Method and System for Determining Deflection Angle of Flight Control Movable Surface

Abstract

The present application discloses a method and system for determining the deflection angle of a flight control moving surface. The method includes obtaining the three-dimensional coordinates and the marker point classification information of the marker points on the moving surface at the current moment; determining the type of the moving surface according to the marker point classification information; determining the corresponding calculation scheme according to the type of the moving surface; and determining the deflection angle of the moving surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marker points. This designed method can determine the rotation angle of the moving surface according to the marker points on different types of moving surfaces, and this method is applicable to the special cases of having multiple marker points, as well as one marker point and two marker points on the moving surface, and has good applicability.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of civil aircraft testing, and particularly to a method and system for determining the deflection angle of a flight control moving surface. Background Art

[0002] During the flight of an aircraft, the attitude of the aircraft is usually controlled by the deflection of the moving surfaces of the wings and the tail. In order to verify whether the deflection of these moving surfaces meets the requirements, it is often necessary to measure the deflection angles of these moving surfaces. As shown in Figure 1 the figure, it is a schematic diagram of an aircraft moving surface.

[0003] Traditional methods for measuring the deflection angle of a moving surface mainly include manual measurement, mechanical measurement, and Microelectro Mechanical Systems (MEMS) gyroscopic measurement. Among them, manual measurement is to measure the straight-line distance of the movement of the tip point of the moving surface, and then convert this straight-line distance into a movement angle through a trigonometric relationship; mechanical measurement is to measure the deflection of the moving surface through a mechanical angle measurement device; MEMS gyroscopic measurement is to measure the deflection of the moving surface through a micro-electromechanical gyroscope sensor. However, manual measurement has the defects of poor accuracy and low measurement efficiency; the structure of mechanical measurement is complex, which may introduce installation errors, and it is necessary to be near each moving surface to read the angle value; MEMS gyroscopic measurement has poor measurement accuracy in measuring the rotation angle in the yaw direction such as the rudder, and it is difficult to measure the translational data of a moving surface that rotates and translates such as the flap. Summary of the Invention

[0004] In order to solve at least one of the above technical problems, the embodiments of the present application provide the following solutions.

[0005] In a first aspect, the embodiments of the present application provide a method for determining the deflection angle of a flight control moving surface, the method including:

[0006] Obtaining the three-dimensional coordinates and the marker point classification information of the marker points on the moving surface at the current moment;

[0007] Determining the moving surface type according to the marker point classification information;

[0008] Determining the corresponding calculation scheme according to the moving surface type;

[0009] Determining the deflection angle of the moving surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marker points.

[0010] In a second aspect, the embodiments of the present application further provide a system for determining the deflection angle of a flight control moving surface, the system including: a camera, a camera controller, a server, a router, and a client;

[0011] The camera is configured to collect image information of the marked points on the moving surface and transmit the image information to the camera controller;

[0012] The camera controller is configured to extract the three-dimensional coordinates and the marked point classification information of the marked points according to the image information, and transmit the three-dimensional coordinates and the marked point classification information to the server;

[0013] The server is configured to calculate the deflection angle of the moving surface according to the obtained three-dimensional coordinates and the marked point classification information, and set the access operation permissions of the client;

[0014] The router is configured to implement communication between the server and the client;

[0015] The client is configured to manage the moving surface deflection angle determination system according to the access operation permissions set by the server.

[0016] An embodiment of the present application provides a method and a system for determining the deflection angle of a flight control moving surface. The method includes obtaining the three-dimensional coordinates and the marked point classification information of the marked points on the moving surface at the current moment; determining the moving surface type according to the marked point classification information; determining the corresponding calculation scheme according to the moving surface type; and determining the deflection angle of the moving surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marked points. This designed method can determine the rotation angle of the moving surface according to the marked points on different types of moving surfaces, and this method is applicable to the special cases of having multiple marked points, as well as one marked point and two marked points on the moving surface, and has good applicability. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of an aircraft moving surface in the prior art;

[0018] Figure 2 It is a flowchart of a method for determining the deflection angle of a flight control moving surface in an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of camera measurement of the moving surface deflection angle in an embodiment of the present application;

[0020] Figure 4 It is a flowchart of a method for obtaining and allocating marked points and marked point clusters in an embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of the marked point cluster design in an embodiment of the present application;

[0022] Figure 6 It is a flowchart of the calculation scheme for a single marked point in an embodiment of the present application;

[0023] Figure 7 It is a flowchart of the calculation scheme for two marker points in an embodiment of the present application;

[0024] Figure 8 It is a schematic diagram of the set relationship of two marker points in an embodiment of the present application;

[0025] Figure 9 It is a flowchart of the calculation scheme for three marker points in an embodiment of the present application;

[0026] Figure 10 It is a schematic diagram of the reverse coincidence of three marker points in an embodiment of the present application;

[0027] Figure 11 It is a flowchart of the method for determining three marker points among multiple marker points in an embodiment of the present application;

[0028] Figure 12 It is a schematic diagram of a system for determining the deflection angle of a flight control moving surface in an embodiment of the present application. Detailed implementation manners

[0029] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of description, only parts related to the present application are shown in the accompanying drawings, rather than all the structures.

