CN110378878B - Method and device for detecting aircraft air inlet and storage medium - Google Patents

Method and device for detecting aircraft air inlet and storage medium Download PDF

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CN110378878B
CN110378878B CN201910550629.6A CN201910550629A CN110378878B CN 110378878 B CN110378878 B CN 110378878B CN 201910550629 A CN201910550629 A CN 201910550629A CN 110378878 B CN110378878 B CN 110378878B
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air inlet
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aircraft air
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CN110378878A (en
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车建强
林义闽
廉士国
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Cloudminds Shanghai Robotics Co Ltd
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Cloudminds Robotics Co Ltd
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Abstract

The disclosure relates to a method, a device and a storage medium for detecting an aircraft air inlet, wherein the method comprises the following steps: the method comprises the steps that a terminal obtains position information of a robot, and a planned path is determined according to the position information and a surface standard image; the terminal sends the planned path to a robot; the robot receives the planned path sent by the terminal, moves according to the planned path and acquires surface images of a plurality of image acquisition positions; the robot sends a plurality of surface images to a terminal, wherein the surface images comprise surface images of the plurality of image acquisition positions; and the terminal receives the plurality of surface images sent by the robot and determines whether the surface of the target aircraft air inlet channel is damaged or not according to the plurality of surface images and the surface standard image.

Description

Method and device for detecting aircraft air inlet and storage medium
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for detecting an aircraft air inlet, and a storage medium.
Background
In the aircraft inspection work, the inspection of the aircraft air inlet passage is one of the key points of ground service inspection, whether damage exists on the surface of the aircraft air inlet passage is inspected, and the inspection mainly comprises the steps of inspecting whether rivets are complete or not, whether parts are loosened or not, whether foreign matters exist or not and the like, so that accidents caused after the rivets are sucked by an engine are avoided.
At present, the surface of the air inlet of the airplane is inspected mainly by visual inspection of ground service workers, namely according to the regulations of a related maintenance manual, short and small personnel are arranged before taking off according to flight time requirements, the personnel wear static-free work clothes without accessories (so as to avoid people bringing things), the flashlight is worn or held by hands, the air inlet of the airplane is climbed into the air inlet of the airplane for visual inspection, namely whether the surface of the air inlet of the airplane is damaged or not is checked through eyes, after the inspection is finished, related forms are filled in, and the inspection result is recorded. Therefore, the existing visual inspection mode is time-consuming and labor-consuming, the inspection efficiency is low, and when the damage degree of the surface of the air inlet channel of the airplane is small, visual inspection is difficult to find, omission easily occurs, and the inspection result is inaccurate.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a method, an apparatus, and a storage medium for detecting an aircraft air inlet.
In order to achieve the above object, in a first aspect, an embodiment of the present disclosure provides a method for detecting an aircraft inlet, which is applied to a terminal, and includes:
acquiring a surface standard image of a target aircraft air inlet to be detected;
acquiring position information of the robot, and determining a planned path according to the position information and the surface standard image, wherein the planned path comprises a plurality of image acquisition positions;
sending the planned path to the robot so that the robot can move according to the planned path and obtain surface images of a plurality of image obtaining positions, wherein an overlapping area exists between two adjacent surface images;
receiving a plurality of surface images sent by the robot, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions;
and determining whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image.
In a second aspect, an embodiment of the present disclosure provides a method for detecting an aircraft air inlet, which is applied to a robot, and includes:
sending the position information of the robot to a terminal so that the terminal can determine a planned path according to the position information and a surface standard image, wherein the planned path comprises a plurality of image acquisition positions;
receiving the planned path sent by the terminal, and moving according to the planned path, wherein the planned path comprises a plurality of image acquisition positions;
acquiring surface images of a plurality of image acquisition positions, wherein an overlapped area exists between two adjacent surface images;
and sending a plurality of surface images to the terminal, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions, so that the terminal can determine whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and a preset surface standard image.
In a third aspect, an embodiment of the present disclosure provides an apparatus for detecting an aircraft inlet, which is applied to a terminal, and includes:
the standard image acquisition module is used for acquiring a surface standard image of a target aircraft air inlet to be detected;
the planning path determining module is used for acquiring the position information of the robot and determining a planning path according to the position information and the surface standard image, wherein the planning path comprises a plurality of image acquisition positions;
the planned path sending module is used for sending the planned path to the robot so that the robot can move according to the planned path and obtain surface images of a plurality of image obtaining positions, wherein an overlapping area exists between two adjacent surface images;
the surface image receiving module is used for receiving a plurality of surface images sent by the robot, and the plurality of surface images comprise surface images of the plurality of image acquisition positions;
and the surface damage determining module is used for determining whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image.
In a third aspect, an embodiment of the present disclosure provides an apparatus for detecting an aircraft air inlet, which is applied to a robot, and includes:
the position information sending module is used for sending the position information of the robot to a terminal so that the terminal can determine a planned path according to the position information and a surface standard image, and the planned path comprises a plurality of image acquisition positions;
the planned path receiving module is used for receiving the planned path sent by the terminal and moving according to the planned path, and the planned path comprises a plurality of image acquisition positions;
the device comprises a surface image acquisition module, a surface image acquisition module and a surface image acquisition module, wherein the surface images of a plurality of image acquisition positions are acquired, and an overlapping area exists between two adjacent surface images;
and the surface image sending module is used for sending a plurality of surface images to the terminal, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions, so that the terminal can determine whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image.
In a fifth aspect, an embodiment of the present disclosure provides an apparatus for detecting an aircraft air inlet, which is applied to a terminal, and includes a memory, on which a computer program is stored; a processor for executing the computer program in the memory to implement the steps of the method of the first aspect.
In a sixth aspect, an embodiment of the present disclosure provides an apparatus for detecting an aircraft air inlet, which is applied to a robot, and includes a memory, on which a computer program is stored; a processor for executing the computer program in the memory to implement the steps of the method of the second aspect.
