Aircraft winding inspection device and positioning method thereof, and storage medium

Abstract

The invention discloses an aircraft winding inspection device and a positioning method thereof, and a readable storage medium. The method comprises the steps: controlling the aircraft winding inspection device to operate around an aircraft, and establishing a laser radar point cloud map of an aircraft wheel under an aircraft coordinate system according to the acquired laser radar point clouds of the aircraft wheel at different moments; in the inspection process, carrying out point cloud matching on the laser radar point cloud of the airplane wheel under the coordinate system of the airplane winding inspection device and the laser radar point cloud map to obtain a conversion matrix of converting the laser radar point cloud of the airplane wheel from the coordinate system of the airplane winding inspection device to the coordinate system of the airplane; and determining the pose of the aircraft winding inspection device under the aircraft coordinate system according to the conversion matrix. The problem that in the prior art, it is inaccurate to determine the pose information of the aircraft winding inspection device through a GPS positioning method is solved.

Description

technical field [0001] This application relates to the technical field of laser radar positioning, and in particular to a machine-around inspection device, its positioning method, and a storage medium. Background technique [0002] Aircraft has become an indispensable means of transportation for people to travel because of its fast speed and high safety. In order to ensure the safety of aircraft navigation, pre-flight safety inspection is an indispensable link. However, due to the short time and heavy tasks of the pre-flight safety inspection, manual inspection will inevitably have omissions, and the efficiency and reliability of manual inspection will also decrease due to the impact of the environment. Compared with manual inspection, the use of ground unmanned vehicles or drones for inspection can improve the efficiency and reliability of inspections, and the images recorded during inspections can be easily reproduced afterwards. [0003] At present, in the outdoor envir...

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Problems solved by technology

[0003] At present, in the outdoor environment, the positioning of ground unmanned vehicles mainly adopts the method of satellite / inertial sensor fusion, but there is an environment where satellites are rejected during the inspection process of passenger aircraft, resulting in low reliability of GPS positioning

In the factory environment, unmanned vehicles generally use pre-laid guide rails or magnetic strips for navigation, but this method is cumbersome, it is difficult to change the trajectory, and it is not suitable for airport environments

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