A method for measuring aircraft automatic bomb loading status based on heterogeneous information fusion

Abstract

The present invention belongs to the field of robot technology, and proposes a method for measuring the automatic bomb-hanging state of an aircraft with heterogeneous information fusion. The measuring device is reasonably arranged in the outer space of the aircraft bomb-assembly vehicle and the bomb-hanging vehicle, and the real-time transmission and collected information is sent to the information processing system; the information processing system processes the collected information in real time, completes the target recognition and distance measurement information, solves the required relative posture information, and transmits it to the control system in real time to guide the completion of automatic bomb-hanging. The present invention has the characteristics of simple design, strong operability, easy use, and intelligence.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a method for measuring the automatic bomb-hanging state of an aircraft by fusion of heterogeneous information. Background Art

[0002] The modern military industry is booming, but there are few breakthroughs in related logistics support. At present, the installation of aircraft missiles still uses the position measurement method of visual ranging, which has low accuracy and slow speed. Summary of the invention

[0003] In order to solve the above problems, the present invention combines image recognition and laser scanning technology to propose a method for measuring the automatic bomb-hanging status of an aircraft by fusion of heterogeneous information.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A method for measuring the state of automatic bomb loading of an aircraft with heterogeneous information fusion, the measuring device used in the method includes a visual sensor, a laser sensor, and a state sensor; the visual sensor includes a binocular camera 1-4 and a TOF depth camera 1-5; the laser sensor includes an array radar A1-1, an array radar B1-2, a laser transmitter 1-3, a photosensitive sensor 1-6, an array radar C1-7, and a laser rangefinder 1-8; the state sensor includes a pressure sensor 1-9. The measuring method is as follows:

[0006] (1) Projectile posture detection algorithm for aligning the projectile body with the missile assembly vehicle.

[0007] The missile assembly vehicle information processing device 2-1 receives the information transmitted by the measuring device 1, and uses the missile posture detection algorithm to solve the received information into the relative posture of the missile group and the missile assembly vehicle, and transmits it to the missile assembly vehicle motion control device 3-1 in real time to guide the installation and alignment of the missile group. The following steps are included:

[0008] (1a) Based on the distance matrix of the side ears of the missile body and the pallet fed back by the array radar A1-1, the inclination angle of the missile body relative to the pallet is calculated, and the motion control device 3-1 of the missile assembly vehicle is guided to complete the parallel alignment of the missile assembly and the pallet;

[0009] (1b) After the missile group is aligned parallel to the tray, the distance matrix above the limit point relative to the missile body is calculated based on the distance that the missile body exceeds the limit point in the axial direction according to the feedback of the area array radar B1-2, and the guidance group missile carriage motion control device 3-1 completes the axial alignment of the missile group.

[0010] (2) Alignment algorithm for aligning the bomb assembly vehicle with the bomb hanging vehicle.

[0011] The information processing device 2-2 of the missile hanging vehicle receives the information transmitted by the measuring device 1, and solves the received information into the relative position of the missile hanging vehicle and the missile assembly vehicle through the two-vehicle alignment algorithm, and transmits it to the missile hanging vehicle motion control device 3-2 in real time, so as to guide the alignment of the missile hanging vehicle and the missile assembly vehicle and complete the transfer of the missile group. The following steps are included:

[0012] (2a) according to the distance between the bomb hanging vehicle and the bomb assembly vehicle fed back by the laser rangefinder 1-8, the inclination angle of the bomb hanging vehicle relative to the bomb assembly vehicle is calculated, and the bomb hanging vehicle motion control device 3-2 is guided to complete the parallel alignment of the bomb hanging vehicle and the bomb assembly vehicle;

[0013] (2b) After the bomb hanging car and the bomb assembly car are aligned in parallel, the front and rear positions of the bomb hanging car and the bomb assembly car are calculated according to the sequence number of the photosensitive sensor 1-6 on the bomb hanging car that receives the emission signal of the laser transmitter 1-3 on the side of the bomb assembly car, and the bomb hanging car motion control device 3-2 is guided to complete the front and rear alignment of the bomb hanging car and the bomb assembly car;

