The invention belongs to the technical field of aircraft automatic deicing, and discloses an aircraft deicing fluid spraying trajectory planning and control method, system and equipment. The method comprises the following steps: an upper computer extracts a target object contour in a depth image by using a gradient calculation method and a dual-threshold detection method; constructing a three-dimensional space coordinate system, pre-selecting depth features of the deicing area, and obtaining position coordinates of the pre-selected deicing area based on the depth features; the spraying device is driven to move to the initial center position of the pre-selected deicing area, and the upper computer further adjusts the deicing liquid spraying angle and spraying flow of the spraying head through closed-loop control; and performing real-time path planning according to the depth image acquired by the dTOF sensor, and determining the position coordinates of the next pre-selected deicing area until the deicing is completely completed. The characteristics of high imaging frame rate and high integration of the dTOF depth perception technology are utilized, a closed-loop feedback channel for airplane deicing fluid spraying angle and flow control is established, and accurate control over the drop point of the deicing fluid is achieved.
本发明属于飞机自动化除冰技术领域,公开了一种飞机除冰液喷洒轨迹规划及控制方法、系统及设备。该方法分包括:上位机使用梯度计算方法和双阈值检测方法提取所述深度图像中的目标物轮廓;构建三维空间坐标系,预选除冰区的深度特征,基于深度特征获取所述预选除冰区位置坐标;驱动喷洒装置移动至预选除冰区初始中心位置,上位机通过闭环控制进一步调整喷头的除冰液喷洒角度及喷洒流量;由dTOF传感器获取的深度图像进行实时路径规划,确定下一预选除冰区的位置坐标,直至除冰全部完成。本发明利用dTOF深度感知技术成像帧率高以及集成性强的特点,建立飞机除冰液喷洒角度、流量控制的闭环反馈通道,实现除冰液落点精确控制。
Airplane deicing fluid spraying trajectory planning and control method, system and equipment
一种飞机除冰液喷洒轨迹规划及控制方法、系统及设备
2023-08-01
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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