Collision probability determination method and apparatus, computer device, and storage medium

Abstract

This application relates to a method, apparatus, computer device, and storage medium for determining collision probability. The method includes: determining the number of collision detection operations based on model parameters in a discretized three-dimensional model of the propeller; performing collision detection operations based on the number of detections and recording the number of collision events; and determining the collision probability of an object colliding with the propeller based on the number of collision events and the number of detections. This quantitatively assesses the probability of an object colliding with the propeller, thereby determining the probability of the object passing through the propeller. Using this probability provides data support for the analysis of the rejection characteristics of aircraft propellers and the design of aircraft propellers, enabling researchers to design aircraft more accurately. This is of great significance for improving the overall resistance of aircraft to foreign object impacts and engine ingestion capabilities, and enhancing aircraft flight safety.

Description

Technical Field

[0001] This application relates to the field of object collision technology, and in particular to a method, apparatus, computer device, and storage medium for determining collision probability. Background Technology

[0002] With the development of aerospace technology and the widespread use of airplanes, people are paying increasing attention to aircraft safety. Aircraft flying at low altitudes and high speeds are prone to collisions with other flying objects, causing damage and threatening flight safety. These collisions primarily involve the aircraft's propeller. Whether an object can pass through the propeller is a matter of probability; the high-speed rotating propeller can block objects and protect the aircraft. Quantitatively calculating and assessing the probability of different objects passing through the propeller would be extremely helpful in designing aircraft safety systems. Therefore, determining the collision probability between flying objects and propellers is a problem that needs to be solved.

[0003] In traditional technology, an equivalent mathematical model of the propeller is constructed based on the blade chords, and then the collision probability is calculated by analyzing whether the flying object will collide with the propeller.

[0004] However, traditional methods do not take into account the thickness and specific shape of the propeller, resulting in a large error between the calculated collision probability and the actual situation. Summary of the Invention

[0005] Therefore, it is necessary to provide a collision probability determination method, apparatus, computer equipment, and storage medium that can accurately determine the collision probability between a propeller and an aircraft in response to the above-mentioned technical problems.

[0006] A method for determining collision probability, the method comprising: determining the number of collision detection operations based on model parameters in a discretized three-dimensional model of a propeller; performing the collision detection operation based on the number of detections and recording the number of collision events; and determining the collision probability of a flight object colliding with the propeller based on the number of collision events and the number of detections.

[0007] In one embodiment, the discretized 3D model is composed of multiple scan data points. Determining the number of collision detection operations based on the model parameters in the discretized 3D model of the propeller includes: obtaining the distance between two adjacent scan data points in the discretized 3D model of the propeller, and the radius of the discretized 3D model of the propeller; and determining the number of detections based on the distance between the adjacent scan data points and the radius of the discretized 3D model.

[0008] In one embodiment, the discretized 3D model consists of multiple scan data points, and determining the number of collision detection operations based on the model parameters in the discretized 3D model of the propeller includes:

[0009] The number of detections is determined using the following formula:

[0010]

[0011] Where M is the number of detections, ρ is a preset coefficient, π is pi, and D is... max Let D be the radius of the discretized 3D model of the propeller. min The distance between adjacent scan data points in the discretized three-dimensional model of the propeller.

[0012] In one embodiment, the method further includes: acquiring a plurality of collision probabilities according to a preset strategy; determining the average value and standard deviation of the plurality of collision probabilities based on the plurality of collision probabilities; and determining a confidence interval for the collision probabilities and a confidence level corresponding to the confidence interval based on the average value and the standard deviation.

[0013] In one embodiment, performing the collision detection operation includes: obtaining first spatial position information of each data scanning point on the surface of the propeller based on a discretized three-dimensional model of the propeller; converting the first spatial position information of each data scanning point based on a preset initial argument to obtain second spatial position information; obtaining the spatial position of the flying object; under preset conditions, obtaining relative position information between the center of the flying object and the second spatial position information of each data scanning point according to the spatial position; and determining whether the propeller and the flying object collide based on the relative position information.

[0014] In one embodiment, the step of converting the first spatial position information of each of the data scanning points based on a preset initial argument to obtain second spatial position information includes: determining an initial rotation angle based on the preset initial argument and the first spatial position information; determining a real-time rotation angle corresponding to each of the scanning data points based on the initial rotation angle, the angular velocity of the propeller rotation, the inscribed sphere radius and circumscribed sphere radius of the aircraft, the velocity of the aircraft relative to the propeller, and the trajectory direction vector of the aircraft; and determining the second spatial position information based on the first spatial position information and the real-time rotation angle.

[0015] In one embodiment, the preset initial argument is a random angle between 0 and 2π.

[0016] A collision probability determination device, the device comprising:

[0017] The number of detections module is used to determine the number of collision detection operations based on the model parameters in the discretized 3D model of the propeller.

[0018] The collision execution module is used to perform the collision detection operation according to the number of detections and record the number of collision events.

[0019] The probability determination module is used to determine the collision probability of the flying object colliding with the propeller based on the number of collision events and the number of detections.

[0020] A computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: determining the number of collision detection operations based on model parameters in a discretized three-dimensional model of a propeller; performing the collision detection operation based on the number of detections and recording the number of collision events; and determining the collision probability of a flight object colliding with the propeller based on the number of collision events and the number of detections.

[0021] A computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to perform the following steps: determining the number of collision detection operations based on model parameters in a discretized three-dimensional model of a propeller; performing the collision detection operation based on the number of detections and recording the number of collision events; and determining the collision probability of an object colliding with the propeller based on the number of collision events and the number of detections.

[0022] The aforementioned collision probability determination method, apparatus, computer equipment, and storage medium first determine the number of collision detection operations using the model parameters of a discretized 3D model of the propeller. Since the number of detections is determined based on the model parameters—specifically, the model's perimeter and the distance between scanned data points—coverage of detections is ensured, improving the reliability of the detection results. Then, based on the number of detections, collision detection operations are performed, recording the number of collisions between the propeller and the aircraft. This determines the number of collision detections and the number of collisions occurring across multiple operations, allowing the determination of the collision probability between the aircraft and the propeller. This enables a quantitative assessment of the probability of a collision between the aircraft and the propeller, and consequently, the probability of the aircraft passing through the propeller. In summary, the probability obtained using the method of this application provides data support for the analysis of aircraft propeller rejection characteristics and the design of aircraft propellers, enabling researchers to design aircraft more accurately. This is of great significance for improving the overall resistance of aircraft to foreign object impacts and engine ingestion capabilities, thereby enhancing flight safety. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 Here is a flowchart of a collision probability determination method in one embodiment;

[0025] Figure 2 This is a schematic diagram of a propeller in one embodiment;

[0026] Figure 3 Here is a flowchart of a method for determining the number of detections in one embodiment;

[0027] Figure 4 This is a flowchart of a method for determining collision probability parameters in one embodiment;

[0028] Figure 5 This is a flowchart of a method for determining whether a collision has occurred in one embodiment;

[0029] Figure 6 This is a flowchart of a method for determining first spatial location information in one embodiment;

[0030] Figure 7 This is a flowchart of a method for determining the equation of motion in one embodiment;

[0031] Figure 8 This is a schematic diagram of a cuboid in one embodiment;

[0032] Figure 9 This is a schematic diagram of a cylinder in one embodiment;

[0033] Figure 10 This is a schematic diagram of an ellipsoid in one embodiment;

[0034] Figure 11 This is a schematic diagram of the capsule body in one embodiment;

[0035] Figure 12 A flowchart of a method for determining the equations of motion in another embodiment;

[0036] Figure 13 This is a schematic diagram of coordinate system rotation in one embodiment;

[0037] Figure 14 This is a flowchart of a method for determining a target coordinate system in one embodiment;

[0038] Figure 15This is a schematic diagram of coordinate system rotation in another embodiment;

[0039] Figure 16 This is a flowchart of a method for determining second spatial location information in one embodiment;

[0040] Figure 17 This is a flowchart illustrating a specific method for determining the spatial position of an object in a target coordinate system in one embodiment.

