Airplane ice detection system calibration device, method, storage medium and robot

Abstract

The application belongs to the technical field of aircraft residual ice detection system calibration, and discloses an aircraft residual ice detection system calibration device, method, storage medium and robot. The aircraft residual ice detection system calibration device under the coupling of multiple environmental factors comprises a marking device, a device state regulation device, a residual ice detection system, an environmental control system, a data acquisition device and a computer data control processing unit. In order to improve the detection accuracy of the residual ice detection system and reduce the false detection rate and the missed detection rate of the residual ice detection system, the application provides an aircraft residual ice detection system calibration device and method under the coupling of multiple environmental factors, solves the problems of low efficiency of traditional manual calibration and great influence of operators, and has great engineering application value in the field of residual ice detection. The application can improve the detection accuracy of the residual ice detection system, reduce the false detection rate and the missed detection rate of the residual ice detection system, solve the problems of low efficiency of traditional manual calibration and great influence of operators.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of aircraft residual ice detection system calibration, and particularly relates to an aircraft residual ice detection system calibration device and method, a storage medium and a robot. BACKGROUND

[0002] Under winter severe weather conditions, aircraft must be detected for residual ice after deicing and before takeoff to ensure flight safety. When the aircraft residual ice detection system detects, it needs to collect images of the same measured area under different wavelength channels through the near-infrared focal plane imaging system. By comparing and analyzing the detection data at the same position under different wavelengths, the residual ice is identified and detected. Since the imaging sequence is switched in different wavelength channels, the collected images need to be matched first to ensure that the detection areas corresponding to the pixel points of the images obtained under each channel are consistent. The system compares and analyzes the matched image data to complete the identification and detection of residual ice. Generally, as the aircraft residual ice detection system is used for a longer time, the detection parameters will change.

[0003] Through the above analysis, the problems and defects of the prior art are that: the current aircraft residual ice detection system is mainly calibrated manually by a standard test block, which is low in efficiency and greatly affected by the operator. It is easy to cause high false detection rate and missed detection rate of the residual ice detection system; and the calibration efficiency and accuracy of the existing aircraft residual ice detection system are low. SUMMARY

[0004] To overcome the problems in the related art, the present application provides an aircraft residual ice detection system calibration device, method, storage medium and robot. Specifically, it relates to an aircraft residual ice detection system calibration device and method under the coupling of multiple environmental factors.

[0005] The technical solution is as follows: an aircraft residual ice detection system calibration device under the coupling of multiple environmental factors comprises:

[0006] An identification device is used to identify the type of the fuselage skin material in different divided areas, and divide multiple different state ice sub-areas according to the type of residual ice on the different divided areas;

[0007] An equipment state control device is used to carry the environmental control system, the identification device and the residual ice detection system, and is used to adjust the relative distance and angle between the residual ice detection system, the identification device and the environmental control system;

[0008] A residual ice detection system is used to detect the residual ice information of the multiple different state ice sub-areas on the identification device;

[0009] An environmental control system is used to simulate and provide multiple environmental factors in aircraft residual ice detection, including: environmental light, environmental air, environmental temperature and humidity;

[0010] a data acquisition device for acquiring the angle of the identification device with the horizontal direction and the value of the environmental influencing factor provided by the environmental control system;

[0011] a computer data control processing unit for wireless connection with the data acquisition device and analysis and processing of the data acquired by the data acquisition device.

[0012] In one embodiment, the identification device comprises a calibration plate, which is divided into a first aluminum alloy skin material area, a second aluminum alloy skin material area, a third aluminum alloy skin material area, a first composite material area, a second composite material area, a third composite material area, a first titanium alloy skin material area, a second titanium alloy skin material area, and a third titanium alloy skin material area according to the types of the skin materials of the fuselage.

[0013] Each main area is further divided into three sub-areas of frost ice, transparent ice, and mixed ice according to the types of the residual ice, and each sub-area is covered with a different color of typical aircraft coating layer.

