the coordinate system of an airplane according to the laser radar point cloud, then obtaining a pose constructed by the winding inspection device through a synchronous positioning and mapping method, determining a second pose of the winding inspection device under the coordinate system of the airplane according to the pose constructed by the synchronous positioning and mapping method, and further performing data fusion on the obtained first pose, the second pose and driving data of the winding inspection device to obtain a target pose of the winding inspection device under the coordinate system of the airplane. By the aid of the method, when the pose of the winding inspection device in the winding inspection process is determined, the first pose of the winding inspection device determined by the acquired laser radar point cloud of the airplane wheel in the airplane coordinate system and the second pose of the winding inspection device in the airplane coordinate system are determined by the synchronous positioning and mapping method, data fusion is performed by combining driving data of the winding inspection device, and the positioning accuracy of the winding inspection device in the airplane coordinate system is improved.

Referring to fig. 3, fig. 3 is a schematic flowchart of a further embodiment of the present application, where the step of determining the first pose of the orbiting inspection device in the aircraft coordinate system according to the lidar point cloud includes:

step S11, laser radar point cloud of the airplane wheel at different moments is obtained, and a laser radar point cloud map of the airplane wheel under an airplane coordinate system is established;

step S12, carrying out point cloud matching on the laser radar point cloud of the airplane wheel under the winding inspection device coordinate system and the laser radar point cloud map to obtain a conversion matrix for converting the laser radar point cloud of the airplane wheel to the airplane coordinate system in the winding inspection device coordinate system;

and step S13, determining a first pose of the winding inspection device in an airplane coordinate system according to the transformation matrix.

Before the winding inspection, the winding inspection device is controlled to run around the airplane for one circle, wherein the winding inspection device can be embodied as a winding inspection device provided with a laser radar in the application. The method for establishing the laser radar point cloud map under the airplane coordinate system by acquiring the laser radar point cloud of the airplane wheel at different moments by the winding inspection device before winding inspection can be used for constructing the map in a field acquisition mode and can also be used for constructing the map in a simulation environment (a three-dimensional model of the airplane is built in the simulation environment, and the airplane which surrounds the three-dimensional model by the winding inspection device is controlled to detour).

The plane coordinate system can be specifically established by taking the center of a front wheel of the plane as an origin, pointing the y-axis to the tail along the longitudinal axis of the plane and vertically and rightwards the x-axis.

In the application, a laser radar point cloud map of the wheel is firstly constructed, and the laser radar point cloud map of the wheel is formed by that before the winding inspection, the winding inspection device winds around the airplane to obtain the laser radar point cloud of the wheel at different moments, which can be understood as the preparation work of the winding inspection device in executing the winding inspection task.

The step of obtaining the laser radar point cloud of the airplane wheel at different moments comprises the following steps:

step S1, controlling the winding inspection device to run around the airplane and collecting laser radar points;

step S2, carrying out clustering processing on the scanning points, and screening the clustered laser radar points according to the relative distance of the airplane wheels to obtain laser radar point clouds of the airplane wheels;

and step S3, acquiring laser radar points at different moments, executing the clustering, screening the clustered laser radar points according to the relative distance of the airplane wheels to obtain the laser radar point cloud of the airplane wheels at different moments.

In the process of acquiring the laser radar points of the airplane wheel around the airplane by the winding inspection device (including constructing a laser radar point cloud map of the airplane wheel and acquiring the laser radar point cloud of the airplane wheel in the process of executing a winding inspection task), the laser radar points acquired by the laser scanning device are not all the laser radar points of the airplane wheel (scanning the laser radar point cloud of the wing, the fuselage, the empennage and other parts), so the laser radar point cloud of the airplane wheel needs to be screened to be acquired, and the laser radar point cloud is a set consisting of a plurality of laser radar points. And clustering the laser radar point cloud data by using a nearest neighbor clustering method. Calculating the distance D between the adjacent laser points in S (k):