[0041] Figure 18 This is a flowchart of a method for determining a relative difference in one embodiment;

[0042] Figure 19 Here is a flowchart of a collision detection method in one embodiment;

[0043] Figure 20 A flowchart of a collision detection method in another embodiment;

[0044] Figure 21 This is a structural diagram of a collision probability determination device in one embodiment;

[0045] Figure 22 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0048] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

[0049] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0050] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0051] As described in the background section, existing propeller-to-object collision probability analysis suffers from significant errors compared to actual conditions. The inventors have discovered that this problem arises because existing techniques do not analyze the collision probability between the propeller and the object based on the propeller's specific structural parameters.

[0052] For the reasons mentioned above, the present invention provides a collision probability determination method, apparatus, computer equipment, and storage medium that can accurately determine the collision probability between a propeller and an aircraft.

[0053] In one embodiment, such as Figure 1 As shown, a method for determining collision probability is provided, the method comprising:

[0054] Step S100: Determine the number of collision detection operations based on the model parameters in the discretized three-dimensional model of the propeller.

[0055] Specifically, the discretized 3D model of the propeller consists of multiple scan data points. The interval between each scan data point is preset, and the preset propeller object is scanned using an array scanning method to obtain multiple scan data points on the propeller surface. Based on these multiple scan data points, a discretized 3D model of the propeller is constructed.

[0056] Specifically, the model parameters in the discretized 3D model of the propeller include the distance between two adjacent scan data points in the discretized 3D model of the propeller, the radius of the discretized 3D model of the propeller, and the height of the discretized 3D model of the propeller along the direction of the propeller's rotation axis.

[0057] For example, a 3D model of a propeller is as follows: Figure 2 As shown.

[0058] Step S120: Perform collision detection operation based on the number of detections, and record the number of collision events.

[0059] Specifically, the collision detection operation involves acquiring the structural parameters and spatial position of the flying object, as well as the spatial positions of each scanned data point in the discretized 3D model of the propeller. Based on the spatial positions, the spatial positions of each scanned data point in the target coordinate system, and the structural parameters of the flying object, it is determined whether a collision has occurred between the propeller and the flying object. The structural parameters include at least the inscribed sphere radius and the circumscribed sphere radius of the flying object. This collision detection operation is then repeated multiple times, with the number of repetitions equal to the predetermined number of detections, and the number of times the flying object and the propeller collide is recorded.

[0060] Step S140: Determine the collision probability of the flying object colliding with the propeller based on the number of collision events and the number of detections.

[0061] For example, the collision probability is determined by the following formula:

[0062]

[0063] Where p is the collision probability, M is the number of detections, and M′ is the number of collision events.

[0064] In this embodiment, the number of collision detection operations is first determined using the model parameters of the discretized 3D model of the propeller. Since the number of detections is determined based on the model parameters—specifically, the perimeter of the model and the distance between scanned data points—the coverage of the detections is ensured, improving the reliability of the detection results. Then, based on the number of detections, collision detection operations are performed, recording the number of collisions between the propeller and the aircraft. This determines the number of collision detections and the number of collisions occurring in multiple collision detection operations. Furthermore, the probability of collision between the aircraft and the propeller can be determined based on the number of detections and collisions. This allows for a quantitative assessment of the probability of a collision between the aircraft and the propeller, and consequently, the probability of the aircraft passing through the propeller. The probability obtained using the method of this application provides data support for the analysis of the rejection characteristics of aircraft propellers and the design of aircraft propellers. This enables researchers to design aircraft more accurately, which is of great significance for improving the overall resistance of aircraft to foreign object impacts and engine ingestion capabilities, and enhancing aircraft flight safety.

[0065] In one embodiment, such as Figure 3 As shown, step S100 includes:

[0066] Step S300: Obtain the distance between two adjacent scan data points in the discretized 3D model of the propeller, as well as the radius of the discretized 3D model of the propeller.

[0067] Step S320: Determine the number of detections based on the distance between adjacent scan data points and the radius of the discretized 3D model.

[0068] For example, the number of tests is determined using the following formula:

[0069]

[0070] Where M is the number of detections, ρ is the preset coefficient, π is pi, and D is... max Let D be the radius of the discretized 3D model of the propeller. min This represents the distance between adjacent scan data points in the discretized 3D model of the propeller. The preset coefficient ρ is greater than 1; for example, the preset coefficient ρ can be 10 or other values.

[0071] In this embodiment, the number of collision detection operations is determined based on the distance between two adjacent scanned data points in the discretized 3D model of the propeller (i.e., the minimum spatial distance between scanned data points) and the radius of the discretized 3D model of the propeller. In other words, in a statistical averaging sense, the perimeter of the propeller's edge is divided into multiple segments with a length equal to the minimum spatial distance between scanned data points, and a preset coefficient of collision detection operations is performed on each segment. This ensures the coverage of the collision detection operation, resulting in more universally applicable results that are closer to real-world conditions.

[0072] In one embodiment, such as Figure 4 As shown, the collision probability determination method also includes:

[0073] Step S400: Obtain multiple collision probabilities according to a preset strategy.

[0074] Specifically, the preset strategy is to execute step S140 a preset number of times, that is, to repeat the process of obtaining collision probabilities multiple times to obtain multiple collision probabilities, for example, the preset number of times is 30.

[0075] Step S420: Determine the average and standard deviation of the multiple collision probabilities based on the multiple collision probabilities.

[0076] Specifically, the average value of multiple collision probabilities is determined using the following formula:

[0077]

[0078] in, p is the average of multiple collision probabilities. i Let N be the probability of the i-th collision, and N be the number of collision probabilities.

[0079] The standard deviation of multiple collision probabilities is determined using the following formula:

[0080]

[0081] Where σ(p) is the standard deviation of the multiple collision probabilities, p i Let be the probability of the i-th collision, and N be the number of collision probabilities. This represents the average of multiple collision probabilities.

[0082] Step S440: Determine the confidence interval of the collision probability and the corresponding confidence level based on the mean and standard deviation.

[0083] For example, the confidence interval is Where σ is the standard deviation of the multiple collision probabilities, This represents the average of multiple collision probabilities.

[0084] The confidence level is determined using the following formula:

[0085]

[0086] Where T is the confidence level and N is the number of collision probabilities. Where γ is a coefficient that can be 2 or other values, and σ(p) is the standard deviation of multiple collision probabilities.

[0087] For example,

[0088] In this embodiment, by acquiring multiple collision probabilities and then determining the corresponding confidence interval and confidence level based on the average and standard deviation of the multiple collision probabilities, the range and credibility of the collision probabilities are determined, providing data support for researchers to conduct their studies.

[0089] In one embodiment, such as Figure 5 As shown, step S120 includes:

[0090] Step S500: Based on the discretized three-dimensional model of the propeller, obtain the first spatial position information of each data scanning point on the surface of the propeller.

[0091] Specifically, firstly, the angular velocity of the propeller rotation, the modulus of the complex triangle formed by the coordinates of each scanned data point on the original coordinate system's Y and Z axes, and the first argument are obtained. Then, based on the first argument, angular velocity, the inscribed and circumscribed sphere radii of the object, the object's velocity relative to the propeller, and the direction vector of its trajectory, the second argument corresponding to each scanned data point is determined. Finally, based on the modulus and the second argument corresponding to each scanned data point, the first spatial position of each scanned data point on the propeller surface is determined.

[0092] Step S520: Based on the preset initial argument, the first spatial position information of each data scanning point is converted to obtain the second spatial position information.

[0093] Specifically, the first spatial position information of the data scanning point corresponds to an initial argument. The initial argument corresponding to the first spatial position information is added to the preset initial argument to obtain the initial argument corresponding to the second spatial position information, thereby realizing the conversion between the first spatial position information and the second spatial position information.

[0094] Specifically, the first spatial position information is the position information of each scanned data point of the propeller in the target coordinate system. The second spatial position information is the spatial position information of each scanned data point in the target coordinate system after combining the first spatial position information with a preset initial argument.

[0095] Specifically, the initial argument is preset to a random angle between 0 and 2π. This ensures the randomness of the initial argument corresponding to the second spatial position information, making the measured probability as close as possible to the actual situation of a foreign object passing through the propeller.