[0030] In addition, in the embodiments of the present application, words such as "optionally" or "exemplarily" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "optionally" or "exemplarily" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly, the use of words such as "optionally" or "exemplarily" is intended to present related concepts in a specific manner.

[0031] Figure 2 It is a flowchart of a method for determining the deflection angle of a flight control moving surface provided for the implementation of the present application. This method can be executed by a server, as Figure 2 shown, and this method may include but is not limited to the following steps:

[0032] S201. Obtain the three-dimensional coordinates and marker point classification information of the marker points on the moving surface at the current moment.

[0033] As Figure 3As shown in the figure, marker points can be arranged on the moving surface. One or more cameras are used to capture the arranged marker points and process them to obtain the three-dimensional coordinates of the marker points. The extracted marker points and the classification information of the marker points are transmitted to the server. The marker points can be designed as circular or spherical points made of a highly reflective material. The marker points can have a certain size. When measured by the camera, the pixel size occupied by the marker points in the camera can basically be maintained within a certain range. In this way, some excessively large or small noise points can be filtered out by designing the effective pixel range of the marker points.

[0034] The classification information of the marker points can be understood as information such as the label or shape of the marker points. When arranging the marker points, the camera can first capture the real-time image of the marker points arranged on the moving surface, identify the recognition results of the marker points in the captured image through the recognition algorithm, and determine the current recognition effect by comparing the recognition results with the actually arranged marker points, so as to ensure that all the marker points arranged on the moving surface are within the field of view angle of the camera.

[0035] Furthermore, for a moving surface that rotates around a fixed axis, the camera is allowed to capture only one effective marker point on the moving surface. However, for a moving surface that rotates without a fixed axis, that is, a moving surface with a rotating axis and translation, at least three effective marker points need to be captured. That is, for different types of moving surfaces, different numbers of effective marker points on the moving surface are required to be captured by the camera.

[0036] There can be different types of moving surfaces within the field of view angle of the camera. That is, the image captured by the camera can include marker points arranged on different types of moving surfaces.

[0037] S202. Determine the type of the moving surface according to the classification information of the marker points.

[0038] When arranging the marker points, different types of marker points can be arranged on different moving surfaces. For example, marker points with different label ranges can be arranged on different moving surfaces. Taking a moving surface that rotates around a fixed axis and two moving surfaces with a rotating axis and translation as an example, marker points numbered 1 to 50 can be arranged on the moving surface that rotates around a fixed axis, marker points with a label range of 51 to 100 can be arranged on the first moving surface with a rotating axis and translation, and marker points with a label range of 51 to 100 can be arranged on the second moving surface with a rotating axis and translation, and so on.

[0039] Alternatively, optionally, marker points with different shapes can be designed. When arranging the marker points, marker points with different shapes are arranged on different types of moving surfaces, as long as different types of moving surfaces can be distinguished according to the classification information of the marker points captured by the camera.

[0040] S203. Determine the corresponding calculation scheme according to the type of the moving surface.

[0041] The rotation axis of the movable surface can be vertical, horizontal, or at a certain inclination angle to the horizontal direction, and the rotation axis can be fixed or movable. During the measurement, the marked points on the movable surface need to be within the field of view of the camera. Of course, during the rotation of the movable surface, it is allowed for some marked points to move outside the field of view of the camera. However, for a movable surface with fixed-axis rotation, one marked point can remain within the field of view collected by the camera, and for a movable surface whose rotation axis will translate, at least three marked points are required to be within the field of view collected by the camera.

[0042] For different types of movable surfaces and the marked points on the collected movable surface, different calculation schemes can be adopted. For example, in the case where the type of the movable surface is a fixed-axis rotation movable surface, the calculation scheme corresponding to the quantity can be determined according to the quantity of the three-dimensional coordinates of the marked points;

[0043] Among them, the calculation scheme corresponding to the quantity includes any one of the single-marked-point calculation scheme, the two-marked-point calculation scheme, and the three-marked-point calculation scheme.

[0044] The above different calculation schemes can be understood as follows: in the case where only one marked point on the movable surface is collected by the camera, the single-marked-point calculation scheme can be adopted; in the case where only two marked points on the movable surface are collected by the camera, the two-marked-point calculation scheme can be adopted; in other cases, that is, when three or more marked points on the movable surface are collected by the camera, the three-marked-point calculation scheme can be adopted.

[0045] In the case where the type of the movable surface is a movable surface with a rotating axis and translation, at least three marked points are required to be within the field of view collected by the camera. Therefore, the three-marked-point calculation scheme can be adopted.

[0046] S204. Determine the deflection angle of the movable surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marked points.