In a seventh aspect, the disclosed embodiments provide a computer-readable storage medium, on which computer program instructions are stored, which when executed by a processor implement the steps of the method of the first aspect; alternatively, the program instructions, when executed by a processor, implement the steps of the method of the second aspect
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the terminal receives a plurality of surface images sent by the robot, and determines whether the surface of the aircraft air inlet channel is damaged or not according to the plurality of surface images and the surface standard image, so that visual inspection by ground service workers is not needed, the detection efficiency is greatly improved, the problem that visual inspection is easy to omit under the condition that the damage degree of the surface of the aircraft air inlet channel is small is avoided, and the detection result is more accurate.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic block diagram illustrating a system for detecting an aircraft inlet in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of detecting an aircraft inlet in accordance with an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method of detecting an aircraft inlet in accordance with an exemplary embodiment;
FIG. 4 is a signaling interaction diagram illustrating a method of detecting an aircraft air scoop in accordance with an exemplary embodiment;
FIG. 5 is a cross-sectional view of an aircraft inlet shown in accordance with an exemplary embodiment;
FIG. 6 is a flowchart illustrating a method for determining surface deformation damage of an aircraft inlet according to an exemplary embodiment;
FIG. 7 is a schematic flow diagram illustrating a method for determining burn on an aircraft inlet surface in accordance with an exemplary embodiment;
FIG. 8 is a block diagram illustrating a first apparatus for detecting an aircraft inlet in accordance with an exemplary embodiment;
FIG. 9 is a block diagram illustrating a second apparatus for detecting an aircraft inlet in accordance with an exemplary embodiment;
FIG. 10 is a block diagram illustrating an apparatus in accordance with an exemplary embodiment;
FIG. 11 is a block diagram illustrating another apparatus in accordance with an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
In the process of airplane inspection, whether damage exists on the surface of an airplane air inlet channel is one of important points of ground service inspection, and the method mainly comprises the steps of inspecting whether rivets are complete or not, whether parts are loosened or not, whether foreign matters exist or not and the like so as to avoid accidents caused by the fact that the rivets are sucked by an engine.
At present, the surface of the air inlet of the airplane is inspected mainly by visual inspection of ground service staff, namely according to the regulations of a related maintenance manual, short and small personnel are arranged before taking off according to the flight time requirement, the personnel wear static-free and additive-free work clothes (so as to avoid people bringing things), a flashlight is worn on the head or holds the flashlight by hand, the air inlet of the airplane is climbed into the air inlet, the inspection is carefully checked, the filling of related forms is completed, and the inspection result is recorded.
The air inlet of modern aircraft usually adopts no boundary layer separating channel in the aspect of structure, and the whole air inlet is in a short S-shaped streamline shape. Due to large daily stress and large temperature change, the air inlet channel generates structural distortion damage and surface damage at the outlet. The former is mainly deformation injury, and the latter is mainly surface burn. Deformation damage and surface burn are easy to be found by visual inspection of workers under the condition of larger degree, but are difficult to be found by visual inspection and easy to be missed under the condition of smaller degree, particularly under the condition that the streamline structure generates overall micro-deviation.
The inventor has noted this problem and proposes a system for detecting an aircraft inlet, as follows:
fig. 1 is a schematic structural diagram illustrating a first system for detecting an aircraft inlet according to an exemplary embodiment, where the system includes, as shown in fig. 1:
a terminal 101 and a robot 102. Wherein, the terminal 101 and the robot 102 can be connected in communication.
In this embodiment, the terminal may be a computer, a tablet, a mobile phone, or other terminal device, and the embodiment is not limited herein, and the robot may be provided with an image acquisition device, so that when the robot moves in the aircraft air inlet, the robot acquires the surface image in the aircraft air inlet through the image acquisition device.
In this embodiment, the user may send a start test instruction to the terminal, and the terminal sends the start test instruction to the robot after receiving the start test instruction sent by the user. And after receiving a starting test instruction sent by the terminal, the robot starts to move in the near air channel of the airplane and acquires a surface image in the air inlet channel of the airplane.
The robot acquires a surface image in the aircraft air inlet channel, and then sends the surface image to the terminal, and the terminal determines whether the surface of the aircraft air inlet channel is damaged or not according to the surface image.
Further, after determining that the surface of the aircraft air inlet is damaged, the terminal sends damage prompt information to a user to prompt the user that the damage exists in the aircraft air inlet.
How the system for detecting an aircraft air inlet provided in this embodiment detects surface damage of the aircraft air inlet is described below with reference to specific embodiments.
FIG. 2 is a flow chart illustrating a method for detecting an aircraft inlet for use at a terminal, as shown in FIG. 2, according to an exemplary embodiment, the method comprising:
s201, obtaining a surface standard image of a target aircraft air inlet to be detected;
illustratively, the surface standard image of the target aircraft air inlet to be detected is a surface standard model image of the target aircraft air inlet to be detected, and includes a surface standard model of the target aircraft air inlet to be detected.
S202, acquiring position information of the robot, and determining a planned path according to the position information and the surface standard image, wherein the planned path comprises a plurality of image acquisition positions.
S203, sending the planned path to the robot so that the robot moves according to the planned path and surface images of a plurality of image acquisition positions are acquired, wherein an overlapped area exists between two adjacent surface images.
In this embodiment, the terminal obtains the position information of the robot in the aircraft air inlet, where the position information is the current position information of the robot in the aircraft air inlet.
Firstly, the terminal can obtain the necessary position of the surface image to be obtained in the surface standard image, and determines a path plan according to the necessary position of the surface image to be obtained in the surface standard image, wherein the planned path comprises a plurality of image obtaining positions. Secondly, the path plan is sent to the robot so that the robot can move according to the planned path to reach a plurality of image acquisition positions, and surface images of the plurality of image acquisition positions are acquired through the image acquisition device.
It should be noted that a necessary position in the surface standard image, at which the surface image is to be acquired, may be preset, and the necessary position covers the entire aircraft air inlet, and further, the surface image acquired at the necessary position may cover the surface of the entire aircraft air inlet.