[0014] In one embodiment, the device state control device comprises an adjustable support.

[0015] The adjustable support comprises a fine adjustment mechanism and a base connected with the first high-precision sliding guide, and the fine adjustment mechanism in the adjustable support can adjust the height and the angle with the horizontal plane of the calibration plate in the identification device relative to the first high-precision sliding guide.

[0016] In one embodiment, a residual ice detection system is installed on the first high-precision sliding guide, and a first servo motor and a first lead screw installed on the first high-precision sliding guide are used to control the distance between the calibration plate and the infrared active light source in the residual ice detection system.

[0017] In one embodiment, the device state control device further comprises a second high-precision sliding guide.

[0018] The environmental control system comprises:

[0019] A xenon arc lamp group is installed on the second high-precision sliding guide, and a second servo motor and a second lead screw are installed on the second high-precision sliding guide to control the position of the xenon arc lamp group, and the xenon arc lamp group is used to provide different light intensities and simulate multiple types of environmental light.

[0020] An air source is installed on the side wall of the sealed container and is provided with an air inlet and an air outlet.

[0021] A constant temperature and humidity machine is installed behind the xenon arc lamp group and is provided with a constant temperature and humidity inlet and a constant temperature and humidity outlet on the side.

[0022] In one embodiment, the data acquisition device comprises: a distance measuring element for measuring the distance between the calibration plate installed on the first high-precision sliding guide rail and the ice detection system;

[0023] an angle sensor for measuring the angle of the calibration plate with the horizontal direction;

[0024] a temperature sensor, a humidity sensor, and a pressure sensor for measuring the temperature, humidity, and pressure of the gas medium in the sealed container.

[0025] Another object of the present application is to provide a calibration method for an aircraft ice detection system under the coupling of multiple environmental factors, which comprises the following steps:

[0026] S1, setting required environmental parameters: including the temperature, humidity, pressure, ambient light intensity in the sealed container, the distance and angle of the calibration plate to the infrared light source in the aircraft ice detection system;

[0027] S2, detecting the ice on the calibration plate, uploading the ice detection value and the data obtained by the humidity sensor, pressure sensor, temperature sensor, distance measuring sensor, and angle sensor to the computer data control processing unit;

[0028] S3, adjusting the environmental parameters to obtain a data set; based on the obtained data set, applying a multivariate regression algorithm for analysis, screening out the influence factor set of the aircraft ice detection system and obtaining the error compensation amount of the aircraft ice detection system.

[0029] In one embodiment, in step S3, based on the data-driven multivariate regression algorithm, the ice thickness detection error is taken as the dependent variable, and the multiple influence factors are taken as the independent variables for multivariate regression analysis, the influence factor set of the aircraft ice detection system is screened out, and the parameters irrelevant to the ice detection system are excluded; and based on the obtained data set, the error compensation amount of the aircraft ice detection system is obtained by fitting.

[0030] Another object of the present application is to provide a computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to make the processor execute the calibration method for the aircraft ice detection system under the coupling of multiple environmental factors.

[0031] Another object of the present application is to provide an aircraft ice detection robot carrying the calibration device for the aircraft ice detection system under the coupling of multiple environmental factors.

[0032] In combination with all the above technical solutions, the present application has the following advantages and positive effects:

[0033] First, in view of the technical problems existing in the prior art and the difficulty of solving the problems, the technical problems solved by the technical scheme of the present application and some creative technical effects brought after the problems are solved are analyzed in detail and profoundly, in combination with the technical scheme to be protected by the present application and the results and data in the research and development process. The specific description is as follows: in order to improve the calibration efficiency and accuracy of the aircraft ice detection system, the present application designs a calibration device and method for the aircraft ice detection system under the coupling of multiple environmental factors. Furthermore, in order to improve the detection accuracy of the ice detection system and reduce the false detection rate and the missed detection rate of the ice detection system, the present application provides a calibration device and method for the aircraft ice detection system under the coupling of multiple environmental factors, which solves the problems of low efficiency and large influence of manual calibration on operators in the traditional manual calibration, and has great engineering application value in the field of ice detection.