wherein, rho (i), rho (i +1)) Is the ith and (i +1) th valid points in the laser radar point cloud, D (rho (i), rho (i +1)) is the distance between two adjacent points, D_thIs a set breakpoint distance threshold;

if D (ρ (i), ρ (i +1)) is greater than D_thMarking rho (i) and rho (i +1) as breakpoints, and marking each type of point cloud after finishing clustering as S_d(k)，1≤d≤N_D，N_DThe quantity of the clustered laser radar point clouds is obtained; then the point cloud S_d(k) The average value of the points in the point cloud is obtained to obtain the central point of each point cloud, then the pose information of the ground winding inspection device at the moment of k-1 is utilized to screen the classes which are segmented by the point cloud, the points which do not meet the requirements are removed, the calculation formula is as follows,wherein d is_LW(k-1) is the Euclidean distance, psi, between the position of the ground winding inspection device in the airplane coordinate system at the time k-1 and the coordinates of the airplane wheel in the airplane coordinate system_LWAnd (k-1) obtaining angle information between the pose of the ground winding inspection device in the airplane coordinate system at the moment k-1 and the coordinates of the wheel in the airplane coordinate system. d_LC(k) Is the Euclidean distance phi from the central point of each type under the machine system to the original point of the machine system at the moment k_LC(k) And the various central points at the moment k are positioned in the directions below the machine body system, and r and gamma are set distance threshold values and angle threshold values. d_LW(k)、ψ_LW(k)、 d_LC(k)、ψ_LC(k) The calculation formula of (a) is as follows:

(1)

(2)

(3)

(4)

wherein the content of the first and second substances,

is the coordinate of the center point of the class at the moment k under the machine system;

is the coordinates of the airplane wheel in the airplane coordinate system; x is the number ofⁿ(k-1)、yⁿ(k-1)、ψⁿ(k-1) is the position of the k-1 moment winding inspection device in an airplane coordinate system, a plurality of groups of point clouds corresponding to a certain airplane wheel possibly exist after being screened by the method, and the screened laser radar point clouds are recorded as laser radar point clouds n₀The number of wheels is indicated and,representing the number of different point clouds corresponding to each wheel.

Calculating the relative distance between the central points of the laser radar point clouds corresponding to different airplane wheels, and comparing the relative distance relation between the airplane wheels:

wherein

Representing the corresponding wheel n₁The center point of a certain group of laser radar point clouds in the point cloud belongs to the corresponding n₂The euclidean distance between the center points of a certain set of lidar point clouds,indicating the wheel n₁And airplane wheel n₂And d represents a set threshold value.

Screening out a group of laser radar point cloud sets meeting all relative position relations between airplane wheelsAnd combining the points into L (k), wherein the L (k) is the laser radar point cloud of the airplane wheel.

In the winding inspection process, laser radar point clouds of airplane wheels are obtained after screening processing is carried out on laser radar points obtained by a winding inspection device, the obtained laser radar point clouds are obtained based on a coordinate system obtained by the winding inspection device, point cloud matching is carried out on the laser radar point clouds of the airplane wheels and a laser radar point cloud map obtained before winding inspection, a conversion matrix for converting the laser radar point clouds of the airplane wheels into the airplane coordinate system in the winding inspection device coordinate system is obtained, and the purpose of converting the laser radar point clouds taking the winding inspection device as the coordinate system into the laser radar point clouds under the airplane coordinate system is achieved. The coordinate system of the winding machine inspection device can be constructed by taking the center of mass of the winding machine inspection device as an origin, wherein the y axis is forward along the longitudinal axis of the winding machine inspection device, and the x axis is rightward along the longitudinal axis of the winding machine inspection device.