[0047] After determining the type of the movable surface and the corresponding calculation scheme, determine the deflection angle of the movable surface from the reference moment to the current moment according to the obtained three-dimensional coordinates of the marked points and the calculation scheme. Among them, the position of the movable surface at the reference moment (or the position of the marked points on the movable surface) can be understood as the reference zero position.

[0048] An embodiment of the present application provides a method for determining the deflection angle of a flight control movable surface. This method can be applied to a server and may include obtaining the three-dimensional coordinates and marker point classification information of the marker points on the movable surface at the current moment; determining the type of the movable surface according to the marker point classification information; determining the corresponding calculation scheme according to the type of the movable surface; and determining the deflection angle of the movable surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marker points. This designed method can determine the rotation angle of the movable surface according to the marker points on different types of movable surfaces, and this method is applicable to the special cases where there are multiple marker points, as well as one marker point and two marker points on the movable surface, and has good applicability.

[0049] As Figure 4 shown, in one example, before step S201, this method may further include the following implementation manners:

[0050] S401. Obtain the marker points assigned on the movable surface preset in the software.

[0051] For example, after arranging the positions of the cameras and arranging the marker points on the movable surface, the client can operate the camera to capture the marker points on the movable surface. According to the actual distribution of the captured marker points, the client can assign the marker points corresponding to the positions of the movable surface on the software preset and store the assignment results of each marker point in the server.

[0052] S402. Obtain the marker point cluster set as a reference.

[0053] The marker point cluster can be understood as a set of marker points that are used as a reference part among the objects captured by the camera. The function of this marker point cluster is that it will not affect the measurement accuracy when examining the rotation of the movable surface in the case of camera jitter or the overall movement of the captured part. Similarly, the client can operate to set the marker point cluster as a reference and store the setting result in the server as a reference standard for measuring the deflection angle of the movable surface.

[0054] Since the marker point cluster is a set of marker points used as a reference, it needs to be set on the immovable part of the aircraft near the movable surface. For example, when measuring movable surfaces such as ailerons, spoilers, and flap slats, the marker point cluster can be set on the wing body, as Figure 5 shown. When measuring the rudder, the marker point cluster can be arranged on the vertical tail or the tail section; when measuring the horizontal tail, the marker point cluster can be arranged on the horizontal tail or the tail section; when measuring the movement of the horizontal tail, the marker point cluster can be arranged on the tail section. Of course, the part where the marker point cluster is arranged is not absolutely required not to move. Its main purpose is to subtract the measurement error caused by aircraft vibration or overall movement.

[0055] In addition, since there is a large error in the depth direction when the camera captures to construct a three-dimensional space, as many marker point clusters as possible can be arranged in the depth direction. Further, since at least 8 marker points are required for the camera to construct a three-dimensional space, in order to ensure that the camera can successfully construct a three-dimensional space, the number of marker points in the set marker point cluster is preferably more than 8.

[0056] After allocating the marker points and setting the reference marker point cluster, subsequent deflection angle measurement can be performed. Further, a reference zero position can also be set. For example, the active surface is set to the neutral position. After being captured by the camera, the three-dimensional coordinate values of the marker points at the neutral position are obtained, and the three-dimensional coordinate values of the marker points are determined as the reference zero position.

[0057] As Figure 6 shown, in one example, the implementation manner of the calculation scheme of a single marker point in the above process may include but is not limited to the following steps:

[0058] S601. Determine the corrected fitting plane according to the three-dimensional coordinates of the marker point from the reference moment to the current moment.

[0059] The marker point in this calculation process is the single marker point on the active surface captured by the camera. As the active surface rotates, the three-dimensional coordinates of the single marker point change in the three-dimensional space. Then, according to the three-dimensional coordinates corresponding to each moment on the moving trajectory of the single marker point in space, that is, the three-dimensional coordinates of the marker point from the reference moment to the current moment, the corrected fitting plane can be determined.

[0060] Exemplarily, this step can be implemented in the following manner. For example, a plane equation is constructed:

[0061] Ax + By + Cz + 1 = 0 (1)

[0062] Substitute a series of three-dimensional coordinates on the moving trajectory of the single marker point into the above formula (1) to obtain the corresponding system of equations as:

[0063]

[0064] Based on the above system of equations, the corresponding fitting equation is obtained as follows

[0065]

[0066] where, let (φ x , φ x ) etc. represent the inner product operation.

[0067] S602. Project the three-dimensional coordinates of the marker point from the reference moment to the current moment into two-dimensional coordinates on the corrected fitting plane.

[0068] For example, project the origin O of the spatial coordinates onto the plane o, and randomly select a coordinate point P and project it onto the plane to obtain the corresponding point p. During the projection process, if the point p coincides with the point o, then other sampling coordinate points can be selected.

[0069] The coordinates after the above projection can be as follows:

[0070]

[0071] Among them, the determination method of the coefficient k is

[0072]

[0073] Assume that the normal vector of the plane is n, n = (A B C), and let Multiply the vector n by the vector l to get m, and construct a new coordinate system E' according to l, m, and n.