[0014] (2c) After the bomb hanging trolley and the bomb assembling trolley are aligned front to back, the bomb hanging trolley and the bomb assembling trolley are judged whether the heights of the bomb hanging trolley and the bomb assembling trolley are consistent based on whether the photosensor 1-6 on the bomb hanging trolley tray receives the emission signal from the laser transmitter 1-3 on the side of the bomb assembling trolley tray, and the bomb hanging trolley motion control device 3-2 is guided to complete the height alignment of the bomb hanging trolley and the bomb assembling trolley.

[0015] (3) A bomb bay alignment algorithm for aligning the bomb carrier with the aircraft bomb bay.

[0016] The information processing device 2-2 of the bomb hanging vehicle receives the information transmitted by the measuring device 1, and solves the received information into the relative position of the missile group and the bomb bay installation position through the bomb bay alignment algorithm, and transmits it to the bomb hanging vehicle motion control device 3-2 in real time, so as to guide the missile group to align with the bomb bay hook and complete the autonomous alignment of the missile group. The following steps are included:

[0017] (3a) According to the image information obtained by the binocular camera 1-4 and the TOF depth camera 1-5, the spatial relative posture information of the bomb hanging vehicle and the aircraft axis is calculated, and the bomb hanging vehicle motion control device 3-2 is guided to complete the alignment of the bomb hanging vehicle axis and the aircraft axis;

[0018] (3b) After the axis of the bomb carrier is aligned parallel to the axis of the aircraft, the lateral relative distance between the axis of the bomb bay and the axis of the aircraft is calculated according to the aircraft structure, and the bomb carrier motion control device 3-2 is guided to complete the alignment of the axis of the bomb carrier and the axis of the bomb bay;

[0019] (3c) After the axis of the bomb hanging vehicle is aligned with the axis of the bomb bay, the bomb hanging vehicle continues to move forward, according to the feedback point cloud information of the TOF depth camera 1-5 at the front of the bomb hanging vehicle, until the outline of the bomb bay hook is recognized;

[0020] (3d) After the bomb carrier initially recognizes the outline of the bomb bay hook, the vehicle body makes a lateral position fine-tuning and continues to move forward. According to the distance matrix fed back by the array radar C1-7 on the bomb carrier, the relative position information between the bomb bay hook and the bomb carrier is solved, and the bomb carrier motion control device 3-2 is guided to complete the alignment of the bomb bay hook and the missile group rack ear;

[0021] (3e) After the bomb bay hook is aligned with the missile group rack ear, the bomb carrier lifts the missile group rack and determines whether the missile group mounting action is completed based on the pressure information fed back by the pressure sensor 1-9 on the lifting mechanism. After confirmation, the lifting mechanism descends and the bomb carrier withdraws along the original path, completing the entire bomb mounting process.

[0022] The present invention has a compact structure and does not affect the aircraft bomb hanging process. Different from the traditional aircraft bomb hanging process through visual ranging measurement, it can use visual sensors and laser sensors to perform heterogeneous information fusion, guide the bomb assembly vehicle to complete the missile group alignment work, guide the bomb hanging vehicle to complete the missile group transfer and bomb bay alignment work, improve the bomb hanging efficiency, and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the automatic bomb hanging measurement method for aircraft according to the present invention.

[0024] Figure 2 It is a schematic diagram of the automatic bomb hanging measurement system for aircraft of the present invention.

[0025] Figure 3 It is a schematic diagram of the elastic posture detection and measurement method of the present invention.

[0026] Figure 4 , Figure 5 , Figure 6 It is a schematic diagram of the two-vehicle alignment measurement method of the present invention.

[0027] Figure 7 It is a schematic diagram of the bomb bay alignment measurement method of the present invention. DETAILED DESCRIPTION

[0028] The technical solution is described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] like Figure 1 As shown, a method for measuring the automatic bomb loading status of an aircraft with heterogeneous information fusion includes three measurement methods: bomb posture detection for realizing alignment between a bomb body and an assembly vehicle, two-vehicle alignment for aligning the assembly vehicle with the bomb loading vehicle, and bomb bay alignment for aligning the bomb loading vehicle with the aircraft bomb bay.