The step of determining the pose of the winding inspection device in an airplane coordinate system according to the transformation matrix comprises the following steps:

step S131, if the winding inspection device is at the initial inspection time, determining a first pose of the winding inspection device under an airplane coordinate system at the initial inspection time according to a transformation matrix of the initial inspection time;

in the present embodiment, a pose determination method of confirming an initial inspection timing of a winding inspection apparatus is proposed. That is, when the machine-winding inspection device executes an initial inspection task, the laser radar point cloud and the point cloud map which are used for acquiring the wheel at the initial inspection time are matched, specifically, the laser radar point cloud and the point cloud map which are used for acquiring the wheel at the initial inspection time are set as a source point cloud and a target point cloud, and the original point cloud and the target point cloud are rotated and translated to enable the laser radar point cloud and the target point cloud to be set as target point cloudsSubstantially coincident, wherein a transformation matrix R, T is derived from the original point cloud to the target point cloud. Suppose that the transformation matrix R, T is solved asThe position of the winding inspection device in the plane coordinate system and the course information of the winding inspection device at the initial inspection moment

And the first pose of the initial checking moment is the first pose determined by the winding checking device under the airplane coordinate system through a point cloud matching method at the initial checking moment.

Step S132, if the winding inspection device is at the non-initial inspection time, determining a first pose of the winding inspection device in the airplane coordinate system according to the transformation matrix at the current time.

When the winding inspection device (winding inspection device) is at a non-initial inspection time, the pose of the winding inspection device at the previous time of the current time is acquired, and the pose (x) of the winding inspection device at the time k-1 is acquiredⁿ(k-1),yⁿ(k-1),ψⁿ(k-1)), performing coordinate conversion on the laser radar point cloud L (k) of the airplane wheel processed in the step 2 to obtain a new laser radar point cloud L '(k), and setting the L' (k) as an original point cloud;

note p_iThe ith laser spot (i ═ 1, 2, …, N) of l (k)₀)，N₀P 'as the number of laser spots in L (k)'_iThe ith laser spot (i ═ 1, 2, …, N) of L' (k)₀)，N₀The number of laser points in L' (k) is converted into the following relation:

wherein the content of the first and second substances,and

is p'_iCoordinates under a laser radar rectangular coordinate system,

and

is p_iAnd coordinates under a laser radar rectangular coordinate system.

And setting a laser radar point cloud map of the airplane wheel, which is acquired by the winding inspection device when the winding inspection task is executed, as a target point cloud. Setting parameters including maximum number of iterations K_sMaximum of sum of mean square errors RMSE_maxThe difference Δ T between two transformation matrices, the maximum distance d between corresponding points_max。

Through a point cloud registration method (such as ICP algorithm), a conversion matrix R, T from the original point cloud to the target point cloud is obtained, and the pose of the orbiting inspection device at the moment k in an airplane coordinate system is assumed to be

Then:

so that the first attitude of the winding inspection device in the plane coordinate system at the non-initial inspection time (k time) is obtained according to the solution R, T

In this embodiment, when the winding inspection device performs inspection around an airplane, firstly, the winding inspection device performs a circle around the airplane to be inspected, laser radar point clouds of the airplane wheels at different moments are obtained through a laser scanning device of the winding inspection device, a laser radar point cloud map of the airplane wheels under an airplane coordinate system is established, in the inspection process, point cloud matching is performed on the obtained laser radar point clouds of the airplane wheels under the winding inspection device coordinate system and the laser radar point cloud map, a conversion matrix of the laser radar point clouds of the airplane wheels converted to the airplane coordinate system under the winding inspection device coordinate system is obtained, and a first pose of the winding inspection device under the airplane coordinate system is determined according to the conversion matrix.

Referring to fig. 4, fig. 4 is a schematic flowchart of another embodiment of the present application, where the step of determining the second pose of the orbiting inspection device in the aircraft coordinate system according to the pose constructed by the synchronous positioning and mapping method includes:

and step S21, when the winding inspection device is at the non-initial inspection time, acquiring the pose of the winding inspection device under the airplane coordinate system at the last time of the current time, and converting the pose constructed by the synchronous positioning and mapping method into a second pose under the airplane coordinate system according to the pose of the winding inspection device under the airplane coordinate system at the last time of the current time.