[0034] Second, from the perspective of the product as a whole, the technical effects and advantages of the technical scheme to be protected by the present application are described in detail as follows: the calibration device for the aircraft ice detection system provided by the present application can improve the detection accuracy of the ice detection system, reduce the false detection rate and the missed detection rate of the ice detection system, and solve the problems of low efficiency and large influence of manual calibration on operators in the traditional manual calibration. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0036] Figure 1 is a schematic diagram of a calibration device for an aircraft ice detection system under the coupling of multiple environmental factors provided by an embodiment of the present application;

[0037] Figure 2 is a schematic diagram of a calibration plate provided by an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of a high-precision slide rail with a servo motor provided by an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of an adjustable support connected to the high-precision slide rail with a servo motor provided by an embodiment of the present application;

[0040] Figure 5 is a schematic diagram of a xenon arc lamp group provided by an embodiment of the present application;

[0041] Figure 6 is a schematic diagram of a sealed container provided by an embodiment of the present application;

[0042] Figure 7 is a connection block diagram of a computer data control processing unit provided by an embodiment of the present application;

[0043] Figure 8 is a multi-environment factor coupling under the aircraft residual ice detection system calibration method flow chart provided by the embodiment of the application;

[0044] Figure 9 is a multi-environment factor coupling under the aircraft residual ice detection system calibration method flow chart provided by the embodiment of the application;

[0045] In the figure: 1, calibration board; 2, adjustable support; 31, first high-precision sliding guide; 32, second high-precision sliding guide; 4, residual ice detection system; 5, xenon arc lamp group; 6, gas source; 7, humidity sensor; 8, pressure sensor; 9, temperature sensor; 10, constant temperature and humidity machine; 11, distance sensor; 12, angle sensor; 13, sealed container; 14, computer data control processing unit; 111, first aluminum alloy skin material area; 112, second aluminum alloy skin material area; 113, third aluminum alloy skin material area; 121, first composite material area; 122, second composite material area; 123, third composite material area; 131, first titanium alloy skin material area; 132, second titanium alloy skin material area; 133, third titanium alloy skin material area. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the scope of the present application, so the present application is not limited to the specific implementation disclosed below.

[0047] I. Explanation of the embodiment:

[0048] The embodiment of the present application provides a kind of multi-environment factor coupling under aircraft residual ice detection system calibration device, comprising:

[0049] Identification device, for marking the kind of fuselage skin material by different area division, and in different area division, according to the type of residual ice, divide multiple different state ice sub-area;

[0050] Device state control device, for carrying air control system, identification device and residual ice detection system 4, for adjusting the relative distance and angle between residual ice detection system 4, identification device, air control system;

[0051] Residual ice detection system 4, for implementing the residual ice information of multiple different state ice sub-area on identification device;

[0052] The environmental control system is used to simulate and provide multiple environmental factors in aircraft residual ice detection, including: ambient light, ambient air, ambient temperature and humidity;

[0053] Data acquisition device, used to collect the angle between the signage device and the horizontal direction, as well as the values ​​of environmental impact factors provided by the environmental control system;

[0054] The computer data control and processing unit 14 is used to wirelessly connect with the data acquisition device and analyze and process the data acquired by the data acquisition device.

[0055] In a preferred embodiment of the present invention, the marking device includes a calibration plate 1;

[0056] The equipment status control device includes an adjustable bracket 2; the adjustable bracket 2 includes a fine-tuning mechanism and a base connected to the first high-precision sliding guide rail 31. The fine-tuning mechanism in the adjustable bracket 2 can adjust the height of the calibration plate 1 in the marking device relative to the first high-precision sliding guide rail 31 and the angle with the horizontal plane.

[0057] The equipment status control device also includes a second high-precision sliding guide rail 32.

