CN104748693B - A kind of propeller-blade section torsional rigidity measuring system based on binocular stereo vision - Google Patents
A kind of propeller-blade section torsional rigidity measuring system based on binocular stereo vision Download PDFInfo
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Abstract
The invention discloses a kind of propeller-blade section torsional rigidity measuring system based on binocular stereo vision, including binocular stereo vision measuring device, propeller shank is fixed, a testing section is respectively selected in section both sides to be measured, each testing section adheres to two target spots, first imaging device of the measurement apparatus, the optical axis of the second imaging device demarcate the inside and outside parameter of measurement apparatus through two testing section；In the unloaded image and load image of forward and backward two testing sections for controlling the first imaging device, the second imaging device synchronous acquisition to adhere to target spot respectively of loaded load；The unloaded image of collection, load image extract target coordinate, and three-dimensional reconstruction obtains three-dimensional coordinate when target spot unloaded under same measurement coordinate system and loading；Parsing target spot is loading forward and backward position relationship, and reference section torsional rigidity.The present invention can accurately obtain the position deformation of blade to be measured, improve certainty of measurement, increase measurement flexibility.
Description
Technical Field
The invention relates to a torsional rigidity measuring system, in particular to a helicopter blade section torsional rigidity measuring system based on binocular stereo vision, and belongs to the technical field of testing.
Background
The helicopter is an aircraft which generates lift force and propulsive force by driving a rotor wing to rotate by an engine and can fly in the atmosphere in a controllable manner, such as vertical take-off and landing, hovering, fixed-point rotation, forward flight, backward flight, lateral flight and the like. The helicopter mainly comprises a body, a rotor wing, a power system and a transmission system, wherein the rotor wing system is the most obvious mark of the helicopter and is the basis for the helicopter to complete high-maneuverability flight. The rotor system consists of blades and a hub, and the blades rotate at high speed around the center of the hub to generate lift force, advancing force and control force, so that the helicopter flies. The material used by the helicopter blade is reformed from wood, wood metal mixture and metal-to-composite material, and after the composite material is used, the aerodynamic appearance, the dynamic characteristic, the fatigue life and the crashworthiness of the helicopter blade are greatly improved.
The distribution rule of the profile flapping, the shimmy and the torsional rigidity of the composite material blade is complex and is an important factor for blade frequency modulation. Due to the complex structure of the composite material blade, the material performance and the sectional dimension of the internal component are often influenced by process factors and difficult to accurately obtain, and the calculation model contains a large amount of simplifying assumptions which are not completely consistent with the actual situation, the calculation of the sectional rigidity of the composite material blade is generally difficult to accurately achieve, so that the rigidity of each section of the blade in three motion directions needs to be measured by an experimental means.
In engineering, the structural strength of a certain specified section of the blade is calculated by detecting the deformation of the helicopter blade under the action of a known load. At present, the deformation of a section to be measured is monitored by using a laser triangulation distance measurement method for measuring the torsional deformation.
When the torsional deformation of the blade is measured by using a laser triangulation distance measuring method, the torsional deformation of the blade under a given load is detected by 4 laser triangulation distance measuring sensors, as shown in fig. 1, and the section rigidity of the blade is further obtained. The laser triangulation distance measurement has the characteristics of simple structure, small volume and high precision, and is suitable for measuring micro displacement, but because the projection point of the laser on the measured surface is difficult to ensure to be at the same position before and after the blade is deformed, as shown in fig. 1, the thick solid line airfoil is the blade section position before deformation, the thin solid line airfoil is the blade section position after deformation, the projection point of the laser on the measured surface before deformation is the point A, the point A rotates to the position A' after deformation along with the rotation of the blade, but the actual measurement after deformation is the point B, the precision of the result of measuring the blade torsional deformation by using the laser triangulation distance measurement method is low.
Aiming at the defects existing in the existing laser triangulation distance measurement method for measuring the torsional deformation of the section of the helicopter blade, the method for measuring the torsional rigidity of the section of the helicopter blade based on binocular stereo vision, which has the advantages of less preparation work, good flexibility and high measurement precision, needs to be developed urgently.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a blade section torsional rigidity measuring method based on binocular stereo vision, which can measure the rigidity of a blade airfoil section, greatly simplifies the measurement preparation work, increases the measurement flexibility and improves the measurement precision.