S204, receiving a plurality of surface images sent by the robot, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions.
S205, determining whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image.
The surface damage of the aircraft air inlet comprises deformation damage and surface burn, after the terminal receives a plurality of surface images sent by the robot, whether the surface of the target aircraft air inlet is damaged or not can be determined according to the plurality of surface images and the surface standard model of the aircraft air inlet, and whether the surface damage of the target aircraft air inlet is deformation damage or surface burn or not can be determined.
For example, when the surface damage is the deformation damage, three-dimensional reconstruction may be performed on the surface of the target aircraft air inlet according to a plurality of surface images to obtain a three-dimensional model image, where the three-dimensional model image includes a three-dimensional model of the surface of the aircraft air inlet, the distance between the three-dimensional model of the surface of the aircraft air inlet and the surface standard model of the aircraft air inlet is calculated, and whether the surface of the target aircraft air inlet has the deformation damage is determined according to the distance.
For the condition that the surface damage is surface burn, the color difference between the images corresponding to the multiple surface images and the three-dimensional model image can be calculated, and then whether the surface burn exists on the surface of the air inlet of the target airplane or not can be determined according to the color difference.
By adopting the scheme, the terminal receives a plurality of surface images sent by the robot, and determines whether the surface of the aircraft air inlet channel is damaged or not according to the plurality of surface images and the surface standard image, so that visual inspection by ground service workers is not needed, the detection efficiency is greatly improved, the problem that the visual inspection is easy to omit under the condition that the damage degree of the surface of the aircraft air inlet channel is smaller is avoided, and the detection result is more accurate.
FIG. 3 is a flow chart illustrating another method for detecting aircraft air intakes, as applied to a robot, according to an exemplary embodiment, the method comprising:
s301, sending the position information of the robot to a terminal so that the terminal can determine a planned path according to the position information and the surface standard image, wherein the planned path comprises a plurality of image acquisition positions.
In this embodiment, the position information is the current position information of the robot in the air inlet of the aircraft.
S302, receiving the planned path sent by the terminal, and moving according to the planned path, wherein the planned path comprises a plurality of image acquisition positions;
and S303, acquiring surface images of a plurality of image acquisition positions, wherein the two adjacent surface images have an overlapped area.
Illustratively, after receiving the planned path sent by the terminal, the robot moves in the aircraft air inlet according to the planned path, reaches a plurality of image acquisition positions in the aircraft air inlet, and acquires surface images of the plurality of image acquisition positions in the aircraft air inlet through the image acquisition device.
Further, in order to ensure that a plurality of surface images of the target aircraft inlet channel can completely cover the whole target aircraft inlet channel, the surface images of two adjacent aircraft inlet channels have an overlapping area, and the overlapping degree of the surface images of the two adjacent aircraft inlet channels is not less than the preset overlapping degree. For example, in the present embodiment, the preset coincidence degree may be 50% to 80%, for example, may be 70%, that is, the coincidence degree of two adjacent aircraft inlet surface images is not less than 70%.
S304, sending a plurality of surface images to the terminal, wherein the surface images comprise surface images of the image acquisition positions, so that the terminal can determine whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image.
For example, after the robot moves to reach a plurality of image acquisition positions in the aircraft air inlet, surface images of the image acquisition positions are acquired, and the target surface image is sent to the terminal, so that the terminal can determine whether the surface of the aircraft air inlet is damaged according to the surface image and the surface standard image.
By adopting the scheme, the robot can receive the path plan sent by the terminal; moving to the plurality of image acquisition positions according to the path plan; acquiring surface images of the plurality of image acquisition positions; the surface image is sent to the terminal, so that whether the surface of the aircraft air inlet channel is damaged or not is determined by the terminal according to the surface image and the surface standard image, visual inspection of ground service workers is not needed, the detection efficiency is greatly improved, the problem that visual inspection is easy to omit under the condition that the damage degree of the surface of the aircraft air inlet channel is small is avoided, and the detection result is more accurate.
The method for detecting an aircraft inlet according to the embodiment of the present disclosure is further described in detail below with reference to the embodiment of fig. 4.
FIG. 4 is a signaling interaction diagram illustrating a method of detecting an aircraft inlet in accordance with an exemplary embodiment, as shown in FIG. 4, the method comprising:
s401, a terminal acquires a surface standard image of a target aircraft air inlet to be detected.
Illustratively, the surface standard image of the target aircraft air inlet to be detected is a surface standard model image of the target aircraft air inlet to be detected, and includes a surface standard model of the target aircraft air inlet to be detected.
S402, the robot sends the position information of the robot to the terminal.
In this embodiment, the position information is the current position information of the robot in the air inlet of the aircraft.
And S403, the terminal acquires the position information of the robot.
S404, the terminal determines a planned path according to the position information and the surface standard image, wherein the planned path comprises a plurality of image acquisition positions.
Illustratively, the terminal acquires necessary positions of surface images to be acquired in the standard surface images, then sequentially determines a plurality of target positions which are not acquired from the acquired current position information of the robot in the aircraft air inlet according to the sequence from near to far away from the position information, takes the plurality of target positions as image acquisition positions, and then determines a planned path according to the plurality of image acquisition positions.
How to determine the plurality of target positions is explained below with reference to fig. 5. Fig. 5 is a cross-sectional view of an aircraft air scoop shown in fig. 5, wherein B, C, D, E is the necessary location for a surface image to be acquired in the four surface standard images, and a is the location of the robot within the aircraft air scoop. As shown in fig. 5, B is a point closest to a, B is a necessary position for acquiring a surface image that the robot does not reach, and B is taken as a first target position. C is the point closest to B and further from A than B, and is taken as the second target position. And by analogy, taking D as a third target position and taking E as a fourth target position.
Further, B, C, D, E were taken as the image acquisition locations and a path plan was determined from B, C, D, E, the path plan being in turn to B, C, D, E.
And S405, the terminal sends the planned path to the robot.