[0058] Example 1

[0059] like Figures 1-7 As shown, the calibration device for the aircraft residual ice detection system under multi-environmental factor coupling provided in this embodiment of the invention includes: a calibration plate 1, an adjustable bracket 2, a first high-precision sliding rail 31, a residual ice detection system 4, a xenon arc lamp group 5, an air source 6, a humidity sensor 7, a pressure sensor 8, a temperature sensor 9, a constant temperature and humidity machine 10, a distance sensor 11, an angle sensor 12, a sealed container 13, and a computer data control and processing unit 14, etc.

[0060] The calibration plate 1, the residual ice detection system 4, and the xenon arc lamp assembly 5 are respectively installed on Figure 1 The adjustable bracket 2 shown, and the infrared active light source on the residual ice detection system 4 and the xenon arc lamp group 5 face the same direction, intersect with the direction facing the calibration plate 1, and are parallel to the first high-precision sliding rail 31.

[0061] The xenon arc lamp assembly 5, the gas source 6, and the constant temperature and humidity machine 10 together form an environmental control system. The xenon arc lamp assembly 5 is mounted on the adjustable bracket 2 and placed on the second high-precision sliding rail 32, and its front is provided with an ambient light emission port.

[0062] The air source 6 is installed on the side wall of the sealed container 13 and has an air inlet and an air outlet.

[0063] The constant temperature and humidity machine 10 is installed behind the xenon arc lamp assembly 5, and its side is provided with an air inlet and an air outlet.

[0064] The computer data control processing unit 14 (such as Figure 7 ) is wirelessly connected with the data acquisition device humidity sensor 7, pressure sensor 8, temperature sensor 9, distance sensor 11, and angle sensor 12 at the same time, and the collected data is used for subsequent analysis and processing.

[0065] Embodiment 2

[0066] Based on the multi-environment factor coupling aircraft residual ice detection system calibration device described in embodiment 1, further, the entire device is sealed in a sealed container (heat insulation container) 13, which internally installs a constant temperature and humidity machine 10, an air source 6, and a xenon arc lamp group 5, for simulating the real environment when the aircraft residual ice detection system 4 is working. The aircraft residual ice detection system 4 calibration device designed by the application is equipped with powerful data acquisition devices (humidity sensor 7, pressure sensor 8, temperature sensor 9, distance sensor 11, and angle sensor 12) for collecting various environmental parameters and uploading them to the computer data control processing unit 14.

[0067] When the aircraft residual ice detection system 4 needs to be calibrated, first set the environmental parameters required for this experiment: including the temperature, humidity, pressure, environmental light intensity in the sealed container 13, and the distance and angle between the calibration board 1 and the infrared light source in the aircraft residual ice detection system 4. Then turn on the residual ice detection system 4 to detect the residual ice on the calibration board 1, and upload the detection value and the data of the humidity sensor 7, pressure sensor 8, temperature sensor 9, distance sensor 11, and angle sensor 12 to the computer data control processing unit 14. Adjust the environmental parameters to perform multiple experiments and obtain sufficient data sets.

[0068] Based on the obtained data sets, apply a multiple regression algorithm for analysis, filter out the influence factor set of the aircraft residual ice detection system 4, and obtain the error compensation amount of the aircraft residual ice detection system 4. The steps of the multiple regression algorithm are as follows:

[0069] As shown in the accompanying Figure 8As shown, the residual ice thickness detection error is taken as the dependent variable, and multiple influencing factors are taken as the independent variables. First, correlation analysis is performed to measure whether there is correlation between the dependent variable and the independent variable, and between the independent variables. If the correlation between the dependent variable and the independent variable is poor, it indicates that there is no significant causal relationship between the independent variable and the dependent variable, and the independent variable can be excluded. If the correlation between the two dependent variables is strong, it indicates that the two dependent variables are replaceable, and one of the two dependent variables can be retained. Subsequently, scatter plots of each independent variable and the dependent variable are drawn to observe whether there is a linear relationship. If there is a linear relationship between the dependent variable and the independent variable, multiple linear regression is performed, otherwise multiple nonlinear regression is performed to obtain a multiple regression model. Then, the effectiveness of the obtained model is verified: mainly measuring the multiple test coefficient R2. The higher the value of R2, the better the fitting degree, and the higher the effectiveness of the model. The output of the model is the compensation of the aircraft residual ice detection system 4.