Acquiring acquired laser radar original point cloud data (laser radar point cloud not needing to be screened), and resolving to obtain a k-time SLAM through a synchronous positioning and mapping (SLAM) method to obtain a position posture of the winding inspection device in an SLAM coordinate system

The method for determining the pose of the winding inspection device in the airplane coordinate system by means of the SLAM coordinate system is divided into an initial inspection time and a non-initial inspection time, and comprises the following steps:

if the current k moment is the initial check moment, reading a second position posture of the winding check device of the initial check moment obtained after the midpoint cloud registration of the embodiment I in the plane coordinate systemObtaining a conversion relation from the SLAM coordinate system to the airplane coordinate system as follows:

wherein

Representing the pose of the winding inspection device in the airplane coordinate system, which is obtained by SLAM resolving at the initial inspection time at the current k moment;

if the current time is non-initial checking time, and if the current time is k time, reading pose information (x) of the winding checking device at the k-1 time in an airplane coordinate systemⁿ(k-1),yⁿ(k-1),ψⁿ(k-1)), the position of the winding inspection device in the SLAM coordinate system is obtained by SLAM resolving at the time of k-1

And correcting a rotation matrix from the SLAM coordinate system to the airplane coordinate system through the difference value between the poses according to the following equation:solving to obtain;

when the k time is obtained, the winding inspection device obtained by SLAM calculation is positioned at the second position of the airplane coordinate systemComprises the following steps:

the embodiment provides a method for obtaining the pose of the winding inspection device in the airplane coordinate system by establishing the SLAM coordinate system. The laser radar point cloud data acquired in the built SLAM coordinate system is original point cloud data, and the pose of the winding inspection device under the SLAM coordinate system is converted into a second pose at the initial inspection time of the winding inspection device under the airplane coordinate system and a second pose at the non-initial inspection time (current time) by respectively converting the first pose at the initial inspection time and the first pose at the non-initial inspection time with the winding inspection device.

Referring to fig. 5, fig. 5 is a schematic flow chart of another embodiment of the present application. The step of performing data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain the target pose of the winding inspection device in an airplane coordinate system comprises the following steps:

step S31, judging whether the first position and the second position of the winding inspection device are accurate according to the running data of the winding inspection device;

step S32, if the first pose and the second pose are accurate, performing data fusion on the first pose, the second pose and the driving data of the winding inspection device to obtain a target pose of the winding inspection device in an airplane coordinate system;

and step S33, if the attitude of the winding inspection device calculated by the running data of the winding inspection device is inaccurate, the attitude of the winding inspection device is obtained and used as the target attitude of the winding inspection device in the airplane coordinate system.

The running data of the winding inspection device comprises data information of an inertial sensor of the winding inspection device and data information of a vehicle-mounted odometer, whether a first position and a second position of the winding inspection device at the current moment are accurate or not is judged according to the data information of the inertial sensor of the winding inspection device and the data information of the vehicle-mounted odometer, and data fusion is carried out on the positions and postures of the accurate position and posture information according to the judgment result to obtain the position and posture information of the winding inspection device in an airplane coordinate system.

One-step prediction of mean square error P_k|k-1The calculation formula of (a) is as follows:

where Φ is the state transition matrix, Φ_k,k-1Is the state transition matrix for time k-1 to k,_k-1is the noise matrix of the filter at the time k-1, W_k-1Is the noise matrix of the system at time k-1;

in which M is_4×4，U_4×3，N_3×4All intermediate variables were calculated as shown in the following formula:

Wherein the content of the first and second substances,is a coordinate transformation matrix from a k-1 moment machine system to an airplane coordinate system,

are respectively

The first, second, and third rows of (a); Δ t is the discrete time of the system; i is an identity matrix;

the noise matrix of the filter is calculated as follows:

noise matrix of a system

Wherein the content of the first and second substances,_wx，_wy，_wzare respectively