[0074] The conversion method for converting the three-dimensional coordinates in the original space coordinate system E to the two-dimensional coordinates in the new coordinate system is

[0075]

[0076] Let M = E / E', then the coordinates of the point P(x y z) in the new coordinate system are P'(x'y'z')

[0077] P' = P * M (7)

[0078] Take the x coordinate value and y coordinate value of each coordinate sample point in the new coordinate system as the two-dimensional coordinates on the corrected fitting plane after projection.

[0079] S603. Fit a plane circle according to the two-dimensional coordinates.

[0080] Construct the plane circle equation in the new coordinate system according to the two-dimensional coordinates, as follows:

[0081] Ax + By - C = x 2 + y 2 (8)

[0082] Its center coordinates are (A / 2, B / 2), substitute the coordinates of each sample point of the marked points, and we can get

[0083]

[0084] Let,

[0085] Then the corresponding fitting equation is

[0086]

[0087] Among them, (φa , φ a ) etc. represent the inner product operation.

[0088] S604. Determine the center coordinates according to the fitted plane circle.

[0089] After calculating the values of A, B, and C according to the above formula (9), the center coordinates (A / 2, B / 2) can be determined.

[0090] S605. Determine the deflection angle of the active surface from the reference time to the current time according to the center coordinates, the two-dimensional coordinates of the marking point at the current time, and the two-dimensional coordinates of the marking point at the reference time.

[0091] Exemplarily, the calculation method for determining the deflection angle in this step may include:

[0092]

[0093] Among them, x' and y' are the two-dimensional coordinates of the marking point at the current time, x' 0 and y' 0 are the two-dimensional coordinates of the marking point at the reference time, and θ is the deflection angle of the active surface from the reference time to the current time.

[0094] Such as Figure 7 shown, in one example, the implementation method of the calculation scheme for the two marking points in the above process may include but is not limited to the following steps:

[0095] S701. Determine the vectors of rotation of the two marking points respectively according to the three-dimensional coordinates of the two marking points at the current time and the three-dimensional coordinates at the reference time.

[0096] For example, assume that the two marking points are A and B respectively, and their coordinates at the reference time are represented by A 0 and B 0 respectively, and their coordinates at the current time are represented by A 1 and B 1 respectively. Then the vectors corresponding to the two marking points before and after rotation are A 0 A 1 and B 0 B 1 .

[0097] S702. Determine the planes that take the vectors as the normal vectors and pass through the midpoints of the vectors respectively.

[0098] The midpoint of the vector is also the midpoint of the line segment A 0 A 1 and the line segment B 0 B 1 . Assume the line segment A 0 A 1 and the line segment B 0B 1 The midpoints of are point a and point b respectively, then a plane can be determined with vector A 0 A 1 as the normal vector and passing through point a, and a plane with vector B 0 B 1 as the normal vector and passing through point b.

[0099] S703. Determine two planes according to the intersection line of the two planes and the three-dimensional coordinates of the marked point farther from the intersection line among the two marked points at the reference moment and the three-dimensional coordinates at the current moment.

[0100] After determining the two planes through step S702, the two planes can intersect in space. Determine the intersection line of the two planes as the rotation axis of the moving surface. Assume the vector of the rotation axis is n, then the representation of vector n can be

[0101]

[0102] In the above formula, A x 、A y 、A z are the components of vector A 0 A 1 in the x, y, and z directions, and B x 、B y 、B z are the components of vector B 0 B 1 in the x, y, and z directions.

[0103] The coordinates of point N on the rotation axis can be represented in the following way:

[0104]

[0105] In the above formula, a x 、a y 、a z are the components of the midpoint a of line segment A 0 A 1 in the x, y, and z directions, and b x 、b y 、b z are the components of the midpoint b of line segment B 0 B 1 in the x, y, and z directions.

[0106] Assume that the marked point A is farther from the intersection line of the two planes, that is, the above rotation axis. Then, a plane can be determined according to the three-dimensional coordinates of the marked point A before rotation (i.e., the position of A 0 ) and the rotation axis. According to the three-dimensional coordinates of the marked point A after rotation (i.e., A 1The position) and the rotation axis determine another plane.

[0107] S704. Determine the included angle between the two planes as the deflection angle of the active surface from the reference moment to the current moment.

[0108] According to the above steps, two planes passing through the rotation axis can be obtained, and the included angle between these two planes is the deflection angle of the active surface from the reference moment to the current moment.

[0109] As Figure 8 shown, point A in the figure N is the midpoint a of line segment A 0 A 1 ; point N A is the intersection point of the rotation axis and the plane where A 0 is located, and the plane where A 1 is located. Then, it can be determined from Figure 8 that:

[0110]

[0111] That is, the angle of ∠A 0 NA N is determined.