[0070] Embodiment 3

[0071] Based on the aircraft residual ice detection system 4 calibration device provided in the embodiments of the present application, further, the calibration plate 1 is divided into three main areas according to the types of the aircraft skin materials, such as Figure 2 As shown, that is:

[0072] The first aluminum alloy skin material area 111, the second aluminum alloy skin material area 112, the third aluminum alloy skin material area 113, the first composite material area 121, the second composite material area 122, the third composite material area 123, the first titanium alloy skin material area 131, the second titanium alloy skin material area 132, and the third titanium alloy skin material area 133.

[0073] Each main area is further divided into three sub-areas according to the types of residual ice, and each sub-area is covered with five typical aircraft coatings of red, black, white, blue, and off-white;

[0074] The residual ice type in the first aluminum alloy skin material area 111, the first composite material area 121, and the first titanium alloy skin material area 131 is frost ice.

[0075] The residual ice type in the second aluminum alloy skin material area 112, the second composite material area 122, and the second titanium alloy skin material area 132 is transparent ice.

[0076] The residual ice type in the third aluminum alloy skin material area 113, the third composite material area 123, and the third titanium alloy skin material area 133 is mixed ice.

[0077] Each of the above areas is covered with equal-area red, black, white, blue, and off-white five typical aircraft coatings.

[0078] In the embodiment of the present application, the first high-precision sliding guide rail 31 is further provided with a residual ice detection system 4, and the distance between the calibration plate 1 and the infrared active light source of the residual ice detection system 4 is controlled by using a first servo motor and a first screw rod;

[0079] In the embodiment of the present application, the sealed container 13 and the environmental control system are used to seal the environment in which the calibration plate 1 and the residual ice detection system 4 are located, and simulate the environment in which the residual ice detection system 4 of the airplane works;

[0080] The data acquisition device is used to acquire the values of the distance, the angle of the calibration plate 1 with the horizontal direction, and the environmental influence factors. The data acquisition device comprises a humidity sensor 7, a pressure sensor 8, a temperature sensor 9, a distance measuring sensor 11, and an angle sensor 12.

[0081] The adjustable support 2 comprises a fine adjustment mechanism and a base connected with the first high-precision sliding guide rail 31. The fine adjustment mechanism (not shown in the figure) in the adjustable support 2 can adjust the height of the calibration plate 1 relative to the first high-precision sliding guide rail 31 and the angle with the horizontal plane.

[0082] In the embodiment of the present application, the environmental control system comprises a xenon arc lamp group 5 installed on a second high-precision sliding guide rail 32 with a servo motor. A second servo motor and a second screw rod are installed on the second high-precision sliding guide rail 32 to control the position of the xenon arc lamp group 5. The xenon arc lamp group 5 can provide different light intensities to simulate different types of environmental light.

[0083] The gas source 6 can provide different density gas media.

[0084] The constant temperature and humidity machine 10 is used to adjust the temperature and humidity of the medium in the sealed container 13.

[0085] The data acquisition device comprises a distance measuring element 11 used to measure the distance between the calibration plate 1 installed on the first high-precision sliding guide rail 31 and the residual ice detection system 4, an angle sensor 12 used to measure the angle of the calibration plate 1 with the horizontal direction, a temperature sensor 9, a humidity sensor 7, and a pressure sensor 8 used to measure the temperature, humidity, and pressure of the gas medium in the sealed container 13.