[0096] Step S540: Obtain the spatial location of the flying object.

[0097] For example, the initial position and initial orientation of the flying object are obtained by scanning instruments, such as lidar, and the motion equation of the flying object is constructed based on the initial position and initial orientation. Then, the spatial position of the flying object is determined based on the motion equation.

[0098] Step S560: Under preset conditions, obtain the relative position information between the flight matter core and the second spatial position information of each data scanning point according to the spatial position.

[0099] Specifically, the relative position information includes a first relative difference in the X-axis direction, a second relative difference in the Y-axis direction, and a third relative difference in the Z-axis direction in the target coordinate system.

[0100] Specifically, the preset condition is that the current spatial step size in the motion equation of the flying object is equal to the current time step size in the spatial position of each scanned data point.

[0101] Step S580: Determine whether the propeller collides with the flying object based on the relative position information.

[0102] Specifically, if at least one of the first relative difference, second relative difference, and third relative difference corresponding to each scanned data point is greater than the radius of the outer sphere of the flying object, then it is determined that the propeller and the flying object did not collide.

[0103] For example, Δx n1 >R or Δy n1 >R or Δz n1 >R, where R is the radius of the circumscribed sphere of the flying object, Δx n1 The first relative difference, Δy n1The second relative difference, Δz n1 If the third relative difference is found, it is determined that the propeller did not collide with the flying object.

[0104] For example, if at least one of the first relative difference, second relative difference, and third relative difference corresponding to each scan data point is greater than the radius of the circumscribed sphere of the flying object, it is determined that the propeller and the flying object did not collide, and the scan data points whose first relative difference, second relative difference, and third relative difference are all less than or equal to the radius of the circumscribed sphere of the flying object are recorded as the first scan data point set.

[0105] For example, the judgment in step S580 can also be made based on the coordinates of the center of the flying object in the original coordinate system, the spatial position of each scan data point, and the radius of the circumscribed sphere of the flying object.

[0106] Specifically, the first spatial position is the spatial position of the scanned data point in the target coordinate system, and the second spatial position is the spatial position of the scanned data point in the target coordinate system after combining the preset initial argument.

[0107] In this embodiment, firstly, based on the discretized three-dimensional model of the propeller, the first spatial position information of each data scanning point on the propeller surface is obtained. Then, based on a preset initial argument, the first spatial position information is transformed to obtain second spatial position information. Next, the spatial position of the flying object is obtained. By comparing the relative positions of the center of mass of the flying object and the coordinates of each scanning data point at the same moment, as well as the inner and outer radii of the flying object, it is determined whether the flying object will collide with the propeller. Because the judgment process compares the position of the center of mass of the flying object with the positions of each scanning data point on the propeller surface, it achieves the determination of whether a collision will occur based on the actual physical structure of the propeller and the actual physical structure (radius) of the flying object. The judgment result is closer to reality and more accurate.

[0108] In one embodiment, such as Figure 6 As shown, step S500 includes:

[0109] Step S600: Obtain the spatial position of each scan data point on the propeller surface in the original coordinate system.

[0110] Specifically, firstly, the angular velocity of the propeller rotation, the modulus of the complex triangle formed by the coordinates of each scanned data point on the Y-axis and Z-axis of the original coordinate system, and the first argument are obtained. Then, based on the first argument, angular velocity, radius of the object, velocity of the object relative to the propeller, and direction vector of the trajectory, the second argument corresponding to each scanned data point is determined. Finally, based on the modulus and the second argument corresponding to each scanned data point, the spatial position of each scanned data point on the propeller surface is determined.

[0111] For example, the coordinates of the scanned data points on the propeller surface can be represented as (x k y k +z k i), where x k Let y be the coordinate of the k-th scanned data point on the X-axis of the original coordinate system. k Let z be the coordinate of the k-th scanned data point on the Y-axis of the original coordinate system. k Let be the coordinate of the k-th scanned data point on the Z-axis of the original coordinate system, where i is the imaginary unit. The modulus of the complex triangle formed by the Y-axis and Z-axis coordinates of all scanned data points is |y|. k +z k i|, argument is

[0112] For example, the second argument corresponding to each scan data point is determined by the following formula:

[0113] A kn =A k0 +nωΔt (n=1, 2, …, t+1)

[0114] Where A kn Let A be the second argument of the k-th scan data point at the n-th time step. k0 The first argument of the k-th scan data point. ω is the angular velocity of the propeller rotation, and Δt is the preset time step. Where Δl is the preset spatial step size, Δl=λr, where 0<λ<cosθ, r is the radius of the inscribed sphere of the object, and v0 is the velocity of the object relative to the propeller. Since the maximum value of the coefficient n is t+1, and t≤[(x max +2r) / Δl],x max The height of the discretized three-dimensional model of the propeller is used to define the range of variation of the second argument.

[0115] For example, the spatial positions of each scanned data point on the propeller surface are shown below:

[0116]

[0117] Where, x kn Let y be the coordinates of the k-th scan data point of the propeller at the n-th time step on the x-axis in the original coordinate system. kn Let z be the Y-axis coordinate of the k-th scan data point of the propeller at the n-th time step in the original coordinate system. kn Let x be the coordinate of the k-th scan data point of the propeller at the n-th time step on the Z-axis in the original coordinate system. kLet M be the coordinate of the k-th scan data point of the propeller on the X-axis in the original coordinate system. k0 Let M be the modulus of the complex triangles formed by the k-th scanned data point and the origin and x-axis of the original coordinate system, respectively. k0 =|y k +z k i|,y k Let z be the coordinate of the k-th scan data point of the propeller on the Y-axis in the original coordinate system. k Let A be the coordinate of the k-th scan data point of the propeller on the Z-axis in the original coordinate system, where i is the imaginary unit. kn A is the second argument corresponding to the k-th scan data point. kn =A k0 +nωΔt (n=1,2…,t+1), where ω is the angular velocity of the propeller rotation, and Δt is the preset time step. Where Δl is the preset time step and v0 is the velocity of the object relative to the propeller.

[0118] Step S620: Determine the spatial position of each scanned data point in the target coordinate system based on the spatial position of each scanned data point in the original coordinate system and the transformation information.

[0119] Specifically, based on the spatial position of each scanned data point in the original coordinate system, and combined with the transformation matrix, the spatial position of each scanned data point in the target coordinate system is determined.

[0120] For example, the spatial position of each scanned data point in the target coordinate system is determined by the following formula:

[0121]

[0122] Where, x kn Let y be the coordinates of the k-th scan data point of the propeller at the n-th time step on the x-axis in the original coordinate system. kn Let z be the Y-axis coordinate of the k-th scan data point of the propeller at the n-th time step in the original coordinate system. kn Let x be the coordinate of the k-th scan data point of the propeller at the n-th time step on the Z-axis in the original coordinate system. kn1 Let y be the coordinates of the kth scan data point of the propeller on the X-axis in the target coordinate system at the nth time step. kn1 Let z be the Y-coordinate of the k-th scan data point of the propeller at the n-th time step in the target coordinate system. kn1 Let θ1 be the coordinate of the kth scan data point of the propeller on the Z-axis in the target coordinate system at the nth time step, β1 be the first rotation angle, and θ1 be the second rotation angle.

[0123] In this embodiment, by transforming the original coordinate system and the target coordinate system, the spatial position of each scanned data point in the original coordinate system is converted into its spatial position in the target coordinate system, thereby obtaining the spatial position information of each scanned data point in the target coordinate system, which facilitates the collision detection operation with the spatial position of the flying object.

[0124] In one embodiment, such as Figure 7 As shown, before step S500, the collision probability determination method further includes:

[0125] Step S700: Obtain the direction vector of the flight trajectory and determine the original coordinate system based on the direction vector of the flight trajectory.

[0126] Specifically, the direction vector of the motion trajectory is parallel to the XOY plane in the original coordinate system.