The model noise of (1);_ax，_ay，_azare respectively

The model noise of (1);are respectivelyThe noise standard deviation of (d);

are respectivelyThe noise standard deviation of (d);

updating the state according to the measurement;

the calculation method of the filter gain equation of the system is as follows:

wherein, K_kIs the filter gain, R, of the system at time k_kIs to measure the noise matrix, H_kIs a measurement matrix;

according to the difference of the current state of the winding inspection device and the reliability of the measurement information, the measurement noise matrix and the measurement matrix are different, and the method specifically comprises the following steps:

a) judging whether the winding inspection device is in the zero-speed state or not according to the feedback provided by the control mechanism, and if the winding inspection device is in the zero-speed state, using the position information and the course information (x) of the winding inspection device at the moment of k-1ⁿ(k-1),yⁿ(k-1),ψⁿ(k-1)) as a measurement, the measurement matrix H (k) and the measurement noise matrix R (k) are respectively:

wherein diag denotes a matrix diagonalization, whereinAre respectively xⁿ(k-1)、 yⁿ(k-1)、ψⁿ(k-1) noise; x is the number ofⁿ(k-1)、yⁿ(k-1)、ψⁿ(k-1) x, y direction coordinates and yaw angle, psi, of the flight inspection device in the aircraft coordinate system at time k-1ⁿ(k-1) is related to the attitude quaternion as follows:

the state estimation equation of the system is calculated as follows:

wherein the content of the first and second substances,is an estimate of the state quantity at time k,

the state variable one-step predicted value from the k-1 moment to the k moment is obtained; z_kThe measured value of the checking device to be wound at the moment k is obtained;

Z_k＝[xⁿ(k-1) yⁿ(k-1) ψⁿ(k-1)]；

the estimated mean square error equation of the system is:

P_k|k＝(I-K_kH_k)P_k|k-1

wherein, P_k|kThe mean square error is estimated for time k, I is the identity matrix.

b) If the winding machine checking device is not in a zero-speed state at present and the information obtained by the first pose and the second pose is reliable, the information obtained by the first pose, the second pose and the odometer is used as measurement, and a measurement matrix and a measurement noise matrix are respectively as follows:

wherein diag denotes a matrix diagonalization, wherein

Are respectively as

The noise of (2) is detected,

respectively obtaining x and y direction coordinates and a course angle of the flight winding inspection device at the k moment obtained from the first position at the non-initial inspection moment in an airplane coordinate system;are respectively as

The noise of (2) is detected,

respectively obtaining x and y direction coordinates and a yaw angle of the flight-winding inspection device at the k moment obtained by the SLAM calculation;

andare respectively as

The noise of (2) is detected,

the speed of the odometer at the moment k in the x and y directions of the coordinate system of the airplane respectively. The relationship between yaw angle and attitude quaternion is as follows:

the state estimation equation of the system is calculated as follows:

wherein the content of the first and second substances,is an estimate of the state quantity at time k,the state variable one-step predicted value from the k-1 moment to the k moment is obtained; z_kThe measured value of the inspection device to be wound at the time k is calculated as follows: (ii) a

The estimated mean square error equation of the system is:

P_k|k＝(I-K_kH_k)P_k|k-1

wherein, P_k|kThe mean square error is estimated for time k, I is the identity matrix.