[0112] Furthermore, the rotation angle θ of the active surface can be determined through the following geometric relationship. For example,

[0113]

[0114]

[0115] θ = ∠A 0 N A A 1 = 2∠A 0 N A A N (17)

[0116] As Figure 9 shown, in one example, the implementation method of the calculation scheme of the three marked points in the above process may include but is not limited to the following steps:

[0117] S901. When the three-dimensional coordinates of the first marked point at the current moment coincide with the three-dimensional coordinates of the first marked point at the reference moment, rotate the second marked point at the reference moment after the coincidence movement around the first marked point to the three-dimensional coordinate position of the second marked point at the current moment to obtain the first coincidence matrix.

[0118] As Figure 10As shown, assume that the three marked points in this calculation scheme are A, B, and C, corresponding to the first marked point, the second marked point, and the third marked point respectively. The coordinates of the first marked point at the current moment are represented by A 1 and the coordinates of the first marked point at the reference moment are represented by A 0 . Then, as Figure 9 shown, when the positions of the first marked point at different moments coincide (i.e., A 0 coincides with A 1 ), the coordinate position B 0 of the second marked point B at the reference moment moves to the position B 0 ', and the coordinate position C 0 of the third marked point C at the reference moment moves to the position C 0 '. Then, rotating the second marked point at the position B 0 ' around the marked point A (i.e., the coordinate position where A 0 coincides with A 1 ) to the position B 1 of the second marked point at the current moment. In the process of realizing the coincidence of the marked point B at different moments, the rotation matrix involved is set as the first coincidence matrix M B . This process can be expressed as:

[0119] B 1 - A 1 = (B 0 - A 0 ) * M B (18)

[0120] That is, to realize the rotation of the vector A 1 B 1 to the vector A 0 B 0 position. The rotation axis vector in this rotation process is n B , and its calculation method is

[0121]

[0122] Correspondingly, the rotation angle θ B is

[0123]

[0124] According to Rodrigues' formula, the first coincidence matrix M B is

[0125]

[0126] Among them, and can be determined as follows. For example,

[0127] Let the parameter n be n = (x, y, z), then

[0128]

[0129]

[0130] S902. Rotate the rotated third marker point around the connection line of the first and second marker points at the current moment to the three-dimensional coordinate position of the third marker point at the current moment, and obtain the second coincidence matrix.

[0131] As Figure 10 shown, during the process of the coincidence of marker point A and marker point B, the position of marker point C moves from C' 0 to C'' 0 , and the position C'' 0 is the position of the rotated third marker point. Rotate this C'' 0 around A 1 B 1 to C 1 . That is, finally, the coincidence of the position of the third marker point C is realized. During the process of rotating the third marker point to achieve coincidence, the involved rotation matrix is set as the second coincidence matrix M C .

[0132] During the process of the coincidence of marker point A and marker point B, marker point C moves to the position C'' 0 , and this movement process can be expressed as

[0133] C'' 0 - A 1 = (C 0 - A 0 ) · M B (24)

[0134] After the coincidence of marker points AB, the coincidence process of marker point C is that A 1 B 1 C 0 '' rotates around A 1 B 1 axis to A 1 B 1 C 1 . The rotation angle in this process is the included angle between A 1 B 1 C 0 '' and A 1 B 1 C 1 , that is, the included angle between the normal vectors of these two planes. Assume that the normal vector of plane A 1 B 1 C 1 is l, A1 B 1 C 0 The normal line of ” is l’.

[0135] l = A 1 C 1 ×A 1 B 1 (25)

[0136] l’ = A 1 C 0 ”×A 1 B 1 (26)

[0137] The rotation angle when the coincidence marking point C is θ C ,

[0138]

[0139] A 1 B 1 C 0 ” rotates to A 1 B 1 C 1 The rotation axis vector m at the position is

[0140]

[0141] The plus and minus signs in the above formula represent the direction of the rotation axis vector. Let the angle between the rotation axis vector and A 1 C 0 ”×A 1 C 1 be an acute angle, then

[0142]

[0143] According to Rodriguez's formula, the second coincidence matrix M C is

[0144]

[0145] Similarly, and can be determined according to the above formulas (22) and (23), and the difference between them and and is that and are the parameters for calculating the first coincidence matrix, and are the parameters for calculating the second coincidence matrix.

[0146] S903. Obtain the rotation matrix based on the first coincidence matrix and the second coincidence matrix.

[0147] Multiply the first coincidence matrix by the second coincidence matrix to obtain the rotation matrix M, that is

[0148] M = M B M C (31)

[0149] S904. Determine the deflection angle of the active surface from the reference time to the current time according to the rotation matrix.

[0150] Assume that the rotation angle of the active surface is θ, then

[0151]

[0152] where tr() represents the trace of the rotation matrix M.