For example, after determining the planned path, the terminal sends the planned path to the robot so that the robot moves in the aircraft air inlet according to the planned path.
And S406, the robot receives the planned path sent by the terminal.
S407, the robot moves according to the planned path and surface images of a plurality of image acquisition positions are acquired.
In this embodiment, after receiving the planned path sent by the terminal, the robot moves in the aircraft air inlet according to the planned path, sequentially reaches B, C, D, E four image acquisition positions, and sequentially acquires surface images of B, C, D, E four image acquisition positions in the aircraft air inlet through the image acquisition device.
S408, the robot sends a plurality of surface images to the terminal, wherein the surface images comprise surface images of the plurality of image acquisition positions;
s409, the terminal receives the multiple surface images sent by the robot;
s410, determining whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image.
Illustratively, after the robot sequentially acquires surface images of B, C, D, E four image acquisition positions in the aircraft air inlet, the multiple surface images are sequentially sent to the terminal, and after the terminal sequentially receives the multiple surface images, whether the surface of the target aircraft air inlet is damaged or not is determined according to the multiple surface images and the surface standard image.
The surface damage of the aircraft air inlet comprises deformation damage and surface burn. How the terminal determines whether the surface of the aircraft air inlet has deformation damage and surface burn according to the target surface image and the surface standard image is described below with reference to fig. 6 and 7 respectively.
FIG. 6 is a flowchart illustrating a method for determining surface deformation damage of an aircraft inlet according to an exemplary embodiment, where the method includes:
s601, performing incremental modeling on the surface of the aircraft air inlet according to the multiple surface images by the terminal to obtain a three-dimensional model image of the surface of the aircraft air inlet, wherein the three-dimensional model image of the surface of the aircraft air inlet comprises the three-dimensional model of the surface of the aircraft air inlet.
Illustratively, after the terminal receives the multiple surface images in sequence, incremental modeling is performed on the surface of the aircraft air inlet. The specific process of incremental modeling is described below in conjunction with fig. 5.
In this embodiment, after receiving a surface image acquired by the robot at a point a at a current position, the terminal performs three-dimensional reconstruction on the surface image at the current position to obtain a first local model, where the first local model is a local model of the current position. And after receiving the surface image of the first target position acquired after the robot reaches the point B, the terminal obtains a second local model according to the first local model and the surface image of the first target position, wherein the second local model is A, B local models at two positions. And after the terminal receives the surface image of the second target position obtained after the robot reaches the point C again, a third local model is obtained according to the second local model and the surface image of the second target position, wherein the second local model is A, B, C local models of three positions. And the rest is repeated until a three-dimensional model of the surface of the whole aircraft air inlet channel is obtained.
In order to make the three-dimensional reconstruction of the target aircraft inlet surface more accurate, the resolutions of the surface images may be greater than or equal to a preset resolution, for example, in the present embodiment, the resolutions of the surface images are greater than or equal to 1280 × 1080 pixels.
Similarly, in order to enable the three-dimensional reconstruction of the surface of the air inlet channel of the target aircraft to be more accurate, the contact ratio of the surface images of the two adjacent air inlet channel pipelines of the target aircraft is not less than the preset contact ratio. For example, in the present embodiment, the preset coincidence degree may be 50% to 80%, for example, 70%, that is, the coincidence degree of the adjacent two images of the aircraft inlet duct surface is not less than 70%.
It should be noted that, the three-dimensional reconstruction mode may refer to a scheme of three-dimensional reconstruction in the prior art, and details are not described in this embodiment.
Further, after obtaining the three-dimensional model image of the surface of the target aircraft air inlet, in order to ensure that the surface of the three-dimensional model meets the requirements of smoothness and uniformity and better conforms to the aerodynamic design of the aircraft air inlet, it may be determined whether the surface of the obtained three-dimensional model meets the requirement of curvature continuity, if the surface of the three-dimensional model meets the requirement of curvature continuity, the subsequent step S602 is executed, so that when it is subsequently determined whether the surface of the target aircraft air inlet has damage according to the three-dimensional model image, the accuracy of the determination result is improved, and if the surface of the three-dimensional model does not meet the requirement of curvature continuity, the reconstruction of the three-dimensional model may be performed again until the surface of the established three-dimensional model meets the requirement of curvature continuity.
S602, the terminal obtains a first point cloud corresponding to the three-dimensional model image and a second point cloud corresponding to the surface standard image.
Illustratively, if the surface of the three-dimensional model of the surface of the target aircraft air inlet meets the requirement of continuous curvature, the three-dimensional model of the surface of the target aircraft air inlet is subjected to dispersion and upsampling to obtain a first point cloud, and the standard model of the surface of the aircraft air inlet is subjected to dispersion and upsampling to obtain a second point cloud.
S603, the terminal calculates the Hausdorff distance between the first Point cloud and the second Point cloud by utilizing an ICP (Iterative Closest Point) algorithm.
Illustratively, the first point cloud and the second point cloud are used as input of an ICP algorithm, and then the ICP algorithm is used to calculate the one-way hausdov distance from the first point cloud to the second point cloud and the one-way hausdov distance from the second point cloud to the first point cloud, respectively. And finally, comparing the one-way Hausdorff distance from the first point cloud to the second point cloud with the one-way Hausdorff distance from the second point cloud to the first point cloud, and taking the maximum value of the one-way Hausdorff distance as the Hausdorff distance.
Illustratively, the distance between each point in the first point cloud to the point in the second point cloud closest to this point is ranked, and then the maximum value in the distances is taken as the one-way hausdorff distance of the first point cloud to the second point cloud.
Correspondingly, the distance from each point in the second point cloud to the point in the first point cloud closest to the point is ranked, and then the maximum value in the distance is taken as the one-way Hausdorff distance from the second point cloud to the first point cloud.
The hausdorff distance of the first point cloud and the second point cloud is the greater of the one-way hausdorff distance of the first point cloud to the second point cloud and the one-way hausdorff distance of the second point cloud to the first point cloud, which measures the maximum degree of mismatch between the two point clouds.