[0030] like Figure 2As shown, a heterogeneous information fusion aircraft automatic bomb loading status measurement system includes a measuring device 1, an information processing system 2 that wirelessly transmits information to the measuring device 1, and a control system 3; the measuring system is divided into a bomb assembly vehicle measurement system and a bomb loading vehicle measurement system.

[0031] The measuring device 1 includes a visual sensor, a laser sensor and a state sensor; the visual sensor includes a binocular camera 1-4 and a TOF depth camera 1-5, which are used to collect surrounding environment information for feature target identification and distance measurement; the laser sensor includes an array radar A1-1, an array radar B1-2, a laser transmitter 1-3, a photosensitive sensor 1-6, an array radar C1-7, and a laser rangefinder 1-8, which are used to collect distance information or in-place information in a specific direction; the state sensor includes a pressure sensor 1-9, which is used to collect a process completion signal.

[0032] like Figures 3 to 7 As shown, a method for measuring the automatic bomb-hanging state of an aircraft by heterogeneous information fusion includes the following steps:

[0033] (1) The projectile posture detection and measurement method for aligning the projectile body with the projectile assembly vehicle is as follows:

[0034] (1a) Based on the feedback from the array radar A1-1, the distance matrix of the side ears of the missile body relative to the pallet The center position of the ear is determined based on whether the A22 value is within the range [ear min, ear max], and the pitch angle is calculated based on the width L of the array radar.

[0035]

[0036] And the flip angle

[0037]

[0038] The guidance group missile carriage motion control device 3-1 completes the parallel alignment of the missile group and the tray;

[0039] (1b) After the missile group is aligned parallel to the tray, the distance matrix above the limit point relative to the missile body is calculated based on the feedback from the array radar B1-2. when

[0040] When (B13+B23+B33)-(B11+B21+B31)>ε, it is considered that the missile body has reached the limit, and the guidance group missile vehicle motion control device 3-1 completes the axial alignment of the missile group.

[0041] (2) The two-vehicle alignment measurement method used to align the bomb assembly vehicle and the bomb hanging vehicle is as follows:

[0042] (2a) Based on the distances d1 and d2 between the bomb-hanging vehicle and the ammunition assembly vehicle fed back by the laser rangefinders 1-8 and the distance a between the laser rangefinders, the rotation angle of the bomb-hanging vehicle relative to the ammunition assembly vehicle is calculated as

[0043]

[0044] Guide the bomb hanging vehicle motion control device 3-2 to complete the parallel alignment of the bomb hanging vehicle and the bomb assembling vehicle;

[0045] (2b) After the bomb hanging vehicle is aligned parallel to the bomb assembly vehicle, according to the serial number of the photosensitive sensors 1-6 on the bomb hanging vehicle that receive the signal emitted by the laser transmitter 1-3 on the side of the bomb assembly vehicle, the sensor that receives the signal is recorded as E, and the sensor that does not receive the signal is recorded as Form a one-dimensional array of identifiers

[0046]

[0047] Calculate the front and rear positions of the bomb hanging vehicle and the bomb assembling vehicle, and guide the bomb hanging vehicle motion control device 3-2 to complete the front and rear alignment of the bomb hanging vehicle and the bomb assembling vehicle;

[0048] (2c) After the bomb hanging trolley and the bomb assembling trolley are aligned front to back, the bomb hanging trolley and the bomb assembling trolley are judged whether the heights of the bomb hanging trolley and the bomb assembling trolley are consistent based on whether the photosensor 1-6 on the bomb hanging trolley tray receives the emission signal from the laser transmitter 1-3 on the side of the bomb assembling trolley tray, and the bomb hanging trolley motion control device 3-2 is guided to complete the height alignment of the bomb hanging trolley and the bomb assembling trolley.