[0153] It can be understood that the above single marker point calculation scheme, two marker point calculation scheme, and three marker point calculation scheme are all described with one active surface as the object. In the case where there are multiple active surfaces in the image captured by the camera, the corresponding calculation scheme can be selected according to the type of each active surface and the number of marker points to determine the deflection angle of the corresponding active surface. In addition, in the case where the type of the active surface is a rotating axis and a translating active surface, if the number of marker points on the active surface captured by the camera is less than 3, that is, the three marker point calculation scheme cannot be used, then the captured information can be discarded.

[0154] In one example, if the number of marker points on the active surface captured by the camera is greater than 3, then 3 marker points can be selected from the multiple marker points, and then the above three marker point calculation scheme can be used to determine the deflection angle of the active surface.

[0155] Such as Figure 11 shown, the implementation methods of selecting 3 marker points can include but are not limited to the following methods:

[0156] S1101. Respectively select the marker point with the largest movement distance and the marker point with the smallest movement distance from the marker points greater than three.

[0157] The above marker point with the largest movement distance can be understood as the marker point with the largest displacement in space during the rotation of the active surface. Correspondingly, the marker point with the smallest movement distance can be understood as the marker point with the smallest displacement in space during the rotation of the active surface.

[0158] S1102. Determine the connection line between the marker point with the largest movement distance and the marker point with the smallest movement distance.

[0159] S1103. Select the marker point with the farthest distance from the connection line from the remaining marker points.

[0160] It can be understood that the remaining marked points here are the marked points remaining among multiple marked points except for the marked point with the largest movement distance and the marked point with the smallest movement distance, that is, the marked point with the farthest distance from the connecting line is selected from these remaining marked points.

[0161] S1104. Determine the three selected marked points as the target marked points.

[0162] S1105. Determine the deflection angle of the active surface from the reference moment to the current moment according to the three-dimensional coordinates of the target marked points and the calculation scheme of the three marked points.

[0163] After determining the best three marked points in the above manner, the calculation scheme of the above three marked points can be used to determine the deflection angle of the surface from the reference moment to the current moment.

[0164] In one example, when the number of marked points on the active surface collected by the camera is greater than 3, that is, when the camera collects multiple marked points, the corresponding point set registration algorithm can also be used to calculate the deflection angle of the active surface. The corresponding point set registration algorithm is to find the best translation and rotation transformation to make the two point clouds achieve the best coincidence effect, and its core is to perform singular value decomposition on the covariance matrix of the two point sets. For example, the deflection angle θ of the active surface can be calculated in the following manner.

[0165]

[0166] Among them, D represents the covariance matrix of the point set, and the parameters U, V, and ∑ are the output results of the singular value decomposition. and represents the average deviation of each point in the two point sets formed by each marked point on the active surface at the reference moment and the current moment respectively.

[0167] The rotation matrix T of these two point sets is

[0168] T = VU T (34)

[0169] The deflection angle θ of the active surface is

[0170]

[0171] Figure 12 A flight control active surface deflection angle determination system provided by an embodiment of the present application, as Figure 12 shown, the system may include a camera 1201, a camera controller 1202, a server 1203, a router 1204, and a client 1205;

[0172] Among them, the number of cameras can be one or more. The cameras are used to collect the image information of the marked points on the active surface and transmit the image information to the camera controller;

[0173] The camera controller is used to extract the three-dimensional coordinates and the marked point classification information of the marked points according to the image information captured by the cameras, and to transmit the three-dimensional coordinates and the marked point classification information to the server;

[0174] The server is used to calculate the deflection angle of the active surface according to the obtained three-dimensional coordinates and the marked point classification information, and to set the access operation permissions of the client.

[0175] Here, the access operation permissions of the client can be understood as the access permissions of different user accounts. For example, the client logged in with the operator account has the permission to operate the camera for shooting and measurement, and can perform marked point management and marked point cluster setting; the client logged in with the technician account has the function of setting standard values and tolerances; the client logged in with the inspector account has the permission to view the measurement results and generate measurement result reports, and so on.

[0176] The router is used to realize the communication between the server and the client. For example, the server and the client communicate through the local area network constructed by the router.

[0177] The client is used to manage the active surface deflection angle determination system according to the access operation permissions set by the server. For example, setting the connection between the server and the camera, testing whether the connection is reliable and whether the camera is working properly; allocating the marked points corresponding to the positions of the active surface on the preset software and setting the marked point clusters; controlling a certain position of the active surface to be inspected to be set as the reference zero position; and setting the theoretical standard values, tolerances, etc. of the measurement.

[0178] Optionally, the above client can be a portable terminal or a desktop computer device, and the embodiments of the present application do not limit this.

[0179] In one example, the server calculates the deflection angle of the active surface according to the obtained three-dimensional coordinates and the marked point classification information, including:

[0180] Determining the active surface type according to the marked point classification information;

[0181] Determining the corresponding calculation scheme according to the active surface type;

[0182] Determining the deflection angle of the active surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marked points.