S604, if the Hausdorff distance is larger than or equal to a preset distance threshold value, the terminal determines that deformation damage exists on the surface of the target aircraft air inlet.
And if the Hausdorff distance is smaller than the preset distance, determining that no deformation damage exists on the surface of the target aircraft air inlet.
And if the Hausdorff distance is greater than or equal to the preset distance, determining that deformation damage exists on the surface of the target aircraft air inlet.
Further, the position of the deformation damage can be determined by the bisection method in the embodiment.
Specifically, a three-dimensional model of the surface of the air inlet of the target aircraft is cut to obtain a first model and a second model. For example, three-dimensional animation software may be used to cut a three-dimensional model of the target aircraft inlet surface.
And cutting the surface standard model of the aircraft inlet channel in the same way to obtain a third model corresponding to the first model and a fourth model corresponding to the second model. And then acquiring a third point cloud corresponding to the first model, a fourth point cloud corresponding to the second model, a fifth point cloud corresponding to the third model and a sixth point cloud corresponding to the fourth model.
And calculating the Hausdorff distance between the third point cloud and the fifth point cloud, and determining whether the Hausdorff distance is greater than or equal to a preset distance.
If the Hausdorff distance is smaller than the preset distance, and deformation damage does not exist in the position area of the first model, it is determined that deformation damage exists in the position area of the second model, at this time, in order to determine the more accurate position of deformation damage, the second model and the fourth model can be continuously divided according to the model division mode, and the Hausdorff distance of the divided corresponding models is calculated until the Hausdorff distance is determined to be larger than or equal to the preset distance, so that it is determined that deformation damage exists in the area corresponding to the model of which the Hausdorff distance is larger than or equal to the preset distance.
If the Hausdorff distance is greater than or equal to the preset distance, deformation damage exists in the position area where the first model is located, at this time, in order to determine the more accurate position of the deformation damage, the first model and the third model can be continuously divided, and the Hausdorff distance of the divided corresponding models is calculated until the Hausdorff distance is determined to be greater than or equal to the preset distance, so that the deformation damage is determined to be located in the area corresponding to the model where the Hausdorff distance is greater than or equal to the preset distance. In addition, considering that the position region where the second model is located may also have deformation damage, whether deformation damage exists in the position region where the second model is located may also be determined, and the specific determination manner is the same as that described above and is not described again.
It should be noted that, after the location area of the deformation damage is determined, the model corresponding to the location area may be further divided, so that the location of the deformation damage is obtained more accurately, where the more the number of divisions, the more the obtained location is accurate, but the more the number of divisions, the higher the resource consumption of the system is, and therefore, in practical applications, the number of divisions may be determined by comprehensively considering the location accuracy and the consumption of the system resources.
By adopting the scheme, whether the surface of the target aircraft air inlet channel has deformation damage or not can be determined according to a plurality of surface images, the position of the deformation damage is further determined through a bisection method, the visual inspection of ground service workers is not needed, the detection efficiency is greatly improved, the problem that the visual inspection is easy to omit under the condition that the surface damage degree of the aircraft air inlet channel is small is avoided, and the detection result is more accurate.
How the method for detecting an aircraft air inlet provided by the present disclosure determines whether a surface burn exists on the surface of a target aircraft air inlet will be described in further detail below with reference to a specific embodiment of fig. 7.
FIG. 7 is a flowchart illustrating a method for determining burn on an aircraft inlet surface, according to an exemplary embodiment, where the method includes:
s701, a terminal acquires a first reference point image corresponding to a preset reference imaging point on a target surface image; the target surface image is any one of a plurality of surface images.
In this step, a first reference point image corresponding to the preset reference imaging point on the target surface image can be obtained according to the preset reference imaging point.
S702, the terminal acquires a second reference point image corresponding to the reference imaging point on the surface standard image.
Specifically, the second reference point image is an image corresponding to the position of the first reference point image on the surface standard image.
S703, the terminal performs superpixel segmentation on the first reference point image to obtain a plurality of first sub-regions;
s704, the terminal conducts the superpixel segmentation on the second reference point image to obtain a second sub-area corresponding to each first sub-area.
Here, superpixel segmentation refers to a process of subdividing a digital image into a plurality of image sub-regions (sets of pixels) in the field of computer vision, and is a manner of image segmentation. The super-pixel is a sub-region formed by a series of pixel points which are adjacent in position and similar in characteristics such as color, brightness, texture and the like. Most of the sub-regions retain effective information for further image segmentation, and generally do not destroy the boundary information of objects in the image.
It should be noted that, the super-pixel division in the present embodiment may refer to a division manner of super-pixel division in the prior art, and details are not described here.
S705, determining whether surface burn exists on the surface of the target aircraft air inlet according to the first sub-area and the second sub-area.
For example, first, a first color histogram of each of the first sub-regions and a second color histogram of the corresponding second sub-region may be obtained.
Secondly, whether the surface burn exists on the surface of the target aircraft air inlet is determined according to the difference between the first color histogram and the second color histogram.
In a possible implementation manner, a difference value between the pixel frequency of each first color histogram and the pixel frequency of each second color histogram may be calculated to obtain a plurality of pixel frequency difference values; then calculating the root mean square value of the frequency difference values of a plurality of pixels; and if the root mean square value is larger than or equal to the first root mean square threshold value, determining that the surface burn exists on the surface of the target aircraft inlet, and the surface burn is located in the first subarea.
By adopting the scheme, whether the surface of the target aircraft inlet channel has surface burn or not can be determined according to a plurality of surface images, visual inspection by ground service staff is not needed, the detection efficiency is greatly improved, the problem that visual inspection is easy to omit under the condition that the surface damage degree of the aircraft inlet channel is small is avoided, and the detection result is more accurate.
Illustratively, after determining that the surface of the aircraft air inlet has damage according to the multiple surface images, the terminal identifies the damage position corresponding to the three-dimensional model image of the surface of the aircraft air inlet for the user to view. For example, the damage position corresponding to the three-dimensional model image of the surface of the aircraft air inlet can be identified in a text and/or color emphasis mode.