The technical scheme of the invention is to provide a blade section torsional rigidity measuring system based on binocular stereo vision, which is characterized in that: the binocular stereoscopic vision measuring device comprises a first imaging device, a second imaging device, a synchronous controller and a control host, wherein the first imaging device, the second imaging device and the synchronous controller are electrically connected, and the synchronous controller is electrically connected with the control host; the synchronous controller triggers the first imaging device and the second imaging device to synchronously acquire images according to the received control electric signals from the control host;
the binocular stereoscopic vision measuring device for measuring the torsional rigidity of the blade section comprises the following steps:
s1, rigidly fixing the paddle to be tested, rigidly fixing the root of the paddle to be tested on a rigid support to ensure that the paddle has no freedom of movement, and fixing a loading clamp for applying load at the other end of the paddle to be tested;
s2, selecting two testing sections, selecting a first testing section and a second testing section which are perpendicular to the length direction of the blade to be tested on the blade to be tested, wherein the first testing section and the second testing section are respectively positioned at two sides of the section to be tested of the blade to be tested, attaching two alternate target spots on the first testing section, and attaching two alternate target spots on the second testing section;
s3, setting an imaging device, fixing a first imaging device and a second imaging device of the binocular stereo vision measuring device above the blade to be measured, wherein optical axes of the first imaging device and the second imaging device penetrate through the two test sections, and calibrating internal parameters of the first imaging device and the second imaging device and external parameters between the first imaging device and the second imaging device;
s4, image acquisition, wherein before loading a load, the first imaging device and the second imaging device are controlled to synchronously acquire no-load images of a first test section and a second test section of an attached target point;
applying a load through a loading clamp, and controlling a first imaging device and a second imaging device to synchronously acquire loading images of a first test section and a second test section of an attached target point after a blade to be tested is stable;
s5, performing three-dimensional reconstruction, respectively extracting features of the unloaded images and the loaded images obtained by the first imaging device and the first imaging device, obtaining coordinates of target point images, matching the unloaded images obtained by the first imaging device and the second imaging device according to the calibrated internal parameters of the first imaging device and the second imaging device and external parameters between the first imaging device and the second imaging device, performing three-dimensional reconstruction on the unloaded images, obtaining three-dimensional coordinates of the target point when the target point is unloaded under a measurement coordinate system, matching the loaded images obtained by the first imaging device and the second imaging device, performing three-dimensional reconstruction on the loaded images, and obtaining three-dimensional coordinates of the target point when the target point is loaded under the same measurement coordinate system;
and S6, calculating section torsional rigidity, analyzing the three-dimensional coordinates of the same-name points before and after loading, and calculating to obtain the relative position relation between the first test section and the second test section so as to obtain the torsional rigidity of the section to be tested of the blade to be tested.
In application, the invention also has the following further optimized technical scheme.
Further, the applied load is a couple load, the relative position relation between the first test section and the second test section is a relative torsion angle, and the torsional rigidity of the section to be tested of the blade to be tested is obtained through calculation according to the relative torsion angle.
Further, in step S2, two alternate target points on the first test cross section are attached to an intersection line between the first test cross section and the surface of the blade to be tested, and two alternate target points on the second test cross section are attached to an intersection line between the second test cross section and the surface of the blade to be tested.
Further, the first imaging device and the second imaging device are both industrial cameras.
Further, the distance between the first test section and the second test section is 100-200 mm.
Compared with a laser triangulation distance measurement method, the method provided by the invention has the advantages of good preparation working steps and flexibility, and can be used for capturing the deformation of the paddle more accurately.
Advantageous effects
The deformation of the paddle can be captured more accurately, images are collected through the double imaging devices, three-dimensional reconstruction is carried out, the configuration change of the paddle to be measured can be obtained accurately, and the measurement precision is improved.
Drawings
FIG. 1 is a schematic diagram of a laser range finder for measuring blade section torsional rigidity.
Fig. 2 is a layout diagram of a binocular stereo vision measuring device.
Fig. 3 is a schematic diagram of a blade to be tested.
Fig. 4 is a schematic structural view of a loading fixture.
Detailed Description
In order to clarify the technical solution and technical object of the present invention, the present invention will be further described with reference to the accompanying drawings and the detailed description.
The blades of the modern novel helicopter almost use composite materials without exception, the layering structure of the composite material blades is very complex, the blades have nonuniformity and anisotropy, the difference of section rigidity at different positions is large, and the section rigidity of the blades cannot be accurately obtained by measuring the deformation of one section. The present invention obtains the section torsional stiffness within the section by three-dimensional reconstruction by measuring the relative deformation between two similar first and second cross-sections S1 and S2 (shown in fig. 3) of a blade having the same ply structure. The distance between the first section S1 and the second section S2 is too large, the torsional rigidity of the measured section may deviate from the true value of the blade, if the distance is too small, the relative deformation between the two sections is very small, the visual system is difficult to detect, the distance between the two sections is generally proper between 100 nm and 200nm, and the distance between the two sections during specific measurement is determined according to the actual condition of blade layering and the measurement accuracy of a binocular stereo measurement system.