[0127] Specifically, let the direction vector of the motion trajectory be (fx, fy, fz), where fx is the initial motion trajectory direction vector of the flying object in the X-axis direction of the preset coordinate system, fy is the initial motion trajectory direction vector of the flying object in the Y-axis direction of the preset coordinate system, and fz is the initial motion trajectory direction vector of the flying object in the Z-axis direction of the preset coordinate system. Then, based on the Y-axis and Z-axis direction vectors, the rotation angle is determined, and the rotation angle is... The original coordinate system is obtained by rotating the preset coordinate system around the X-axis of the preset coordinate system according to the rotation angle.

[0128] Specifically, the original coordinate system is a coordinate system in which the XOY plane is parallel to the direction vector of the trajectory of the flying object. The preset coordinate system is a pre-defined coordinate system, which can be any coordinate system. The target coordinate system is a coordinate system in which both the XOY plane and the X-axis are parallel to the direction vector of the central axis of the flying object.

[0129] Step S720: Obtain the direction vector of the central axis of the flying object in the original coordinate system.

[0130] Specifically, the central axis of the flying object is the axis of symmetry of the flying object in a predetermined direction.

[0131] For example, such as Figure 8 As shown, the central axis of the cuboid is the axis of symmetry along its length. Figure 9 As shown, the central axis of the cylinder is the axis of symmetry perpendicular to the circular cross-section of the cylinder. Figure 10 As shown, the central axis of the ellipsoid is the axis of symmetry along the major axis of the ellipsoid. Figure 11 As shown, the central axis of the capsule is the axis of symmetry perpendicular to the circular cross-section of the capsule.

[0132] Step S740: Perform coordinate transformation on the original coordinate system according to the direction vector to obtain the target coordinate system.

[0133] Specifically, the direction vector is parallel to both the XOY plane and the X-axis in the target coordinate system.

[0134] Specifically, since the initial phase of the propeller is random, the coordinate system does not affect the subsequent analysis results. Therefore, by transforming the original coordinate system into a target coordinate system with the XOY plane and the X-axis parallel to the direction vector of the central axis of the aircraft, the motion equations of the aircraft can be simplified, making calculations easier.

[0135] Specifically, since the flying object has a spatial attitude angle (the spatial orientation of the flying object's central axis) during the impact flight process, and its outer surface is a non-normal geometric surface (i.e., the flying object's central axis is not parallel to the x-axis), the surface equation of the flying object's outer surface will be more complex. Therefore, before carrying out edge collision detection, the coordinate system can be rotated and transformed to make the x-axis parallel to the flying object's central axis, so that the flying object's outer surface is a normal geometric surface in the transformed coordinate system, reducing the complexity of edge collision detection.

[0136] Step S760: Determine the spatial position of the flying object in the target coordinate system based on the transformation information between the original coordinate system and the target coordinate system.

[0137] Specifically, the motion equations of the flying object in the original coordinate system are first obtained. Then, based on the transformation information between the original coordinate system and the target coordinate system, the coordinates in the motion equations of the flying object in the original coordinate system are transformed accordingly, thereby obtaining the spatial position of the center of mass of the flying object in the target coordinate system.

[0138] In this embodiment, the original coordinate system is first determined based on the direction of the flight trajectory of the flying object. Then, the original coordinate system is adjusted according to the direction of the central axis of the flying object to obtain the target coordinate system, so that the central axis of the flying object is parallel to the XOY plane and the X-axis in the target coordinate system. Then, the spatial position of the center of mass of the flying object in the target coordinate system is determined, thereby simplifying the calculation and greatly reducing the complexity of collision detection and judgment.

[0139] In one embodiment, such as Figure 12 As shown, step S700 includes:

[0140] Step S1200: Obtain the initial position of the flying object in the preset coordinate system and the trajectory direction vector of the flying object's center of motion in the preset coordinate system.

[0141] For example, let the motion trajectory direction vector be (fx, fy, fz), where fx is the initial motion trajectory direction vector of the flying object in the X-axis direction of the preset coordinate system, fy is the initial motion trajectory direction vector of the flying object in the Y-axis direction of the preset coordinate system, and fz is the initial motion trajectory direction vector of the flying object in the Z-axis direction of the preset coordinate system. Then, based on the Y-axis direction vector and the Z-axis direction vector, the rotation angle is determined, and the rotation angle is...

[0142] Step S1220: Perform coordinate transformation on the preset coordinate system according to the motion trajectory direction vector to obtain the original coordinate system.

[0143] Specifically, based on the rotation angle, the preset coordinate system is rotated around the X-axis of the preset coordinate system to obtain the original coordinate system.

[0144] Specifically, the direction vector of the motion trajectory is parallel to the XOY plane in the original coordinate system.

[0145] Step S1240: Determine the motion equation of the flying object in the original coordinate system based on the transformation information between the preset coordinate system and the original coordinate system.

[0146] For example, suppose the initial position coordinates of the flying object in the preset coordinate system are (x1, y1, z1), and the initial direction vector is (fx, fy, fz). Then the acute angle between the center of mass of the flying object and the X-axis of the preset coordinate system is... Rotate the preset coordinate system around the X-axis until the trajectory of the flying object is parallel to the XOY plane in the preset coordinate system, thus obtaining the original coordinate system. The angle of rotation is...

[0147] At this point, let the coordinates of the center of mass of the flying object in the original coordinate system be (x1, y0, z0), where: y0=y1*cosβ+z1*sinβ, z0=z1*cosβ-y1*sinβ.

[0148] Since the trajectory of the flying object is parallel to the XOY plane in the original coordinate system, the coordinates of the intersection point of the trajectory of the flying object and the YOZ plane in the original coordinate system are (0, y0', z0), where y0' = y0 - x1 * tanθ.

[0149] For example, the equation of motion of the flying object in the original coordinate system is:

[0150] y=x*tanθ+y1*cosβ+z1*sinβ-x1*tanθ

[0151] z = z1*cosβ - y1*sinβ

[0152] Where y is the coordinate of the center of mass in the original coordinate system on the Y-axis, x is the coordinate of the center of mass in the original coordinate system on the X-axis, z is the coordinate of the center of mass in the original coordinate system on the Z-axis, y1 is the initial coordinate of the center of mass in the preset coordinate system on the Y-axis, x1 is the initial coordinate of the center of mass in the preset coordinate system on the X-axis, z1 is the initial coordinate of the center of mass in the preset coordinate system on the Z-axis, and θ is the acute angle between the initial trajectory of the object and the X-axis in the preset coordinate system. β is the preset angle of rotation of the coordinate system around the X-axis required to make the trajectory of the flying object parallel to the XOY plane in the original coordinate system. Where fx is the initial trajectory direction vector of the flying object in the X-axis direction of the initial spatial coordinate system, fy is the initial trajectory direction vector of the flying object in the Y-axis direction of the initial spatial coordinate system, and fz is the initial trajectory direction vector of the flying object in the Z-axis direction of the initial spatial coordinate system.

[0153] For example, such as Figure 13 As shown, firstly, the preset coordinate system is translated according to the motion trajectory direction vector, so that the motion trajectory direction vector passes through the origin of the coordinate system. Then, the translated coordinate system is rotated by a rotation angle so that the motion trajectory direction vector is parallel to the XOY plane. Finally, the coordinate system is translated back with the opposite translation direction and distance to obtain the original coordinate system. The motion trajectory direction vector of the flying object is parallel to the XOY plane in the original coordinate system.

[0154] In this embodiment, the transformation information between the preset coordinate system and the original coordinate system is determined by the trajectory direction and initial position coordinates of the flying object, and the motion equation of the flying object in the original coordinate system is further constructed. Since the trajectory of the flying object is parallel to the XOY plane in the original coordinate system, the motion equation is relatively simple and easy to calculate.

[0155] In one embodiment, the direction vectors include the X-axis direction vector, Y-axis direction vector, and Z-axis direction vector of the central axis of the flying object in the original coordinate system, such as... Figure 14 As shown, step S740 includes:

[0156] Step S1400: Determine the first rotation angle based on the Y-axis direction vector and the Z-axis direction vector.

[0157] For example, the first rotation angle is determined by the following formula:

[0158]

[0159] Where β1 is the first rotation angle, fzy is the component of the direction vector of the central axis of the flying object on the Y-axis in the original coordinate system, and fzz is the component of the direction vector of the central axis of the flying object on the Z-axis in the original coordinate system.