By adopting the scheme, the terminal can determine whether the surface of the target aircraft inlet channel is damaged or not according to a plurality of surface images, and visual inspection by ground service workers is not needed, so that the detection efficiency is greatly improved, and the problem that visual inspection is easy to omit under the condition that the surface damage degree of the aircraft inlet channel is smaller is avoided, so that the detection result is more accurate.
Fig. 8 is a block diagram illustrating an apparatus for detecting an aircraft inlet, which is applied to a terminal, according to an exemplary embodiment, and as shown in fig. 8, the apparatus includes:
a standard image obtaining module 801, configured to obtain a surface standard image of a target aircraft air inlet to be detected;
a planned path determining module 802, configured to obtain position information of the robot, and determine a planned path according to the position information and the surface standard image, where the planned path includes a plurality of image obtaining positions;
a planned path sending module 803, configured to send the planned path to the robot, so that the robot moves according to the planned path, and obtains surface images of multiple image obtaining positions, where two adjacent surface images have an overlapping area;
a surface image receiving module 804, configured to receive a plurality of surface images sent by the robot, where the plurality of surface images include surface images of the plurality of image capturing positions;
and a surface damage determining module 805, configured to determine whether the surface of the target aircraft air inlet is damaged according to the plurality of surface images and the surface standard image.
Optionally, the planned path determining module 803 is configured to:
acquiring a necessary position of a surface image to be acquired in the surface standard image;
sequentially determining a plurality of target positions which are not obtained from the surface image from the position information according to the sequence from near to far away from the position information, and taking the plurality of target positions as the image obtaining positions;
the planned path is determined from a plurality of the image acquisition locations.
Optionally, the damage comprises deformation damage, and the surface damage determination module 805 is configured to:
performing incremental modeling on the surface of the aircraft air inlet according to the plurality of surface images to obtain a three-dimensional model image of the surface of the aircraft air inlet, wherein the three-dimensional model image of the surface of the aircraft air inlet comprises a three-dimensional model of the surface of the aircraft air inlet;
and determining whether the surface of the aircraft air inlet has deformation damage or not according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image.
Optionally, the surface damage determination module 805 is further configured to:
acquiring a first point cloud corresponding to the three-dimensional model image of the surface of the aircraft air inlet and a second point cloud corresponding to the standard image of the surface;
calculating the Housdov distance of the first point cloud and the second point cloud by using an Iterative Closest Point (ICP) algorithm;
and if the Hausdorff distance is greater than or equal to a preset distance threshold value, determining that deformation damage exists on the surface of the aircraft inlet.
Optionally, the damage comprises a surface burn, and the surface damage determination module 805 is configured to:
acquiring a first reference point image corresponding to a preset reference imaging point on a target surface image; the target surface image is any one of a plurality of surface images;
acquiring a second reference point image corresponding to the reference imaging point on the surface standard image;
performing superpixel segmentation on the first reference point image to obtain a plurality of first subregions;
performing the superpixel segmentation on the second reference point image to obtain a second sub-area corresponding to each first sub-area;
and determining whether the surface burn exists on the surface of the target aircraft air inlet according to the first subarea and the second subarea.
Optionally, the surface damage determination module 805 is further configured to:
acquiring a first color histogram of each first sub-region and a second color histogram of the corresponding second sub-region;
calculating the difference value of the pixel frequency of each first color histogram and the pixel frequency of each second color histogram to obtain a plurality of pixel frequency difference values;
calculating the root mean square value of a plurality of pixel frequency difference values;
and if the root mean square value is larger than or equal to the first root mean square threshold value, determining that the surface of the aircraft air inlet is burnt.
By adopting the scheme, the device can receive a plurality of surface images sent by the robot, and determine whether the surface of the aircraft air inlet channel is damaged or not according to the plurality of surface images and the surface standard image, so that visual inspection of ground service workers is not needed, the detection efficiency is greatly improved, the problem that the visual inspection is easy to omit under the condition that the damage degree of the surface of the aircraft air inlet channel is smaller is avoided, and the detection result is more accurate.
Fig. 9 is a block diagram illustrating an apparatus for detecting an aircraft inlet according to an exemplary embodiment, which is applied to a robot, as shown in fig. 9, and includes:
a position information sending module 901, configured to send position information of the robot to a terminal, so that the terminal determines a planned path according to the position information and a surface standard image, where the planned path includes a plurality of image acquisition positions;
a planned path receiving module 902, configured to receive the planned path sent by the terminal and move according to the planned path, where the planned path includes multiple image acquisition positions;
a surface image acquiring module 903, configured to acquire surface images at a plurality of image acquiring positions, where two adjacent surface images have an overlapping area;
and a surface image sending module 904, configured to send a plurality of surface images to the terminal, where the plurality of surface images include surface images of the plurality of image acquiring locations, so that the terminal determines whether the surface of the target aircraft air inlet is damaged according to the plurality of surface images and the surface standard image.
By adopting the scheme, the device can receive the path plan sent by the terminal; moving to the plurality of image acquisition positions according to the path plan; acquiring surface images of the plurality of image acquisition positions; the surface image is sent to the terminal, so that whether the surface of the aircraft air inlet channel is damaged or not is determined by the terminal according to the surface image and the surface standard image, visual inspection of ground service workers is not needed, the detection efficiency is greatly improved, the problem that visual inspection is easy to omit under the condition that the damage degree of the surface of the aircraft air inlet channel is small is avoided, and the detection result is more accurate.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method for detecting an aircraft air inlet provided by the present disclosure.
FIG. 10 is a block diagram illustrating an apparatus 1000 for detecting an aircraft inlet in accordance with an exemplary embodiment. The apparatus 1000 may be provided as a terminal, for example. Referring to fig. 10, an apparatus for detecting an aircraft air scoop includes a processor 1022, which may be one or more in number, and a memory 1032 for storing a computer program executable by the processor 1022. The computer programs stored in memory 1032 may include one or more modules that each correspond to a set of instructions. Further, processor 1022 may be configured to execute the computer program to perform the above-described method for detecting an aircraft air scoop.