During the measurement process, the helicopter blades are only torsionally deformed as much as possible. The magnitude and location of the loading load are known. The blade loading is loaded by a loading fixture (shown in fig. 4).
Two target points are respectively attached to two sections to be measured, and the two target points can be directly attached to the surface of the blade or attached to a rigid mechanism which can be clamped on the surface of the blade, so that the span between the two target points is increased, and the measurement accuracy of the system can be improved to a certain extent.
As shown in fig. 2, the blade section torsional rigidity measurement system based on binocular stereo vision of the present invention comprises a binocular stereo vision measurement device, wherein the binocular stereo vision measurement device comprises a first imaging device, a second imaging device, a synchronous controller and a control host, the first imaging device, the second imaging device and the synchronous controller are electrically connected, and the synchronous controller and the control host are electrically connected; the synchronous controller triggers the first imaging device and the second imaging device to synchronously acquire images according to the received control electric signals from the control host.
The binocular stereo vision measuring device adopting the system provided by the invention is used for measuring the torsional rigidity of the blade section, and specifically comprises the following steps:
and S1, rigidly fixing the paddle to be tested, rigidly fixing the root of the paddle to be tested on the rigid support to ensure that the paddle has no freedom of movement, and fixing a loading clamp for applying load at the other end of the paddle to be tested. The structure of the loading clamp is shown in fig. 4, two sides of the loading clamp are respectively provided with a loading arm, and couple loads with equal loading force and opposite directions can be applied through the loading arms for testing the torsional rigidity of the blade section.
S2, selecting two test sections on two sides of a section to be measured of the blade respectively, wherein the two test sections are a first test section S1 and a second test section S2 respectively, the first test section S1 and the second test section S2 are perpendicular to the length direction of the blade respectively, the distance between the first test section S1 and the second test section S2 is l, the l value is overlarge, the measured section torsional rigidity may deviate from the true value of the blade, the l value is too small, the relative deformation between the two test sections is small, a visual system is difficult to detect, the distance between the two sections is generally proper between 100mm and 200mm, and the distance between the two test sections during specific measurement is determined according to the actual condition of blade layering and the measurement precision of the system. As shown in FIG. 3, two alternate target points are respectively attached to the two test sections, the two target points are distributed on the side close to the front edge and the side close to the rear edge, and the increase of the distance between the two target points is helpful for improving the measurement accuracy of the system.
And S3, arranging an imaging device, fixing a first imaging device and a second imaging device of the binocular stereo vision measuring device on the support frame, and arranging the first imaging device and the second imaging device above the blade to be measured, wherein optical axes of the first imaging device and the second imaging device penetrate through the two test sections S1 and S2. Calibrating the two binocular stereo vision measuring devices at the set positions, calibrating internal parameters of the first imaging device and the second imaging device, and calibrating external parameters between the first imaging device and the second imaging device; the first imaging device and the second imaging device both employ industrial cameras, and are hereinafter referred to as a first industrial camera and a second industrial camera, respectively.
S4, acquiring images, and according to the measurement requirements, comprising the following substeps:
before loading a load, after the fixed blade is static, sending an image acquisition control signal to a synchronous controller through a control host, and controlling the first imaging device and the second imaging device to synchronously acquire no-load images of a first test section S1 and a second test section S2 of an attached target point by the synchronous controller according to the control signal;
the loading clamp is used for applying couple loads with equal loading force and opposite directions, after the blade to be tested is stable and static, the control host is used for sending an image acquisition control signal to the synchronous controller, and the synchronous controller is used for controlling the first imaging device and the second imaging device to synchronously acquire loading images of a first test section S1 and a second test section S2 attached to a target point according to the control signal;
and S5, performing three-dimensional reconstruction, performing feature extraction on the idle-load image acquired by the imaging device to acquire image coordinates of the target points on the first test section and the second test section, and performing feature extraction on the loaded image acquired by the imaging device to acquire image coordinates of the target points on the first test section and the second test section. According to the calibrated internal parameters of the first imaging device and the second imaging device and the external parameters between the first imaging device and the second imaging device, the no-load images acquired by the first imaging device and the second imaging device are matched, the no-load images are subjected to three-dimensional reconstruction, the three-dimensional coordinates of the target point under the no-load condition of a measurement coordinate system are acquired, the loaded images acquired by the first imaging device and the second imaging device are matched, the loaded images are subjected to three-dimensional reconstruction, and the three-dimensional coordinates of the target point under the loading condition of the same measurement coordinate system are acquired.
