CN-114330002-B - Collision probability determination method, device, computer equipment and storage medium

CN114330002BCN 114330002 BCN114330002 BCN 114330002BCN-114330002-B

Abstract

The application relates to a collision probability determination method, a collision probability determination device, computer equipment and a storage medium. The method comprises the steps of determining the detection times of collision detection operation according to model parameters in a discretized three-dimensional model of the propeller, executing the collision detection operation according to the detection times, recording the times of collision events, and determining the collision probability of the collision of the flying object and the propeller according to the times of the collision events and the detection times. Therefore, the probability of collision between the flying object and the propeller is evaluated quantitatively, the probability of the flying object crossing the propeller is further determined, data support is provided for rejection characteristic analysis of the aircraft propeller and design of the aircraft propeller by using the probability, researchers can design the aircraft more accurately, and the method has very important significance in improving the overall impact of foreign matters and the suction capability of the engine on the aircraft and improving the flight safety of the aircraft.

Inventors

ZHU JIAWEI
SHI ZHONG
CHEN KENLUN
YANG XUEHE
FAN ZHEMING
LIANG PEIBO
CHEN QIANG
LI YAQIU
LI JIAN
WANG CHUNHUI

Assignees

中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室））

Dates

Publication Date: 20260505
Application Date: 20211231

Claims (10)

1. A collision probability determination method, the method comprising: Acquiring the distance between two adjacent scanning data points in a discretization three-dimensional model of a propeller and the radius of the discretization three-dimensional model of the propeller, wherein the discretization three-dimensional model is composed of a plurality of scanning data points; Determining the detection times of collision detection operation according to the distance between the adjacent scanning data points and the radius of the discretized three-dimensional model; executing the collision detection operation according to the detection times, and recording the times of collision events; Determining the collision probability of the collision of the flying object and the propeller according to the times of the collision events and the detection times; wherein the performing the collision detection operation includes: acquiring first spatial position information of each data scanning point on the surface of the propeller based on the discretized three-dimensional model of the propeller; Determining an initial rotation angle according to a preset initial radial angle and the first space position information, and determining a real-time rotation angle corresponding to each scanning data point according to the initial rotation angle, the rotation angular speed of the propeller, the radius of an inscribed sphere and the radius of an externally-connected sphere of a flying object, the speed of the flying object relative to the propeller and the motion track direction vector of the flying object, wherein the angle of the preset initial radial angle is a random angle between 0 pi and 2 pi; Determining second spatial position information according to the first spatial position information and the real-time rotation angle; acquiring the space position of the flying object; Acquiring relative position information between the mass center of the flying object and the second spatial position information of each data scanning point according to the spatial position under a preset condition, wherein the preset condition is that the current spatial step length in a motion equation of the flying object is equal to the current time step length in the spatial position of each scanning data point in number of steps; and determining whether the propeller collides with the flying object according to the relative position information.
2. The method of claim 1, wherein said determining said number of detections based on a distance between said adjacent scanned data points and a radius of said discretized three-dimensional model comprises: the number of detections is determined by the following formula: Wherein, the For the number of times of the detection, In order to set the coefficient to be the preset value, In order to achieve a peripheral rate of the material, For the radius of the discretized three-dimensional model of the propeller, Is the distance between adjacent scanned data points in the discretized three-dimensional model of the propeller.
3. The method according to claim 1, wherein the method further comprises: Acquiring a plurality of collision probabilities according to a preset strategy; determining an average value and a standard deviation of a plurality of collision probabilities according to the plurality of collision probabilities; And determining a confidence interval of the collision probability and a confidence corresponding to the confidence interval according to the average value and the standard deviation.
4. The method of claim 1, wherein the acquiring the spatial location of the flyer comprises: Acquiring an initial position and an initial direction of the flying object; constructing a motion equation of the flying object based on the initial position and the initial direction; And determining the spatial position of the flying object according to the motion equation.
5. The method of claim 1, wherein the relative position information includes a first relative difference in an X-axis direction, a second relative difference in a Y-axis direction, and a third relative difference in a Z-axis direction in a target coordinate system.
6. The method of claim 5, wherein said determining whether said propeller collides with said flying object based on each of said relative position information comprises: And if at least one of the first relative difference value, the second relative difference value and the third relative difference value corresponding to each scanning point is larger than the radius of the outer sphere of the flying object, judging that the propeller and the flying object do not collide.
7. A collision probability determination apparatus, characterized in that the apparatus comprises: The frequency determining module is used for obtaining the distance between two adjacent scanning data points in the discretization three-dimensional model of the propeller and the radius of the discretization three-dimensional model of the propeller, and determining the detection frequency of collision detection operation according to the distance between the adjacent scanning data points and the radius of the discretization three-dimensional model, wherein the discretization three-dimensional model is composed of a plurality of scanning data points; the collision execution module is used for executing the collision detection operation according to the detection times and recording the times of occurrence of collision events; The probability determining module is used for determining the collision probability of the collision of the flying object and the propeller according to the times of the collision event and the detection times; the collision execution module is specifically configured to: acquiring first spatial position information of each data scanning point on the surface of the propeller based on the discretized three-dimensional model of the propeller; Determining an initial rotation angle according to a preset initial radial angle and the first space position information, and determining a real-time rotation angle corresponding to each scanning data point according to the initial rotation angle, the rotation angular speed of the propeller, the radius of an inscribed sphere and the radius of an externally-connected sphere of a flying object, the speed of the flying object relative to the propeller and the motion track direction vector of the flying object, wherein the angle of the preset initial radial angle is a random angle between 0 pi and 2 pi; Determining second spatial position information according to the first spatial position information and the real-time rotation angle; acquiring the space position of the flying object; Acquiring relative position information between the mass center of the flying object and the second spatial position information of each data scanning point according to the spatial position under a preset condition, wherein the preset condition is that the current spatial step length in a motion equation of the flying object is equal to the current time step length in the spatial position of each scanning data point in number of steps; and determining whether the propeller collides with the flying object according to the relative position information.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.