[0086] Embodiment 4

[0087] As shown in Figure 9 The embodiment of the present application provides a calibration method for an airplane residual ice detection system under the coupling of multiple environmental factors. The calibration of the airplane residual ice detection system is realized based on the calibration device for the airplane residual ice detection system. The method mainly comprises the following steps:

[0088] S101, set the environment parameters required for this experiment: including the temperature, humidity, pressure, ambient light intensity in the sealed container 13, the distance and angle of the infrared light source in the aircraft ice detection system 4 and the calibration plate 1;

[0089] S102, start the ice detection system 4, detect the ice on the calibration plate 1, and upload the ice detection value and the data measured by the humidity sensor 7, pressure sensor 8, temperature sensor 9, distance sensor 11 and angle sensor 12 to the computer data control processing unit 14.

[0090] S103, adjust the environmental parameters to perform multiple experiments to obtain sufficient data sets; based on the obtained data sets, apply a multiple regression algorithm for analysis, filter out the influence factor set of the aircraft ice detection system and obtain the error compensation of the aircraft ice detection system.

[0091] Example 5

[0092] Based on the aircraft ice detection system calibration method under the coupling of multiple environmental factors described in Example 4, further, in step S103, based on the data-driven multiple regression algorithm, the ice thickness detection error (the difference between the true value of the ice thickness and the measured value of the ice detection system) is taken as the dependent variable, and the multiple influence factors are taken as the independent variable. Multiple regression analysis is performed to first filter out the influence factor set of the aircraft ice detection system and exclude the parameters irrelevant to the ice detection system. Then, based on the large data set obtained by the experiment, the error compensation of the aircraft ice detection system is obtained by fitting.

[0093] In the above examples, the description of each example has its own focus, and the parts not described or recorded in a certain example can be referred to the related description of other examples.

[0094] The information interaction, execution process and other contents between the above devices / units, since based on the same concept as the method embodiments of the present application, the specific functions and the technical effects brought by them can be referred to the method embodiment part, which will not be repeated here.

[0095] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0096] II. Application Examples:

[0097] This invention also provides a computer device comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0098] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps described in the various method embodiments above.

[0099] This invention also provides an information data processing terminal, which, when executed on an electronic device, provides a user input interface to implement the steps described in the above method embodiments. The information data processing terminal is not limited to mobile phones, computers, or switches.

[0100] This invention also provides a server that, when executed on an electronic device, provides a user input interface to implement the steps described in the above method embodiments.

[0101] This invention provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0103] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A calibration device for an aircraft residual ice detection system under multiple environmental factors coupled together, characterized in that, The calibration device for the aircraft residual ice detection system under multiple environmental factors coupling includes: The marking device is used to identify the type of fuselage skin material by dividing different areas, and to divide the different areas into multiple ice sub-zones of different states according to the type of residual ice; The equipment status control device is used to carry the environmental control system, the marking device and the residual ice detection system (4), and to adjust the relative distance and angle between the residual ice detection system (4), the marking device and the environmental control system; The residual ice detection system (4) is used to detect residual ice information in multiple ice sub-areas with different states on the identification device; The environmental control system is used to simulate and provide multiple environmental factors in aircraft residual ice detection, including: ambient light, ambient air, ambient temperature and humidity; Data acquisition device, used to collect the angle between the signage device and the horizontal direction, as well as the values ​​of environmental impact factors provided by the environmental control system; The computer data control and processing unit (14) is used to wirelessly connect with the data acquisition device and analyze and process the data acquired by the data acquisition device. The marking device is equipped with a calibration plate (1), which is divided into a first aluminum alloy skin material area (111), a second aluminum alloy skin material area (112), a third aluminum alloy skin material area (113), a first composite material area (121), a second composite material area (122), a third composite material area (123), a first titanium alloy skin material area (131), a second titanium alloy skin material area (132), and a third titanium alloy skin material area (133) according to the type of fuselage skin material. Each material area is divided into three sub-areas based on the type of residual ice: frost ice, transparent ice, and mixed ice. Each sub-area is covered with five typical aircraft paint schemes of equal area: red, black, white, blue, and gray-white.