Additionally, the apparatus 1000 may also include a power component 1026 and a communication component 1050, the power component 1026 may be configured to perform power management of the apparatus 1000, and the communication component 1050 may be configured for communication of the apparatus 1000, e.g., wired or wireless communication. The device 1000 may also include an input/output (I/O) interface 1058. The apparatus 1000 may operate based on an operating system stored in memory 1032, such as Windows Server, Mac OS XTM, UnixTM, Linux, etc.
In another exemplary embodiment, a computer-readable storage medium is also provided, which comprises program instructions, which when executed by a processor, carry out the steps of the above-described method of detecting an aircraft air inlet. For example, the computer readable storage medium may be the memory 1032 comprising program instructions executable by the processor 1022 of the apparatus 1000 to perform the method for detecting an aircraft air scoop described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method of detecting an aircraft air inlet when executed by the programmable apparatus.
FIG. 11 is a block diagram illustrating an apparatus 1100 for detecting an aircraft inlet in accordance with an exemplary embodiment. For example, the apparatus 1100 may be a robot.
Referring to fig. 11, apparatus 1100 may include one or more of the following components: a processing component 1102, a memory 1104, a power component 1106, a multimedia component 1108, an audio component 1110, an input/output (I/O) interface 1112, a sensor component 1114, and a communication component 1116.
The processing component 1102 generally controls the overall operation of the device 1100, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 1102 may include one or more processors 1120 to execute instructions to perform all or a portion of the steps of a method of detecting an aircraft inlet. Further, the processing component 1102 may include one or more modules that facilitate interaction between the processing component 1102 and other components. For example, the processing component 1102 may include a multimedia module to facilitate interaction between the multimedia component 1108 and the processing component 1102.
The memory 1104 is configured to store various types of data to support operations at the apparatus 1100. Examples of such data include instructions for any application or method operating on device 1100, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1104 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
Power components 1106 provide power to the various components of device 1100. The power components 1106 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the apparatus 1100.
The multimedia component 1108 includes a screen that provides an output interface between the device 1100 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1108 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 1100 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 1110 is configured to output and/or input audio signals. For example, the audio component 1110 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 1100 is in operating modes, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 1104 or transmitted via the communication component 1116. In some embodiments, the audio assembly 1110 further includes a speaker for outputting audio signals.
The I/O interface 1112 provides an interface between the processing component 1102 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 1114 includes one or more sensors for providing various aspects of state assessment for the apparatus 1100. For example, the sensor assembly 1114 may detect an open/closed state of the apparatus 1100, the relative positioning of components, such as a display and keypad of the apparatus 1100, the sensor assembly 1114 may also detect a change in position of the apparatus 1100 or a component of the apparatus 1100, the presence or absence of user contact with the apparatus 1100, orientation or acceleration/deceleration of the apparatus 1100, and a change in temperature of the apparatus 1100. The sensor assembly 1114 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 1114 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1114 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 1116 is configured to facilitate wired or wireless communication between the apparatus 1100 and other devices. The apparatus 1100 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1116 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1116 also includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 1100 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for a method of detecting aircraft air intakes.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 1104 comprising instructions, executable by the processor 1120 of the apparatus 1100 to perform the above-described method of number marking is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (11)

1. A method for detecting an aircraft air inlet is applied to a terminal and comprises the following steps:
acquiring a surface standard image of a target aircraft inlet to be detected, wherein the surface standard image is a surface standard model image of the target aircraft inlet to be detected and comprises a surface standard model of the target aircraft inlet to be detected;
acquiring position information of the robot, and determining a planned path according to the position information and the surface standard image, wherein the planned path comprises a plurality of image acquisition positions;
sending the planned path to the robot so that the robot can move according to the planned path and obtain surface images of a plurality of image obtaining positions, wherein an overlapping area exists between two adjacent surface images;
receiving a plurality of surface images sent by the robot, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions;
determining whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image;
the damage comprises deformation damage, and the step of determining whether the surface of the target aircraft air inlet is damaged according to the plurality of surface images and the surface standard image comprises the following steps:
performing incremental modeling on the surface of the aircraft air inlet according to the plurality of surface images to obtain a three-dimensional model image of the surface of the aircraft air inlet, wherein the three-dimensional model image of the surface of the aircraft air inlet comprises a three-dimensional model of the surface of the aircraft air inlet;
determining whether deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image;
determining whether the deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image comprises the following steps:
calculating the distance between the three-dimensional model of the surface of the aircraft air inlet and the surface standard model;
and determining whether the deformation damage exists on the surface of the target aircraft inlet according to the distance.
2. The method of claim 1, wherein determining a planned path from the position information and the surface standard image comprises:
acquiring a necessary position of a surface image to be acquired in the surface standard image;
sequentially determining a plurality of target positions which are not obtained from the position information according to the sequence from near to far from the position information, and taking the target positions as image obtaining positions;
determining the planned path from the plurality of image acquisition locations.
3. The method of claim 1, wherein determining whether the surface of the aircraft air inlet has the deformation damage according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image comprises:
acquiring a first point cloud corresponding to the three-dimensional model image of the surface of the aircraft air inlet and a second point cloud corresponding to the standard surface image;
calculating the Housdov distance of the first point cloud and the second point cloud by using an Iterative Closest Point (ICP) algorithm;
and if the Hausdorff distance is larger than or equal to a preset distance threshold value, determining that deformation damage exists on the surface of the aircraft air inlet.