[0049] (3) The bomb bay alignment algorithm used to align the bomb carrier with the aircraft bomb bay is as follows:

[0050] (3a) Based on the image information and distance information obtained by the TOF depth cameras 1-5, a three-dimensional cloud map of the surrounding environment is established, and the path of the bomb carrier to the tail of the aircraft is preliminarily planned through the A* algorithm; when the vehicle moves along the path, the surrounding obstacles are quickly identified through the binocular cameras 1-4, and the control points Q on the outer contour of the vehicle are i The corresponding positioning point p on the obstacle surface ij , solve for the repulsion vector

[0051]

[0052] Correct the path; when the binocular camera can continuously identify the aircraft features, calculate the relative position of the bomb hanging vehicle and the aircraft, and guide the bomb hanging vehicle motion control device 3-2 to complete the alignment of the bomb hanging vehicle axis and the aircraft axis;

[0053] (3b) After the axis of the bomb carrier is aligned parallel to the axis of the aircraft, the lateral relative distance L between the axis of the bomb bay and the axis of the aircraft is calculated based on the aircraft structure. C-P, guide the bomb-hanging vehicle motion control device 3-2 to complete the alignment of the bomb-hanging vehicle axis and the bomb bay axis;

[0054] (3c) After the axis of the bomb hanging vehicle is aligned with the axis of the bomb bay, the bomb hanging vehicle continues to move forward, according to the feedback point cloud information of the TOF depth camera 1-5 at the front of the bomb hanging vehicle, until the outline of the bomb bay hook is recognized;

[0055] (3d) After the bomb carrier initially identifies the outline of the bomb bay hook, the vehicle body makes a fine adjustment to the lateral position until the axis of the bomb carrier is initially aligned with the axis of the bomb bay hook and then continues to move forward. According to the distance matrix fed back by the C1-7 array radar on the bomb carrier, Based on the difference in each direction

[0056]

[0057] Combined with the center distance C22, the relative position information between the bomb bay hook and the bomb hanging vehicle is solved, and the bomb hanging vehicle motion control device 3-2 is guided to complete the alignment between the bomb bay hook and the missile group hanger ear;

[0058] (3e) After the bomb bay hook is aligned with the missile group rack hook, the bomb carrier lifts the missile group rack and uses the pressure information F fed back by the pressure sensors 1-9 on the lifting mechanism combined with the threshold F T ,when

[0059] F <F T

[0060] When the missile group is judged to have completed the mounting, the lifting mechanism descends and the missile mounting vehicle withdraws along the original path, completing the entire missile mounting process.