2. The calibration device for an aircraft residual ice detection system under multiple environmental factors coupled according to claim 1, characterized in that, The equipment status control device includes an adjustable bracket (2). The adjustable bracket (2) includes a fine-tuning mechanism and a base connected to the first high-precision sliding guide rail (31). The fine-tuning mechanism in the adjustable bracket (2) can adjust the height of the calibration plate (1) in the marking device relative to the first high-precision sliding guide rail (31) and the angle with the horizontal plane.

3. The calibration device for an aircraft residual ice detection system under multiple environmental factors coupled according to claim 2, characterized in that, An ice residual detection system (4) is installed on the first high-precision sliding guide rail (31). The distance between the first servo motor and the first lead screw on the first high-precision sliding guide rail (31) and the infrared active light source in the ice residual detection system (4) is adjusted.

4. The calibration device for an aircraft residual ice detection system under multiple environmental factors coupled according to claim 1, characterized in that, The equipment status control device also includes a second high-precision sliding guide rail (32). The environmental control system includes: xenon arc lamp assembly (5), air source (6), and constant temperature and humidity machine (10). The xenon arc lamp assembly (5) is mounted on the second high-precision sliding rail (32). The second high-precision sliding rail (32) is equipped with a second servo motor and a second lead screw to control the position of the xenon arc lamp assembly (5). The xenon arc lamp assembly (5) is used to provide different light intensities and simulate multiple types of ambient light. The air source (6) is installed on the side wall of the sealed container (13) and is provided with an air inlet and an air outlet; The constant temperature and humidity machine (10) is installed behind the xenon arc lamp assembly (5), and has a constant temperature and humidity air inlet and a constant temperature and humidity air outlet on the side.

5. The calibration device for an aircraft residual ice detection system under multiple environmental factors coupled according to claim 1, characterized in that, The data acquisition device includes: The ranging element (11) is used to measure the distance between the calibration plate (1) installed on the first high-precision sliding guide rail (31) and the residual ice detection system (4); An angle sensor (12) is used to measure the angle between the calibration plate (1) and the horizontal direction; Temperature sensor (9), humidity sensor (7), and pressure sensor (8) are used to measure the temperature, humidity, and pressure of the gas medium inside the sealed container (13).

6. A calibration method for a calibration device for an aircraft residual ice detection system under multi-environmental factor coupling according to any one of claims 1-5, characterized in that, The calibration method includes: S1, set the required environmental parameters: including temperature, humidity, pressure, ambient light intensity, distance and angle between the calibration plate (1) and the infrared light source in the aircraft residual ice detection system (4) inside the sealed container (13); S2, detect the residual ice on the calibration plate (1), and upload the residual ice detection value, as well as the data obtained by measuring the humidity sensor (7), pressure sensor (8), temperature sensor (9), distance sensor (11), and angle sensor (12), to the computer data control and processing unit (14). S3, adjust the environmental parameters and obtain the dataset; based on the obtained dataset, apply the multivariate regression algorithm to analyze and screen out the set of influencing factors of the aircraft residual ice detection system (4) and obtain the error compensation amount of the aircraft residual ice detection system (4).

7. The calibration method according to claim 6, characterized in that, In step S3, based on the data-driven multiple regression algorithm, the residual ice thickness detection error is used as the dependent variable and multiple influencing factors are used as independent variables to perform multiple regression analysis, screen out the set of influencing factors of the aircraft residual ice detection system (4), and exclude parameters that are irrelevant to the residual ice detection system (4); then, the error compensation amount of the aircraft residual ice detection system (4) is obtained by fitting based on the obtained dataset.

8. A computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the calibration method of claim 7.

9. An aircraft residual ice detection robot equipped with a calibration device for an aircraft residual ice detection system under multi-environmental factor coupling as described in any one of claims 1-5.

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