[0160] Step S1420: Based on the first rotation angle, rotate the original coordinate system around the X-axis of the original coordinate system to obtain the transition coordinate system.

[0161] Specifically, the XOY plane of the transition coordinate system is parallel to the direction vector.

[0162] Step S1440: Determine the second rotation angle based on the X-axis direction vector, Y-axis direction vector, and Z-axis direction vector.

[0163] For example, the second rotation angle is determined by the following formula:

[0164]

[0165] Where θ1 is the second rotation angle, which is the acute angle between the direction vector and the X-axis of the original coordinate system, fzx is the component of the direction vector of the central axis of the flying object on the X-axis of the original coordinate system, fzy is the component of the direction vector of the central axis of the flying object on the Y-axis of the original coordinate system, and fzz is the component of the direction vector of the central axis of the flying object on the Z-axis of the original coordinate system.

[0166] Step S1460: Based on the second rotation angle, rotate the transition coordinate system around the Z-axis of the transition coordinate system to obtain the target coordinate system.

[0167] Specifically, the XOY plane and the X-axis of the target coordinate system are parallel to the direction vector of the central axis of the flying object.

[0168] For example, such as Figure 15 As shown, the original coordinate system is first translated according to the direction vector of the central axis, so that the direction vector of the central axis passes through the origin of the coordinate system. Then, the translated coordinate system is rotated around the X-axis by a first rotation angle, and then around the Z-axis by a second rotation angle. The target coordinate system is obtained, in which the XOY plane and the X-axis are both parallel to the direction vector of the central axis of the flying object.

[0169] In this embodiment, the original coordinate system is adjusted according to the direction vector of the central axis of the flying object to establish a target coordinate system. This ensures that the outer surface of the flying object is a normal geometric surface in the target coordinate system, greatly reducing the complexity of collision detection. The XOY plane and X-axis of the target coordinate system are parallel to the direction vector of the central axis of the flying object, thus simplifying the complexity of edge collision detection between the flying object and the propeller and facilitating calculation.

[0170] In one embodiment, such as Figure 16As shown, step S520 includes:

[0171] Step S1600: Determine the initial rotation angle based on the preset initial argument angle and the first spatial position information.

[0172] Specifically, the initial rotation angle is determined using the following formula:

[0173] A k01 =A k0 +ΔA

[0174] Among them, A k01 Let A be the initial rotation angle for the k-th scan data point. k0 The argument of the complex triangle formed by the Y-axis and Z-axis coordinates of the k-th scanned data point. y k Let z be the coordinate of the k-th scan data point of the propeller on the Y-axis in the original coordinate system. k Let ΔA be the coordinate of the kth scan data point of the propeller on the Z-axis in the original coordinate system, and let ΔA be the preset initial argument angle.

[0175] Step S1620: Determine the real-time rotation angle corresponding to each scan data point based on the initial rotation angle, the angular velocity of the propeller rotation, the radius of the inscribed sphere and the radius of the circumscribed sphere of the object, the velocity of the object relative to the propeller, and the direction vector of the object's motion trajectory.

[0176] Specifically, the real-time rotation angle corresponding to each scan data point is determined using the following formula:

[0177] A kn1 =A k01 +nωΔt (n=1, 2, …, t+1)

[0178] Among them, A kn1 Let A be the real-time rotation angle of the k-th scanned data point at the n-th time step. k01 Let ω be the initial rotation angle for the k-th scan data point, ω be the angular velocity of the propeller, and Δt be the preset time step. Where Δl is the preset spatial step size, Δl=λr, where 0<λ<cosθ, r is the radius of the inscribed sphere of the object, and v0 is the velocity of the object relative to the propeller. Since the maximum value of the coefficient n is t+1, and t≤[(x max +2R) / Δl],x max The height of the discretized three-dimensional model of the propeller is given, thus limiting the range of variation of the second argument. R is the radius of the circumscribed sphere of the flying object.

[0179] Step S1640: Determine the second spatial position information based on the first spatial position information and the real-time rotation angle.

[0180] Specifically, the second spatial location information of each scanned data point is as follows:

[0181]

[0182] Where, x kn2 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, are on the X-axis in the original coordinate system. kn2 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, on the Y-axis in the original coordinate system, z. kn2 The x-coordinate of the k-th scan data point of the propeller at the nth time step, after combining it with the preset initial argument, is the Z-axis coordinate in the original coordinate system. k Let M be the coordinate of the k-th scan data point of the propeller on the X-axis in the original coordinate system. k0 Let M be the modulus of the complex triangles formed by the k-th scanned data point and the origin and x-axis of the original coordinate system, respectively. k0 =|y k +z k i|,y k Let z be the coordinate of the k-th scan data point of the propeller on the Y-axis in the original coordinate system. k Let A be the coordinate of the k-th scan data point of the propeller on the Z-axis in the original coordinate system, where i is the imaginary unit. kn1 The real-time rotation angle of the k-th scan data point at the n-th time step, after incorporating a preset initial argument, is given by Δt, where Δt is the preset time step. Where Δl is the preset time step and v0 is the velocity of the spherical object relative to the propeller.

[0183] The second spatial position of each scanned data point in the target coordinate system is then determined using the following formula:

[0184]

[0185] Where, x kn2 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, are on the X-axis in the original coordinate system. kn2 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, on the Y-axis in the original coordinate system, z. kn2 The x-coordinate of the k-th scan data point of the propeller at the nth time step, after combining it with the preset initial argument, is the Z-axis coordinate in the original coordinate system. kn3 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, are on the X-axis in the target coordinate system.kn3 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, are on the Y-axis in the target coordinate system. kn3 β1 is the coordinate of the kth scan data point of the propeller on the Z-axis in the target coordinate system after combining the preset initial argument at the nth time step, and β1 is the first rotation angle and θ1 is the second rotation angle.

[0186] In this embodiment, the first spatial position information of each scanned data point is converted into second spatial position information based on a preset initial argument. Since the second spatial position information is determined based on a randomly selected preset initial argument, the second spatial position information has randomness.

[0187] In one embodiment, such as Figure 17 As shown, step S540 includes:

[0188] Step S1700: Obtain the equation of motion of the flying object in the original coordinate system.

[0189] Step S1720: Determine the transformation information between the original coordinate system and the target coordinate system based on the first rotation angle and the second rotation angle.

[0190] For example, the transformation matrix between the original coordinate system and the target coordinate system is as follows. The transformation between coordinates in the original coordinate system and coordinates in the target coordinate system can be achieved using this transformation matrix:

[0191]

[0192] Where x1 is the coordinate on the X-axis of the target coordinate system, y1 is the coordinate on the Y-axis of the target coordinate system, z1 is the coordinate on the Z-axis of the target coordinate system, x is the coordinate on the X-axis of the original coordinate system, y is the coordinate on the Y-axis of the original coordinate system, z is the coordinate on the Z-axis of the original coordinate system, θ1 is the acute angle between the direction vector of the central axis of the flying object and the X-axis of the original coordinate system, and β1 is the angle of rotation of the original coordinate system around the X-axis.

[0193] Step S1740: Determine the spatial position of the flying object in the target coordinate system based on the transformation information and the motion equations in the original coordinate system.

[0194] For example, the equations of motion of the flying object in the original coordinate system are as follows:

[0195]

[0196] Where Δl is the preset spatial step size, Δl=λr, where 0<λ<cosθ, and θ is the acute angle between the initial trajectory of the flying object and the X-axis in the preset coordinate system. r is the radius of the inscribed sphere of the flying object, x n Let y be the coordinate of the center of mass of the flying object on the X-axis in the original coordinate system at the nth step. n Let z be the Y-coordinate of the center of mass of the flying object at the nth step in the original coordinate system. n Let x be the coordinate of the center of mass of the flying object on the Z-axis in the original coordinate system at the nth step. max Let t be the height of the discretized 3D model of the propeller, t≤[(x max +2R) / Δl], where β is the angle of rotation required around the X-axis of the preset coordinate system to make the trajectory of the flying object parallel to the XOY plane in the original coordinate system. y1 is the initial coordinate of the center of mass of the flight on the Y-axis in the preset coordinate system, x1 is the initial coordinate of the center of mass of the flight on the X-axis in the preset coordinate system, z1 is the initial coordinate of the center of mass of the flight on the Z-axis in the preset coordinate system, fx is the initial trajectory direction vector of the flight object in the X-axis direction in the preset coordinate system, fy is the initial trajectory direction vector of the flight object in the Y-axis direction in the preset coordinate system, and fz is the initial trajectory direction vector of the flight object in the Z-axis direction in the preset coordinate system.