[0183] Among them, the server determines the corresponding calculation scheme according to the active surface type, including:

[0184] When the type of the movable surface is a fixed-axis rotating movable surface, the server determines a calculation scheme corresponding to the quantity according to the number of three-dimensional coordinates of the marking points;

[0185] Among them, the calculation scheme corresponding to the quantity includes any one of a single marking point calculation scheme, a two-marking point calculation scheme, and a three-marking point calculation scheme;

[0186] When the type of the movable surface is a rotating shaft and a translating movable surface, the server adopts a three-marking point calculation scheme.

[0187] In one example, when the number of three-dimensional coordinates of the marking points transmitted by the camera controller is greater than three, the server is also used to determine the deflection angle of the movable surface in the following manner. For example,

[0188] Select the marking point with the largest movement distance and the marking point with the smallest movement distance from the marking points greater than three respectively;

[0189] Determine the connection line between the marking point with the largest movement distance and the marking point with the smallest movement distance;

[0190] Select the marking point with the farthest distance from the connection line from the remaining marking points;

[0191] Determine the selected three marking points as the target marking points;

[0192] Determine the deflection angle of the movable surface from the reference moment to the current moment according to the three-dimensional coordinates of the target marking points and the three-marking point calculation scheme.

[0193] In one example, when the calculation scheme includes a single marking point calculation scheme, the implementation manner for the server to determine the deflection angle of the movable surface from the reference moment to the current moment may include:

[0194] Determine the corrected fitting plane according to the three-dimensional coordinates of the marking points from the reference moment to the current moment;

[0195] Project the three-dimensional coordinates of the marking points from the reference moment to the current moment into two-dimensional coordinates on the corrected fitting plane;

[0196] Fit a plane circle according to the two-dimensional coordinates;

[0197] Determine the center coordinates according to the fitted plane circle;

[0198] Determine the deflection angle of the movable surface from the reference moment to the current moment according to the center coordinates, the two-dimensional coordinates of the marking points at the current moment, and the two-dimensional coordinates of the marking points at the reference moment.

[0199] In one example, when the calculation scheme includes a two-marker-point calculation scheme, the implementation manner for the server to determine the deflection angle of the active surface rotating from the reference moment to the current moment may include:

[0200] Determine the vectors of rotation of the two marker points respectively according to the three-dimensional coordinates of the two marker points at the current moment and the three-dimensional coordinates at the reference moment;

[0201] Determine the planes respectively with the vectors as the normal vectors and passing through the midpoints of the vectors;

[0202] Determine two planes according to the intersection line of the two planes and the three-dimensional coordinates of the marker point farther from the intersection line among the two marker points at the reference moment and the current moment;

[0203] Determine the included angle between the two planes as the deflection angle of the active surface rotating from the reference moment to the current moment.

[0204] In one example, when the calculation scheme includes a three-marker-point calculation scheme, the implementation manner for the server to determine the deflection angle of the active surface rotating from the reference moment to the current moment may include:

[0205] When the three-dimensional coordinates of the first marker point at the current moment coincide with the three-dimensional coordinates of the first marker point at the reference moment, rotate the second marker point at the reference moment after the coincidence movement around the first marker point to the three-dimensional coordinate position of the second marker point at the current moment to obtain the first coincidence matrix;

[0206] Rotate the rotated third marker point around the connection line of the first marker point and the second marker point at the current moment to the three-dimensional coordinate position of the third marker point at the current moment to obtain the second coincidence matrix;

[0207] Obtain the rotation matrix according to the first coincidence matrix and the second coincidence matrix;

[0208] Determine the deflection angle of the active surface rotating from the reference moment to the current moment according to the rotation matrix.

[0209] In one example, the client can also be used to allocate marker points on the active surface preset in the software and set the reference marker point cluster when the access operation permissions set by the server permit.

[0210] The above flight control active surface deflection angle determination system can implement Figure 2 The provided deflection angle determination method, and has the corresponding devices and beneficial effects in this method.

[0211] From the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on this understanding, the technical solution of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, etc., including several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of this application.

[0212] It should be noted that the modules included in the above log parallel replay device are only divided according to functional logic, but are not limited to the above division method, as long as the corresponding functions can be realized; in addition, the specific names of modules such as the electronic control module are only for the convenience of distinction and do not limit the protection scope of this application.

[0213] Note that the above is only the preferred embodiment of this application and the technical principles applied. Those skilled in the art will understand that this application is not limited to the specific embodiments described here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of this application. Therefore, although this application has been described in more detail through the above embodiments, this application is not limited to the above embodiments. Without departing from the concept of this application, more other equivalent embodiments can be included, and the scope of this application is determined by the scope of the appended claims.