And S6, calculating the section torsional rigidity, and analyzing the three-dimensional coordinates of the same-name points before and after loading. And the applied load is a couple load, a relative phase relative torsion angle between the first section S1 and the second section S2 is calculated, and the blade section torsion rigidity is calculated and obtained according to the relative torsion angle.
And (3) calculating the loading deformation:
respectively recording the connecting lines of two target points on the same section before and after loading as vectorsSum vectorThe corner of the profileCan be expressed as:
wherein
Calculation of section torsional stiffness:
the invention utilizes the relative torsion angle of the two sections to obtain the section torsion rigidity of the blade. According to a torsion model of the rod member, there are
Wherein,representing the relative angle of rotation between two sections at a distance dx, T being the torque to which a rod of length dx is subjected, GIpIs the average torsional stiffness between two sections separated by dx. Integrating x along the axis, the relative angle of rotation between two sections at a distance/is expressed as:
wherein,is the relative twist angle between two sections, expressed as:
andand (3) the torsion angle of the two sections, T is the loaded load, and l is the distance between the two sections, so that the torsion rigidity of the section to be measured is as follows:
in order to make the technical solutions of the present invention more clearly understood by those skilled in the art, the following further describes embodiments of the present invention with reference to specific examples.
This example employs two digital CCD cameras (first imaging device, second imaging device) with a resolution of 1392 × 1040 and two optical lenses with a focal length of 17 mm; the program of the measuring system is written by using VS2010 as a tool, the program algorithm is not detailed in the prior art, and the measuring system runs on the Windows7 platform. The total length of the blade is 1630mm, the chord length of the airfoil section is 108mm, and the section stiffness of Y750mm and Y1150mm is measured. When the section rigidity of Y750mm is measured, a first test section S1 is selected at a Y700mm, a second test section S2 is selected at a Y800mm, two target points are respectively attached to each test section of the first test section S1 and the second test section S2, and the distance between the two target points is 80 mm. When the rigidity of the section Y1150mm is measured, a first test section S1 is selected at a position Y1100mm, a second test section S2 is selected at a position Y1200mm, two target points are respectively attached to each test section of the first test section S1 and the second test section S2, and the distance between the two target points is 80 mm.
The repeated precision statistics of the torsional rigidity, flap rigidity and drag rigidity of the blade Y1150mm section measured by the method of the invention are shown in Table 1, and the repeated measurement precision of the torsional rigidity is 7%.
Table 1 repeat units of accuracy verification: n.m2
| Serial number | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
| Torsional rigidity | 161.8 | 162.4 | 164.7 | 169.5 | 168.4 | 167.9 | 166.3 | 165.5 |
While maintaining shear modulus G, polar moment of inertia IpThe torsion angle of the cross section under the condition of constant cross section spacing lLinearly with the load T. In the same way, the elastic modulus E, the inertia moment I, the load loading position a and the position x of the section to be measured are kept1And x2The bending deflection omega of the section is linear to the load F without change. Thus by varying the load, a linear relationship between the amounts of cross-sectional deformationThe detection accuracy of the system can also be verified from one side.
When measuring torsional rigidity, loading 10.2 N.m respectively on the section of Y1500mm2、13.26N·m2And 16.32 N.m2And in three conditions, the effective measurement times are not less than three times in each loading, and the average value of the experimental results is taken. Loading 10.2 N.m2When the measured torsion angle of two cross sections is regarded as 1, the load is 13.26 Nm2When the load is 10.2 N.m21.3 times of the total weight of the steel, the torsion angle of the two sections should be 1.3 under the loading of 16.32 Nm2The two cross-sectional twist angle should be 1.6. The actual statistics are shown in table 2.
TABLE 2 statistics of section torsion angle linearity
Compared with a laser triangulation distance measurement method, the method has the advantages of less preparation work and good flexibility, and can more accurately capture the deformation of the paddle;
compared with the prior art, the invention has the following technical progressiveness:
1) the deformation of the paddle can be captured more accurately, images are collected through the double imaging devices, three-dimensional reconstruction is carried out, the configuration change of the paddle to be measured can be obtained accurately, and the measurement precision is improved.