[0197] Since the maximum value of the coefficient n is t+1, and t≤[(x max +2R) / Δl], thus limiting the range of variation of this equation of motion. R is the radius of the circumscribed sphere of the flying object.

[0198] Then, using a transformation matrix, the coordinates of the flying object in the original coordinate system are transformed into the coordinates of the flying object in the target coordinate system:

[0199]

[0200] Where, x n Let y be the coordinate of the center of mass of the flying object on the X-axis in the original coordinate system at the nth step. n Let z be the Y-coordinate of the center of mass of the flying object at the nth step in the original coordinate system. n Let x be the coordinate of the center of mass of the flying object on the Z-axis in the original coordinate system at the nth step. n1 Let y be the coordinate of the center of mass of the flying object on the X-axis in the target coordinate system at the nth step. n1 Let z be the Y-coordinate of the center of mass of the flying object at the nth step in the target coordinate system. n1 Let θ1 be the coordinate of the center of mass of the object on the Z-axis in the target coordinate system at the nth step, β1 be the first rotation angle, and θ1 be the second rotation angle.

[0201] In this embodiment, by transforming the original coordinate system and the target coordinate system, the motion equation of the flying object in the original coordinate system is transformed into the motion equation of the flying object in the target coordinate system, thereby constructing the spatial position of the flying object in the target coordinate system. Since the motion trajectory equation takes into account the actual physical structure of the flying object and the propeller, it is closer to the actual situation.

[0202] In one embodiment, such as Figure 18 As shown, step S560 includes:

[0203] Step S1800: Under preset conditions, obtain the relative position information between the center of flight and the second spatial position of each data scanning point according to the equation of motion.

[0204] Specifically, the relative position information includes a first relative difference in the X-axis direction, a second relative difference in the Y-axis direction, and a third relative difference in the Z-axis direction in the target coordinate system.

[0205] Specifically, the preset condition is that the current spatial step size in the motion equation of the flying object is equal to the current time step size in the spatial position of each scanned data point.

[0206] Step S1820: Based on the relative position information, determine the first relative difference in the X-axis direction, the second relative difference in the Y-axis direction, and the third relative difference in the Z-axis direction.

[0207] For example, the three relative differences are determined by the following formula:

[0208]

[0209] Where, Δx n1 The first relative difference, Δy n1 The second relative difference, Δz n1 The third relative difference, x n1 Let y be the coordinate of the center of mass of the flying object on the X-axis in the target coordinate system at the nth step. n1 Let z be the Y-coordinate of the center of mass of the flying object at the nth step in the target coordinate system. n1 Let x be the coordinate of the center of mass of the flying object on the Z-axis in the target coordinate system at the nth step. kn3 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, are on the X-axis in the target coordinate system. kn3 The coordinates of the k-th scan data point of the propeller at the nth time step, combined with the preset initial argument, are on the Y-axis in the target coordinate system. kn3The coordinates of the kth scan data point of the propeller on the Z-axis in the target coordinate system after combining the preset initial argument at the nth time step.

[0210] In this embodiment, the relative position between the flying object and the second spatial position of each scanned data point is determined by using the coordinates of the center of gravity of the flying object at the same moment and the second spatial position of each scanned data point. This facilitates subsequent collision detection based on the phase position.

[0211] In one embodiment, such as Figure 19 As shown, step S580 includes:

[0212] Step S1900: If each of the first relative differences, each of the second relative differences, and each of the third relative differences are all less than or equal to the circumscribed radius of the flying object, then the distance between each scan data point and the center of the flying object is determined based on each of the first relative differences, each of the second relative differences, and each of the third relative differences.

[0213] For example, the distance between each scan data point and the center of mass in flight is... Where, Δx n1 The first relative difference, Δy n1 The second relative difference, Δz n1 This is the third relative difference.

[0214] For example, the distance between the scan data point corresponding to each scan data point in the first scan data point set and the center of matter in flight is determined.

[0215] In step S1920, if the distance between each scan data point and the center of the flying object is greater than the radius of the outer sphere of the flying object, it is determined that the propeller and the flying object did not collide.

[0216] For example, if Therefore, it is determined that the propeller and the flying object did not collide. Where R is the radius of the circumscribed sphere of the flying object, and Δx... n1 The first relative difference, Δy n1 The second relative difference, Δz n1 This is the third relative difference.

[0217] For example, if the distance between all scan data points in the first scan data point set and the center of the flying object is greater than the radius of the circumscribed sphere of the flying object, it is determined that the propeller and the flying object did not collide. Then, the points in the first scan data point set whose distances from the center of the flying object are all less than or equal to the radius of the circumscribed sphere of the flying object are recorded as the second scan data point set.

[0218] Step S1940: If at least one scan data point is less than or equal to the radius of the inscribed sphere of the flying object at a distance from the center of the flying object, then it is determined that the propeller has collided with the flying object.

[0219] For example, Then it is determined that the propeller collided with the flying object. Where r is the radius of the inscribed sphere of the flying object, and Δx... n1 The first relative difference, Δy n1 The second relative difference, Δz n1 This is the third relative difference.

[0220] For example, if at least one of the distances between a scan data point in the second set of scan data points and the center of the flight object is less than or equal to the radius of the inscribed sphere of the flight object, then it is determined that the propeller has collided with the flight object. Secondly, points in the second set of scan data points whose distance from the center of the flight object is greater than the radius of the inscribed sphere of the flight object are recorded as the third set of scan data points.

[0221] For example, the judgment in steps S1900-S1940 can also be made based on the coordinates of the center of gravity of the flying object in the original coordinate system, the spatial position of each scanned data point, and the inner and outer radii of the flying object. This judgment process does not need to be performed in the target coordinate system. Only when it is necessary to determine whether a collision has occurred based on the type of flying object is it necessary to transform the spatial positions to the target coordinate system for judgment.

[0222] In this embodiment, a further determination is made as to whether the propeller will collide with the flying object. The distance between each scan data point and the center of gravity of the flying object is compared with the radius of the flying object to more accurately determine whether the flying object will collide with the propeller, thus achieving more accurate collision detection and judgment.

[0223] In one embodiment, the structural parameters include the type of aircraft, and step S580 further includes:

[0224] Step S200: If at least one scan data point is less than or equal to the radius of the outer sphere of the flying object, and the distance between each scan data point and the center of the flying object is greater than the radius of the inner sphere of the flying object, then determine whether the propeller and the flying object collide based on the relative position information and the type of the flying object.

[0225] For example, it is only necessary to determine whether the propeller and the flying object collide based on the scan data points in the third set of scan data points and the type of the flying object.

[0226] Specifically, the structural parameters of the flying object include the radius of its inscribed sphere and the radius of its circumscribed sphere, as well as the type of the flying object, which includes at least one of a cuboid, cylinder, ellipsoid, capsule, and sphere. Based on the spatial position of the flying object and the spatial position of the data scanning points, the relative position between each data scanning point and the flying object can be determined. Then, based on the structural parameters of the flying object and the relative position, it can be determined whether the flying object collides with the propeller.

[0227] Specifically, different types of structural parameters include different types of flying objects and their corresponding circumscribed radii and inscribed radii, for example, Figure 8 As shown, the ice-slab flying object can be considered equivalent to a cuboid. If the flying object is equivalent to a cuboid, then the structural parameters include the length, width, and height of the cuboid. The diameter of the circumscribed sphere is the square root of the sum of the square of the length, the square of the width, and the square of the height of the cuboid. The diameter of the inscribed sphere is the minimum value among the length, width, and height of the cuboid. For example, the radius of the circumscribed sphere is... Where Δx is the length of the cuboid, Δy is the width of the cuboid, Δz is the height of the cuboid, and the radius of the inscribed sphere is the minimum of Δx / 2, Δy / 2, and Δz / 2.