c) If the winding machine checking device is not in a zero-speed state at present, the information obtained by the first position posture is reliable, and the information obtained by the second position posture is unreliable, the information obtained by the first position posture and the odometer is used as measurement, and a measurement matrix and a measurement noise matrix are respectively as follows:

wherein diag denotes a matrix diagonalization, wherein

Are respectively as

The noise of (2) is detected,coordinates of the flight-winding inspection device in x and y directions of an airplane coordinate system and a yaw angle at the moment k, which are obtained by the first attitude respectively;

andare respectively asThe noise of (2) is detected,

the speed of the odometer at the moment k in the x and y directions of the coordinate system of the airplane respectively. The relationship between yaw angle and attitude quaternion is as follows:

the state estimation equation of the system is calculated as follows:

wherein the content of the first and second substances,is an estimate of the state quantity at time k,

the state variable one-step predicted value from the k-1 moment to the k moment is obtained; z_kThe measured value of the checking device to be wound at the moment k is calculated as follows:

the estimated mean square error equation of the system is:

P_k|k＝(I-K_kH_k)P_k|k-1

wherein, P_k|kThe mean square error is estimated for time k, I is the identity matrix.

d) If the winding machine checking device is not in a zero-speed state at present, the information obtained by the first position posture is unreliable, and the information obtained by the second position posture is reliable, the information obtained by the second position posture and the odometer is used as measurement, and a measurement matrix and a measurement noise matrix are respectively as follows:

wherein diag denotes matrix diagonalization,are respectively as

The noise of (2) is detected,

respectively obtaining x and y direction coordinates and a yaw angle of the flight-winding inspection device at the k moment obtained by SLAM in an airplane coordinate system;

andare respectively asThe noise of (2) is detected,

the speed of the odometer at the moment k in the x and y directions of the coordinate system of the airplane respectively. The relationship between yaw angle and attitude quaternion is as follows:

the state estimation equation of the system is calculated as follows:

wherein the content of the first and second substances,

is an estimate of the state quantity at time k,

the state variable one-step predicted value from the k-1 moment to the k moment is obtained; z_kThe measured value of the checking device to be wound at the moment k is obtained;

the estimated mean square error equation of the system is:

P_k|k＝(I-K_kH_k)P_k|k-1

wherein, P_k|kThe mean square error is estimated for time k, I is the identity matrix.

e) If the winding machine checking device is not in a zero-speed state at present and the information of the first pose and the second pose is unreliable, the information obtained by the odometer is used as measurement, and a measurement matrix and a measurement noise matrix are respectively as follows:

H(k)＝[0_2×6I_2×20_2×6]

wherein the content of the first and second substances,andare respectively as

The noise of (2) is detected,

the speed of the odometer in the x and y directions of the navigation system, respectively.

The state estimation equation of the system is calculated as follows:

wherein the content of the first and second substances,is an estimate of the state quantity at time k,the state variable one-step predicted value from the k-1 moment to the k moment is obtained; z_kThe measured value of the checking device to be wound at the moment k is obtained;

the estimated mean square error equation of the system is:

P_k|k＝(I-K_kH_k)P_k|k-1

wherein, P_k|kThe mean square error is estimated for time k, I is the identity matrix.

Judging whether the first position and the second position of the winding inspection device at the current moment are accurate or not, wherein the judging step comprises the following steps of:

in this embodiment, the first position and the second position of the winding inspection apparatus are respectively compared with predicted positions, and if the calculated difference is within a preset range, the first position and the second position at the current time are considered to be accurate.

The step of judging whether the first position and the second position of the winding inspection device at the current moment are accurate comprises the following steps of:

step S311, acquiring the predicted pose of the winding inspection device;

step S312, comparing the first position and the second position of the winding inspection apparatus with the predicted positions, respectively, and if the calculated difference is within a preset range, determining that the first position and the second position at the current time are accurate.