Description

Collision probability determination method, device, computer equipment and storage medium Technical Field The present application relates to the field of object collision technologies, and in particular, to a method and apparatus for determining collision probability, a computer device, and a storage medium. Background With the development of aerospace technology and the popularization of aircrafts, people pay more and more attention to the safety of aircrafts. The aircraft is easy to collide with other flying objects in the air when flying at low altitude and high speed, so that the aircraft is damaged, and the flight safety of the aircraft is threatened. While other flyers collide with the aircraft, mainly in the event of collisions with the propellers of the aircraft. The probability that whether the flying object can pass through the propeller is high, and the high-speed rotating propeller can block the flying object to protect the safety of the airplane. If the energy calculation evaluates the probability of different flying objects crossing the propeller, the method has great help to the design of the safety of the airplane. Therefore, how to determine the collision probability of a flying object and a propeller is a problem that needs to be solved at present. In the traditional technology, an equivalent mathematical model of the propeller is built based on the blade chord line of the propeller, then whether an object collides with the propeller or not is analyzed, and further collision probability is calculated. However, in the conventional art, the thickness and the specific shape of the propeller are not considered, so that the obtained collision probability calculation result has a large error from the actual situation. Disclosure of Invention In view of the foregoing, it is desirable to provide a collision probability determination method, apparatus, computer device, and storage medium capable of accurately determining a collision probability of a propeller with a flying object. A collision probability determination method comprises the steps of determining the detection times of collision detection operation according to model parameters in a discretized three-dimensional model of a propeller, executing the collision detection operation according to the detection times, recording the times of collision events, and determining the collision probability of a flying object colliding with the propeller according to the times of the collision events and the detection times. In one embodiment, the discretized three-dimensional model is composed of a plurality of scanning data points, and the determining of the detection times of the collision detection operation according to the model parameters in the discretized three-dimensional model of the propeller comprises the steps of obtaining the distance between two adjacent scanning data points in the discretized three-dimensional model of the propeller and the radius of the discretized three-dimensional model of the propeller, and determining the detection times according to the distance between the adjacent scanning data points and the radius of the discretized three-dimensional model. In one embodiment, the discretized three-dimensional model is composed of a plurality of scanned data points, and the determining the detection times of the collision detection operation according to the model parameters in the discretized three-dimensional model of the propeller includes: the number of detections is determined by the following formula: Wherein M is the detection times, ρ is a preset coefficient, pi is a circumference ratio, D max is the radius of the discretized three-dimensional model of the propeller, and D min is the distance between adjacent scanning data points in the discretized three-dimensional model of the propeller. In one embodiment, the method further comprises the steps of obtaining a plurality of collision probabilities according to a preset strategy, determining an average value and a standard deviation of the plurality of collision probabilities according to the plurality of collision probabilities, and determining a confidence interval of the collision probability and a confidence corresponding to the confidence interval according to the average value and the standard deviation. In one embodiment, the collision detection operation is performed by acquiring first spatial position information of each data scanning point on the surface of the propeller based on a discretized three-dimensional model of the propeller, converting the first spatial position information of each data scanning point based on a preset initial radial angle to obtain second spatial position information, acquiring the spatial position of a flying object, acquiring relative position information between the mass center of the flying object and the second spatial position information of each data scanning point according to the spatial position under a preset condition,