[0228] like Figure 9 As shown, a bird-like flying object can be considered equivalent to a cylinder. Its structural parameters include the cylinder's height, the diameter of its cross-section, the length of the shorter side of the rectangle formed by the cylinder's cross-section (which is the cylinder's minor axis), and the length of the longer side of the rectangle (which is the cylinder's major axis). If the flying object is considered equivalent to a cylinder, then the diameter of its circumscribed sphere is the cylinder's major axis, and the diameter of its inscribed sphere is the cylinder's minor axis. For example, the radius of the circumscribed sphere is... Where h is the height of the cylinder, and d is the diameter of the circular cross-section of the cylinder. The radius of the inscribed sphere is the smaller of h / 2 and d / 2.

[0229] like Figure 10 As shown, a bird-like flying object can be considered equivalent to an ellipsoid. Its structural parameters include the lengths of its major and minor axes. The minor axis of the ellipse formed by the cross-section of the ellipsoid is its minor axis, and the major axis of the ellipse is its major axis. If the flying object is equivalent to an ellipsoid, then the diameter of its circumscribed sphere is its major axis, and the diameter of its inscribed sphere is its minor axis. For example, the radius of the circumscribed sphere is the larger of the lengths of its semi-major and semi-minor axes. The radius of the inscribed sphere is the smaller of the lengths of its semi-major and semi-minor axes.

[0230] like Figure 11 As shown, a bird-like flying object can be equivalently represented as a capsule, which can be divided into two hemispheres on either side and a central cylinder. Structural parameters include the diameter of the hemispheres and the height of the cylinder. The diameter of the hemisphere is the minor axis of the capsule, and the sum of the diameter of the hemisphere and the height of the cylinder is the major axis. If the flying object is equivalent to a capsule, then the diameter of the circumscribed sphere is the major axis of the capsule, and the diameter of the inscribed sphere is the minor axis. For example, the radius of the circumscribed sphere is (h+d) / 2, and the radius of the inscribed sphere is d / 2. The capsule can be divided into two hemispheres on either side and a central cylinder, where h is the height of the central cylinder and d is the diameter of the two hemispheres on either side.

[0231] If the flying object is approximately a sphere, and its structural parameters include the diameter of the sphere, then the diameters of both the outer and inner spheres of the flying object are the diameters of the circles formed by the cross-sections of the sphere.

[0232] In this embodiment, when the distance between the scanned data point and the center of the flying object is less than or equal to the radius of the outer sphere of the flying object, and the distance between each scanned data point and the center of the flying object is greater than the radius of the inner sphere of the flying object, it is not possible to determine whether the flying object has collided with the propeller based solely on the radius of the outer sphere and the radius of the inner sphere of the flying object. In this case, further specific analysis is required based on the type of flying object.

[0233] In one embodiment, such as Figure 20 As shown, step S200 includes:

[0234] Step S2000: If the type of the flying object is a cuboid, determine whether the propeller collides with the flying object based on the first relative difference, the second relative difference, the third relative difference, and the length, width, and height of the cuboid.

[0235] For example, if the flying object is an ice flake, it is approximately rectangular. The following formula can be used to determine whether the flying object collides with the propeller:

[0236]

[0237]

[0238]

[0239] Where, Δx n1 The first relative difference, Δy n1 The second relative difference, Δz n1 The third relative difference is Δx, where Δy is the length of the cuboid, Δz is the width of the cuboid, and Δz is the height of the cuboid.

[0240] If each scan data point of the propeller does not satisfy at least one of the above formulas, it is determined that the flying object and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the flying object and the propeller collide.

[0241] For example, if the scan data points in the third set of scan data points do not satisfy at least one of the above formulas, it is determined that the aircraft and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the aircraft and the propeller collide.

[0242] Step S2020: If the type of the flying object is a cylinder, then determine whether the propeller collides with the flying object based on each of the first relative differences, each of the second relative differences, each of the third relative differences, and the height of the cylinder and the diameter of the circular cross-section.

[0243] For example, if the flying object is a bird-shaped foreign object, then the flying object is approximately cylindrical. The following formula can be used to determine whether the flying object collided with the propeller:

[0244]

[0245]

[0246] Where, Δx n1 The first relative difference, Δy n1 The second relative difference, Δz n1 The third relative difference is h, where h is the height of the cylinder and d is the diameter of the circular cross-section of the cylinder.

[0247] If each scan data point of the propeller does not satisfy at least one of the above formulas, it is determined that the flying object and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the flying object and the propeller collide.

[0248] For example, if the scan data points in the third set of scan data points do not satisfy at least one of the above formulas, it is determined that the aircraft and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the aircraft and the propeller collide.

[0249] Step S2040: If the type of the flying object is an ellipsoid, then determine whether the propeller collides with the flying object based on each first relative difference, each second relative difference, each third relative difference, and the lengths of the major and minor axes of the ellipsoid.

[0250] For example, if the flying object is a bird-like foreign object, it can also be approximated as an ellipsoid, and the following formula can be used to determine whether the flying object collides with the propeller:

[0251]

[0252] Where, Δx n1 The first relative difference, Δy n1 The second relative difference, Δz n1 The third relative difference is given by , where a is the length of the major semi-axis of the ellipsoid and b is the length of the minor semi-axis of the ellipsoid.

[0253] If none of the propeller's scan data points satisfy the above formula, it is determined that the object and the propeller do not collide. If at least one of the propeller's scan data points satisfies the above formula, it is determined that the object and the propeller collide.

[0254] For example, if none of the scan data points in the third set of scan data points satisfy the above formula, it is determined that the aircraft and the propeller do not collide. If at least one scan data point of the propeller satisfies the above formula, it is determined that the aircraft and the propeller collide.

[0255] Step S2060: If the type of the flying object is a capsule, then determine whether the propeller collides with the flying object based on each first relative difference, each second relative difference, each third relative difference, and the height of the cylindrical part and the diameter of the hemispherical part in the capsule.

[0256] For example, if the flying object is a bird-shaped foreign object, it can be approximated as a capsule, and the following formula can be used to determine whether the flying object collided with the propeller:

[0257]

[0258]

[0259] Where, Δx n1 The first relative difference, Δy n1 The second relative difference, Δz n1 As the third relative difference, the capsule body can be divided into two hemispheres on both sides and a cylinder in the middle, where h is the height of the cylinder in the middle of the capsule body and d is the diameter of the two hemispheres on both sides of the capsule body.

[0260] If none of the above formulas are satisfied at any one of the propeller's scan data points, it is determined that the object and the propeller do not collide. If at least one of the above formulas is satisfied at least one of the propeller's scan data points, it is determined that the object and the propeller collide.

[0261] For example, if none of the scan data points in the third set of scan data points satisfy at least one of the above formulas, it is determined that the aircraft and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the aircraft and the propeller collide.

[0262] If the flying object is a bird-borne foreign object, it can be approximated as a capsule, and the following formula can be used to determine whether the flying object collided with the propeller:

[0263]

[0264]

[0265] Where, x n1 Let y be the coordinate of the center of mass of the flying object on the X-axis in the target coordinate system at the nth step. n1 Let z be the Y-coordinate of the center of mass of the flying object at the nth step in the target coordinate system. n1 Let x be the coordinate of the center of mass of the flying object on the Z-axis in the target coordinate system at the nth step. kn1 Let y be the coordinates of the kth scan data point of the propeller on the X-axis in the target coordinate system at the nth time step. kn1 Let z be the Y-coordinate of the k-th scan data point of the propeller at the n-th time step in the target coordinate system. kn1 Let h be the coordinate of the kth scan data point of the propeller at the nth time step on the Z-axis in the target coordinate system. The capsule body can be divided into two hemispheres on both sides and a cylinder in the middle. h is the height of the cylinder in the middle of the capsule body, and d is the diameter of the two hemispheres on both sides of the capsule body.