[0061] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for measuring the automatic bomb-loading state of an aircraft based on heterogeneous information fusion, characterized in that: The device adopted by the method includes a measuring device, an information processing system and a control system for wireless transmission with the measuring device; the measuring device is composed of a bomb assembly vehicle measuring system and a bomb hanging vehicle measuring system, and includes a visual sensor, a laser sensor and a state sensor; the visual sensor includes a binocular camera and a TOF depth camera; the laser sensor includes an array radar A, an array radar B, a laser transmitter, a photosensitive sensor, an array radar C and a laser rangefinder; the state sensor includes a pressure sensor; The specific steps include: (1) The projectile posture detection and measurement method for aligning the projectile body with the projectile assembly vehicle is as follows: (1a) Based on the feedback from the array radar A1-1, the distance matrix of the side ears of the missile body relative to the pallet The center position of the ear is determined based on whether the A22 value is within the range [ear min, ear max], and the pitch angle is calculated based on the width L of the array radar. And the flip angle The guidance group missile carriage motion control device 3-1 completes the parallel alignment of the missile group and the tray; (1b) After the missile group is aligned parallel to the tray, the distance matrix above the limit point relative to the missile body is calculated based on the feedback from the array radar B1-2. when (B13+B23+B33)-(B11+B21+B31)>ε When the missile body reaches the limit position, the missile vehicle motion control device 3-1 guides the missile group to complete the axial alignment of the missile group; (2) The two-vehicle alignment measurement method used to align the bomb assembly vehicle and the bomb hanging vehicle is as follows: (2a) Based on the distances d1 and d2 between the bomb-hanging vehicle and the ammunition assembly vehicle fed back by the laser rangefinders 1-8 and the distance a between the laser rangefinders, the rotation angle of the bomb-hanging vehicle relative to the ammunition assembly vehicle is calculated as Guide the bomb hanging vehicle motion control device 3-2 to complete the parallel alignment of the bomb hanging vehicle and the bomb assembling vehicle; (2b) After the bomb hanging vehicle is aligned parallel to the bomb assembly vehicle, according to the serial number of the photosensitive sensors 1-6 on the bomb hanging vehicle that receive the signal emitted by the laser transmitter 1-3 on the side of the bomb assembly vehicle, the sensor that receives the signal is recorded as E, and the sensor that does not receive the signal is recorded as Form a one-dimensional array of identifiers Calculate the front and rear positions of the bomb hanging vehicle and the bomb assembling vehicle, and guide the bomb hanging vehicle motion control device 3-2 to complete the front and rear alignment of the bomb hanging vehicle and the bomb assembling vehicle; (2c) After the bomb hanging car and the bomb assembly car are aligned front to back, the bomb hanging car and the bomb assembly car are judged whether the heights of the bomb hanging car and the bomb assembly car are consistent according to whether the photosensitive sensor 1-6 on the bomb hanging car tray receives the emission signal of the laser transmitter 1-3 on the side of the bomb assembly car tray, and the bomb hanging car motion control device 3-2 is guided to complete the height alignment of the bomb hanging car and the bomb assembly car; (3) The bomb bay alignment algorithm used to align the bomb carrier with the aircraft bomb bay is as follows: (3a) Based on the image information and distance information obtained by the TOF depth cameras 1-5, a three-dimensional cloud map of the surrounding environment is established, and the path of the bomb carrier to the tail of the aircraft is preliminarily planned through the A* algorithm; when the vehicle moves along the path, the surrounding obstacles are quickly identified through the binocular cameras 1-4, and the control points Q on the outer contour of the vehicle are i The corresponding positioning point p on the obstacle surface ij , solve for the repulsion vector Correct the path; when the binocular camera can continuously identify the aircraft features, calculate the relative position of the bomb hanging vehicle and the aircraft, and guide the bomb hanging vehicle motion control device 3-2 to complete the alignment of the bomb hanging vehicle axis and the aircraft axis; (3b) After the axis of the bomb carrier is aligned parallel to the axis of the aircraft, the lateral relative distance L between the axis of the bomb bay and the axis of the aircraft is calculated based on the aircraft structure. C-P , guide the bomb-hanging vehicle motion control device 3-2 to complete the alignment of the bomb-hanging vehicle axis and the bomb bay axis; (3c) After the axis of the bomb hanging vehicle is aligned with the axis of the bomb bay, the bomb hanging vehicle continues to move forward, according to the feedback point cloud information of the TOF depth camera 1-5 at the front of the bomb hanging vehicle, until the outline of the bomb bay hook is recognized; (3d) After the bomb carrier initially identifies the outline of the bomb bay hook, the vehicle body makes a fine adjustment to the lateral position until the axis of the bomb carrier is initially aligned with the axis of the bomb bay hook and then continues to move forward. According to the distance matrix fed back by the C1-7 array radar on the bomb carrier, Based on the difference in each direction Combined with the center distance C22, the relative position information between the bomb bay hook and the bomb hanging vehicle is solved, and the bomb hanging vehicle motion control device 3-2 is guided to complete the alignment between the bomb bay hook and the missile group hanger ear; (3e) After the bomb bay hook is aligned with the missile group rack hook, the bomb carrier lifts the missile group rack and uses the pressure information F fed back by the pressure sensors 1-9 on the lifting mechanism combined with the threshold F T , when F <F T When the missile group is judged to have completed the mounting, the lifting mechanism descends and the missile mounting vehicle withdraws along the original path, completing the entire missile mounting process.

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