Claims

1. A method for determining the deflection angle of a flight control moving surface, characterized in that, it includes: Obtain the three-dimensional coordinates and the marker point classification information of the marker points on the moving surface at the current moment; Determine the type of the moving surface according to the marker point classification information; Determine the corresponding calculation scheme according to the type of the moving surface; Determine the deflection angle of the moving surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marker points; The determining the corresponding calculation scheme according to the type of the moving surface includes: In the case where the type of the moving surface is a fixed-axis rotation moving surface, determine the calculation scheme corresponding to the quantity according to the quantity of the three-dimensional coordinates of the marker points; Wherein, the calculation scheme corresponding to the quantity includes any one of a single marker point calculation scheme, a two marker point calculation scheme, and a three marker point calculation scheme; In the case where the type of the moving surface is a moving surface with a rotating axis and translation, adopt a three marker point calculation scheme.

2. The method according to claim 1, characterized in that, In the case where the quantity of the three-dimensional coordinates of the marker points is greater than three, the method further includes: Respectively select the marker point with the largest movement distance and the marker point with the smallest movement distance from the marker points greater than three; Determine the connection line between the marker point with the largest movement distance and the marker point with the smallest movement distance; Select the marker point farthest from the connection line from the remaining marker points; Determine the selected three marker points as the target marker points; Determine the deflection angle of the moving surface from the reference moment to the current moment according to the three-dimensional coordinates of the target marker points and the three marker point calculation scheme.

3. The method according to claim 1, characterized in that, In the case where the calculation scheme includes a single marker point calculation scheme, determining the deflection angle of the moving surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marker points includes: Determine the corrected fitting plane according to the three-dimensional coordinates of the marker point from the reference moment to the current moment; Project the three-dimensional coordinates of the marker point from the reference moment to the current moment into two-dimensional coordinates on the corrected fitting plane; Fit a plane circle according to the two-dimensional coordinates; Determine the center coordinates according to the fitted plane circle; Determine the deflection angle of the moving surface from the reference moment to the current moment according to the center coordinates, the two-dimensional coordinates of the marker point at the current moment, and the two-dimensional coordinates of the marker point at the reference moment.

4. The method according to claim 1, characterized in that, In the case where the calculation scheme includes a two marker point calculation scheme, determining the deflection angle of the moving surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the marker points includes: Respectively determine the vectors of the rotation of the two marker points according to the three-dimensional coordinates of the two marker points at the current moment and the three-dimensional coordinates at the reference moment; Respectively determine the planes with the vectors as the normal vectors and passing through the midpoints of the vectors; Determine two planes according to the intersection line of the two planes and the three-dimensional coordinates of the marker point far from the intersection line among the two marker points at the reference moment and the current moment; Determine the included angle between the two planes as the deflection angle of the active surface from the reference moment to the current moment.

5. The method according to any one of claims 1-2, characterized in that when the calculation scheme includes a three-mark point calculation scheme, determining the deflection angle of the active surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the mark points includes: when the three-dimensional coordinates of the first mark point at the current moment coincide with the three-dimensional coordinates of the first mark point at the reference moment, rotating the second mark point at the reference moment after the coincident movement around the first mark point to the three-dimensional coordinate position of the second mark point at the current moment to obtain a first coincidence matrix; rotating the rotated third mark point around the connection line of the first and second mark points at the current moment to the three-dimensional coordinate position of the third mark point at the current moment to obtain a second coincidence matrix; obtaining a rotation matrix according to the first coincidence matrix and the second coincidence matrix; determining the deflection angle of the active surface from the reference moment to the current moment according to the rotation matrix.

6. The method according to claim 1, characterized in that before obtaining the three-dimensional coordinates of the mark points on the active surface at the current moment, the method further includes: obtaining the mark points allocated on the active surface preset in the software and setting the reference mark point cluster.

7. A flight control active surface deflection angle determination system, characterized in that it includes: a camera, a camera controller, a server, a router, and a client; the camera is used to collect the image information of the mark points on the active surface and transmit the image information to the camera controller; the camera controller is used to extract the three-dimensional coordinates and mark point classification information of the mark points according to the image information, and transmit the three-dimensional coordinates and mark point classification information to the server; the server is used to calculate the deflection angle of the active surface according to the obtained three-dimensional coordinates and mark point classification information, and set the access operation permission of the client; the router is used to realize the communication between the server and the client; the client is used to manage the flight control active surface deflection angle determination system according to the access operation permission set by the server; the server calculates the deflection angle of the active surface according to the obtained three-dimensional coordinates and mark point classification information, including: determining the active surface type according to the mark point classification information; determining the corresponding calculation scheme according to the active surface type; determining the deflection angle of the active surface from the reference moment to the current moment according to the calculation scheme and the three-dimensional coordinates of the mark points; the server determines the corresponding calculation scheme according to the active surface type, including: when the active surface type is a fixed-axis rotation active surface, the server determines the calculation scheme corresponding to the quantity according to the quantity of the three-dimensional coordinates of the mark points; wherein, the calculation scheme corresponding to the quantity includes any one of a single mark point calculation scheme, a two mark point calculation scheme, and a three mark point calculation scheme; In the case where the movable surface type is a rotating shaft and a translatable movable surface, the server adopts a three-marking-point calculation scheme.

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