4. The method of claim 1, wherein the damage comprises a surface burn, and wherein determining whether the target aircraft inlet surface is damaged from the plurality of surface images and the surface standard image comprises:
acquiring a first reference point image corresponding to a preset reference imaging point on a target surface image; the target surface image is any one of a plurality of surface images;
acquiring a second reference point image corresponding to the reference imaging point on the surface standard image;
performing superpixel segmentation on the first reference point image to obtain a plurality of first sub-regions;
performing the superpixel segmentation on the second reference point image to obtain a second sub-area corresponding to each first sub-area;
and determining whether surface burn exists on the surface of the target aircraft air inlet according to the first sub-area and the second sub-area.
5. The method of claim 4, wherein determining whether there is a surface burn on the target aircraft inlet surface from the first and second sub-regions comprises:
acquiring a first color histogram of each first sub-region and a second color histogram of the corresponding second sub-region;
calculating the difference value of the pixel frequency of each first color histogram and the pixel frequency of each second color histogram to obtain a plurality of pixel frequency difference values;
calculating a root mean square value of a plurality of pixel frequency difference values;
and if the root mean square value is larger than or equal to a first root mean square threshold value, determining that surface burn exists on the surface of the aircraft air inlet.
6. A method for detecting an aircraft air inlet is applied to a robot and comprises the following steps:
sending the position information of the robot to a terminal so that the terminal can determine a planned path according to the position information and a surface standard image, wherein the planned path comprises a plurality of image acquisition positions;
receiving the planned path sent by the terminal, and moving according to the planned path, wherein the planned path comprises a plurality of image acquisition positions;
acquiring surface images of a plurality of image acquisition positions, wherein an overlapped area exists between two adjacent surface images;
sending a plurality of surface images to the terminal, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions, so that the terminal determines whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and a preset surface standard image, and the surface standard image is a surface standard model image of the target aircraft air inlet to be detected and comprises a surface standard model of the target aircraft air inlet to be detected;
the damage comprises deformation damage, and determining whether the surface of the target aircraft air inlet is damaged according to the plurality of surface images and a preset surface standard image comprises the following steps:
performing incremental modeling on the surface of the aircraft air inlet according to the plurality of surface images to obtain a three-dimensional model image of the surface of the aircraft air inlet, wherein the three-dimensional model image of the surface of the aircraft air inlet comprises a three-dimensional model of the surface of the aircraft air inlet;
determining whether deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image;
determining whether the deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image comprises the following steps:
calculating the distance between the three-dimensional model of the surface of the aircraft air inlet and the surface standard model;
and determining whether the deformation damage exists on the surface of the target aircraft inlet according to the distance.
7. The utility model provides a detect device of aircraft intake duct which characterized in that is applied to the terminal, includes:
the standard image acquisition module is used for acquiring a surface standard image of a target aircraft air inlet to be detected, wherein the surface standard image is a surface standard model image of the target aircraft air inlet to be detected and comprises a surface standard model of the target aircraft air inlet to be detected;
the planning path determining module is used for acquiring the position information of the robot and determining a planning path according to the position information and the surface standard image, wherein the planning path comprises a plurality of image acquisition positions;
the planned path sending module is used for sending the planned path to the robot so that the robot can move according to the planned path and obtain surface images of a plurality of image obtaining positions, wherein an overlapping area exists between two adjacent surface images;
the surface image receiving module is used for receiving a plurality of surface images sent by the robot, and the plurality of surface images comprise surface images of the plurality of image acquisition positions;
the surface damage determining module is used for determining whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and the surface standard image;
the damage comprises deformation damage, and the surface damage determination module is further configured to:
performing incremental modeling on the surface of the aircraft air inlet according to the plurality of surface images to obtain a three-dimensional model image of the surface of the aircraft air inlet, wherein the three-dimensional model image of the surface of the aircraft air inlet comprises a three-dimensional model of the surface of the aircraft air inlet;
determining whether deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image;
the surface damage determination module is further configured to:
calculating the distance between the three-dimensional model of the surface of the aircraft air inlet and the surface standard model;
and determining whether the deformation damage exists on the surface of the target aircraft inlet according to the distance.
8. A device for detecting an aircraft air inlet is applied to a robot and comprises:
the position information sending module is used for sending the position information of the robot to a terminal so that the terminal can determine a planned path according to the position information and a surface standard image, and the planned path comprises a plurality of image acquisition positions;
the planned path receiving module is used for receiving the planned path sent by the terminal and moving according to the planned path, and the planned path comprises a plurality of image acquisition positions;
the device comprises a surface image acquisition module, a surface image acquisition module and a surface image acquisition module, wherein the surface images of a plurality of image acquisition positions are acquired, and an overlapping area exists between two adjacent surface images;
the surface image sending module is used for sending a plurality of surface images to the terminal, wherein the plurality of surface images comprise surface images of the plurality of image acquisition positions, so that the terminal can determine whether the surface of the target aircraft air inlet is damaged or not according to the plurality of surface images and a surface standard image, and the surface standard image is a surface standard model image of the target aircraft air inlet to be detected and comprises a surface standard model of the target aircraft air inlet to be detected;
the damage comprises deformation damage, and determining whether the surface of the target aircraft air inlet is damaged according to the plurality of surface images and a preset surface standard image comprises the following steps:
performing incremental modeling on the surface of the aircraft air inlet according to the plurality of surface images to obtain a three-dimensional model image of the surface of the aircraft air inlet, wherein the three-dimensional model image of the surface of the aircraft air inlet comprises a three-dimensional model of the surface of the aircraft air inlet;
determining whether deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image;
determining whether the deformation damage exists on the surface of the target aircraft air inlet according to the three-dimensional model image of the surface of the aircraft air inlet and the surface standard image comprises the following steps:
calculating the distance between the three-dimensional model of the surface of the aircraft air inlet and the surface standard model;
and determining whether the deformation damage exists on the surface of the target aircraft inlet according to the distance.
9. The utility model provides a detect device of aircraft intake duct which characterized in that is applied to the terminal, includes:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1 to 5.
10. A device for detecting an aircraft air inlet is applied to a robot and comprises:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of claim 6.
11. A computer-readable storage medium, having stored thereon computer program instructions, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 5; alternatively, the program instructions, when executed by a processor, implement the steps of the method of claim 6.
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