(1) And predicting the attitude, the speed and the position of the device to be tested around the aircraft at the current moment according to the information of the inertial sensor and an extended Kalman filtering algorithm. First, a 14-dimensional state quantity is selected asq₀、q₁、q₂、q₃Inspection device for winding machineAttitude quaternion, xⁿ、yⁿRespectively representing the positions of the winding inspection device in the x and y directions of the plane coordinate system,representing the speed of the orbiting inspection device in the x and y directions of the aircraft coordinate system, respectively representing the zero offset of the gyroscope in the x, y and z directions,representing the zero offset of the accelerometer in the x, y, z directions, respectively. The following formulas are adopted for predicting the attitude, the speed and the position of the inspection device to be wound at the current moment:

the attitude quaternion prediction formula is as follows:

wherein, the time k is the current time, and q (k) is [ q ]₀(k),q₁(k),q₂(k),q₃(k)]^TThe attitude quaternion of the winding inspection device at the moment k; q (k-1) ═ Q₀(k-1),q₁(k-1),q₂(k-1),q₃(k-1)]^Tk-1 is a posture quaternion of the moment winding inspection device; superscript T represents the transpose of the matrix; Δ t is the discrete sampling period; Ω (k) is an intermediate variable, calculated by the following formula:

the calculation method of (2) is as follows:

wherein

Is omega^b(k) Component in x, y, z direction, ω^b(k) The angular speed of the body system of the winding inspection device relative to the plane coordinate system at the moment k is represented under the system;

(2) the position prediction formula is:

wherein x isⁿ(k)、yⁿ(k) The position of the winding inspection device in the plane coordinate system at the moment k; x is the number ofⁿ(k-1)、 yⁿAnd (k-1) is the position of the orbiting checking device in the airplane coordinate system at the moment k-1.The component of the projection of the linear velocity of the body system of the winding inspection device relative to the airplane coordinate system in the X-axis direction and the Y-axis direction at the moment of k-1;

(3)calculated by the following formula:

whereinIs the projection of the acceleration of the body system of the flight-winding inspection device relative to the airplane coordinate system at the moment k in the airplane coordinate system,

is the projection of the acceleration (except the gravity acceleration) of the body system of the flight inspection device relative to the plane coordinate system at the moment k.

The attitude matrix is obtained from an airframe to an airplane coordinate system, and the calculation formula is as follows:

(4) the prediction formula of the speed is as follows:

reading the pose resolved at the non-initial inspection time (k time)And predicting to obtain the pose (x)ⁿ(k),yⁿ(k),ψⁿ(k) Compare, calculate the difference between:

wherein, Δ x, Δ y, Δ ψ are set threshold values, and if the above conditions are satisfied, the pose obtained in step 4 is considered to be reliable;

then, the pose of the winding inspection device at the current moment in the SLAM coordinate system is obtained

And predicting to obtain the pose (x)ⁿ(k),yⁿ(k),ψⁿ(k) Compare, calculate the difference between:

and if the conditions are met, the pose obtained through SLAM is considered to be reliable.

In this embodiment, the first position and the second position at the current time are determined by obtaining the odometer information of the winding inspection device, so as to obtain a more accurate position of the winding inspection device in the aircraft coordinate system.

A winding inspection device, comprising: a memory, a processor, and a positioning program stored on the memory and executable on the processor for a spooled inspection device; the positioning program of the winding inspection apparatus, when executed by the processor, implements the steps of the positioning method of the winding inspection apparatus according to any one of claims 1 to 7.

The winder inspection apparatus as described above, the apparatus comprising:

the first acquisition module is used for acquiring laser radar point cloud of the airplane wheel under a coordinate system of the winding inspection device and determining a first pose of the winding inspection device under the coordinate system of the airplane according to the laser radar point cloud;

the second acquisition module is used for acquiring the pose constructed by the winding inspection device through the synchronous positioning and mapping method and determining a second pose of the winding inspection device under an airplane coordinate system according to the pose constructed by the synchronous positioning and mapping method;

and the fusion module is used for carrying out data fusion on the first pose, the second pose and the running data of the winding inspection device so as to obtain the target pose of the winding inspection device in an airplane coordinate system.

Furthermore, the present application also provides a computer-readable storage medium, in which a positioning program of the winding inspection apparatus is stored, and the positioning program of the winding inspection apparatus realizes the steps of the positioning method of the winding inspection apparatus described above when being executed by a processor.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.