[0266] If none of the above formulas are satisfied at any one of the propeller's scan data points, it is determined that the object and the propeller do not collide. If at least one of the above formulas is satisfied at least one of the propeller's scan data points, it is determined that the object and the propeller collide.

[0267] For example, if none of the scan data points in the third set of scan data points satisfy at least one of the above formulas, it is determined that the aircraft and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the aircraft and the propeller collide.

[0268] If the flying object is a bird-borne foreign object, it can be approximated as a capsule, and the following formula can be used to determine whether the flying object collided with the propeller:

[0269]

[0270]

[0271] Where, x n1 Let y be the coordinate of the center of mass of the flying object on the X-axis in the target coordinate system at the nth step. n1 Let z be the Y-coordinate of the center of mass of the flying object at the nth step in the target coordinate system. n1 Let x be the coordinate of the center of mass of the flying object on the Z-axis in the target coordinate system at the nth step. kn1 Let y be the coordinates of the kth scan data point of the propeller on the X-axis in the target coordinate system at the nth time step. kn1 Let z be the Y-coordinate of the k-th scan data point of the propeller at the n-th time step in the target coordinate system. kn1Let h be the coordinate of the kth scan data point of the propeller at the nth time step on the Z-axis in the target coordinate system. The capsule body can be divided into two hemispheres on both sides and a cylinder in the middle. h is the height of the cylinder in the middle of the capsule body, and d is the diameter of the two hemispheres on both sides of the capsule body.

[0272] If none of the above formulas are satisfied at any one of the propeller's scan data points, it is determined that the object and the propeller do not collide. If at least one of the above formulas is satisfied at least one of the propeller's scan data points, it is determined that the object and the propeller collide.

[0273] For example, if none of the scan data points in the third set of scan data points satisfy at least one of the above formulas, it is determined that the aircraft and the propeller do not collide. If at least one scan data point of the propeller satisfies all of the above formulas, it is determined that the aircraft and the propeller collide.

[0274] Specifically, by filtering scan data points, scan data points that do not need further judgment can be filtered out in each judgment process. Only scan data points that cannot be judged as having a collision can be further judged. As the judgment progresses, the number of scan data points that need to be judged decreases, thereby greatly reducing the amount of computation and improving the speed and efficiency of judgment.

[0275] It should be understood that, although Figure 1 , 3 -7, 12, 14, Figure 16-19 The steps in flowchart 20 are shown sequentially as indicated by the arrows; however, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are performed, and they can be executed in other orders. Furthermore, Figure 1 , 3 -7, 12, 14, Figure 16-19 At least some of the steps in 20 may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0276] In one embodiment, such as Figure 21 As shown, a collision probability determination device is provided, including: a collision count determination module 901, a collision execution module 902, and a probability determination module 903, wherein:

[0277] The number of detections determination module 901 is used to determine the number of detections for the collision detection operation based on the model parameters in the discretized three-dimensional model of the propeller.

[0278] The collision execution module 902 is used to perform the collision detection operation according to the number of detections and record the number of collision events.

[0279] The probability determination module 903 is used to determine the collision probability of the flying object colliding with the propeller based on the number of collision events and the number of detections.

[0280] Specific limitations regarding the collision probability determination device can be found in the limitations of the collision probability determination method described above, and will not be repeated here. Each module in the aforementioned collision detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; other division methods may be used in actual implementation.

[0281] In one embodiment, a computer device is provided, the internal structure of which can be shown in the following diagram. Figure 22 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When executed by the processor, the computer program implements a collision probability determination method.

[0282] Those skilled in the art will understand that Figure 22 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0283] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0284] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0285] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0286] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0287] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0288] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for determining collision probability, characterized in that, The method includes: The distance between two adjacent scan data points in the discretized 3D model of the propeller, and the radius of the discretized 3D model of the propeller are obtained; wherein the discretized 3D model is composed of multiple scan data points; The number of collision detection operations is determined based on the distance between adjacent scan data points and the radius of the discretized 3D model. The collision detection operation is performed based on the number of detections, and the number of collision events is recorded. The collision probability of the flying object colliding with the propeller is determined based on the number of collision events and the number of detections. The collision detection operation includes: Based on the discretized three-dimensional model of the propeller, the first spatial position information of each data scanning point on the surface of the propeller is obtained; Based on the preset initial argument and the first spatial position information, the initial rotation angle is determined, and based on the initial rotation angle, the angular velocity of the propeller rotation, the inscribed sphere radius and circumscribed sphere radius of the object, the velocity of the object relative to the propeller, and the motion trajectory direction vector of the object, the real-time rotation angle corresponding to each of the scanned data points is determined; the preset initial argument is a random angle between 0 and 2π. The second spatial position information is determined based on the first spatial position information and the real-time rotation angle; Obtain the spatial position of the flying object; Under preset conditions, relative position information between the center of the flying object and the second spatial position information of each of the data scanning points is obtained according to the spatial position; the preset condition is that the current spatial step size in the motion equation of the flying object and the current time step size in the spatial position of each of the scanning data points are equal in number of steps. Whether the propeller collides with the flying object is determined based on the relative position information.

2. The method according to claim 1, characterized in that, Determining the number of detections based on the distance between adjacent scan data points and the radius of the discretized 3D model includes: The number of detections is determined using the following formula: in, The number of detections, For preset coefficients, Pi Let be the radius of the discretized three-dimensional model of the propeller. The distance between adjacent scan data points in the discretized three-dimensional model of the propeller.

3. The method according to claim 1, characterized in that, The method further includes: Multiple collision probabilities are obtained according to a preset strategy; The average and standard deviation of the multiple collision probabilities are determined based on the multiple collision probabilities; Based on the average value and the standard deviation, the confidence interval of the collision probability and the confidence level corresponding to the confidence interval are determined.

4. The method according to claim 1, characterized in that, The process of obtaining the spatial location of the flying object includes: Obtain the initial position and initial orientation of the flying object; Based on the initial position and the initial orientation, the motion equations of the flying object are constructed; The spatial position of the flying object is determined based on the equation of motion.

5. The method according to claim 1, characterized in that, The relative position information includes a first relative difference in the X-axis direction, a second relative difference in the Y-axis direction, and a third relative difference in the Z-axis direction in the target coordinate system.

6. The method according to claim 5, characterized in that, Determining whether the propeller collides with the flying object based on the relative position information includes: If at least one of the first relative difference, the second relative difference, and the third relative difference corresponding to each scan point is greater than the radius of the circumscribed sphere of the flying object, then it is determined that the propeller and the flying object did not collide.

7. A collision probability determination device, characterized in that, The device includes: The number of detections module is used to obtain the distance between two adjacent scan data points in the discretized 3D model of the propeller, as well as the radius of the discretized 3D model of the propeller; and to determine the number of detections for the collision detection operation based on the distance between the adjacent scan data points and the radius of the discretized 3D model; wherein the discretized 3D model is composed of multiple scan data points; The collision execution module is used to perform the collision detection operation according to the number of detections and record the number of collision events. The probability determination module is used to determine the collision probability of the aircraft colliding with the propeller based on the number of collision events and the number of detections. Specifically, the collision execution module is used for: Based on the discretized three-dimensional model of the propeller, the first spatial position information of each data scanning point on the surface of the propeller is obtained; Based on the preset initial argument and the first spatial position information, the initial rotation angle is determined, and based on the initial rotation angle, the angular velocity of the propeller rotation, the inscribed sphere radius and circumscribed sphere radius of the object, the velocity of the object relative to the propeller, and the motion trajectory direction vector of the object, the real-time rotation angle corresponding to each of the scanned data points is determined; the preset initial argument is a random angle between 0 and 2π. The second spatial position information is determined based on the first spatial position information and the real-time rotation angle; Obtain the spatial position of the flying object; Under preset conditions, relative position information between the center of the flying object and the second spatial position information of each of the data scanning points is obtained according to the spatial position; the preset condition is that the current spatial step size in the motion equation of the flying object and the current time step size in the spatial position of each of the scanning data points are equal in number of steps. Whether the propeller collides with the flying object is determined based on the relative position information.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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