2) The preparation work is less and the flexibility is good.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.
Claims (5)
1. The utility model provides a paddle section torsional rigidity measurement system based on binocular stereo vision which characterized in that: the binocular stereoscopic vision measuring device comprises a first imaging device, a second imaging device, a synchronous controller and a control host, wherein the first imaging device, the second imaging device and the synchronous controller are electrically connected, and the synchronous controller is electrically connected with the control host; the synchronous controller triggers the first imaging device and the second imaging device to synchronously acquire images according to the received control electric signals from the control host;
the binocular stereoscopic vision measuring device for measuring the torsional rigidity of the blade section comprises the following steps:
s1, rigidly fixing the paddle to be tested, rigidly fixing the root of the paddle to be tested on a rigid support to ensure that the paddle has no freedom of movement, and fixing a loading clamp for applying load at the other end of the paddle to be tested;
s2, selecting two testing sections, selecting a first testing section and a second testing section which are perpendicular to the length direction of the blade to be tested on the blade to be tested, wherein the first testing section and the second testing section are respectively positioned at two sides of the section to be tested of the blade to be tested, attaching two alternate target spots on the first testing section, and attaching two alternate target spots on the second testing section;
s3, setting an imaging device, fixing a first imaging device and a second imaging device of the binocular stereo vision measuring device above the blade to be measured, wherein optical axes of the first imaging device and the second imaging device penetrate through the two test sections, and calibrating internal parameters of the first imaging device and the second imaging device and external parameters between the first imaging device and the second imaging device;
s4, image acquisition, wherein before loading a load, the first imaging device and the second imaging device are controlled to synchronously acquire no-load images of a first test section and a second test section of an attached target point;
applying a load through a loading clamp, and controlling a first imaging device and a second imaging device to synchronously acquire loading images of a first test section and a second test section of an attached target point after a blade to be tested is stable;
s5, performing three-dimensional reconstruction, respectively extracting features of the unloaded images and the loaded images obtained by the first imaging device and the second imaging device, obtaining coordinates of target point images, matching the unloaded images obtained by the first imaging device and the second imaging device according to the calibrated internal parameters of the first imaging device and the second imaging device and external parameters between the first imaging device and the second imaging device, performing three-dimensional reconstruction on the unloaded images, obtaining three-dimensional coordinates of the target point when the target point is unloaded under a measurement coordinate system, matching the loaded images obtained by the first imaging device and the second imaging device, performing three-dimensional reconstruction on the loaded images, and obtaining three-dimensional coordinates of the target point when the target point is loaded under the same measurement coordinate system;
and S6, calculating section stiffness, analyzing the three-dimensional coordinates of the homonymous target points obtained in the S5 during no-load and loading, and calculating the relative position relationship between the first test section and the second test section so as to obtain the torsional stiffness of the section to be tested of the blade.
2. The binocular stereo vision based blade section torsional stiffness measurement system of claim 1, wherein: the applied load is a couple load, the relative position relation between the first test section and the second test section is a relative torsion angle, and the torsional rigidity of the section to be tested of the blade to be tested is obtained through calculation according to the relative torsion angle.
3. The binocular stereo vision based blade section torsional stiffness measurement system of claim 1 or 2, wherein: in step S2, two alternate target points on the first test cross section are attached to an intersection line between the first test cross section and the surface of the blade to be tested, and two alternate target points on the second test cross section are attached to an intersection line between the second test cross section and the surface of the blade to be tested.
4. The binocular stereo vision based blade section torsional stiffness measurement system of claim 3, wherein: the first imaging device and the second imaging device are both industrial cameras.
5. The binocular stereo vision based blade section torsional stiffness measurement system of claim 4, wherein: the distance between the first test section and the second test section is 100-200 mm.
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| CN106595997A (en) * | 2016-11-29 | 2017-04-26 | 中国直升机设计研究所 | Method for measuring relative torsion angles of sections of helicopter propeller blade |
| CN109100100B (en) * | 2017-01-25 | 2020-02-07 | 松下知识产权经营株式会社 | Rigidity measuring device and rigidity measuring method |
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| CN112525737A (en) * | 2020-11-20 | 2021-03-19 | 中国直升机设计研究所 | Test device and test method for measuring flapping rigidity of helicopter blade |
| CN112414324B (en) * | 2020-12-22 | 2022-10-14 | 南昌航空大学 | Helicopter rotor blade torsion angle measurement method based on binocular stereo vision |
| CN115420444A (en) * | 2021-05-31 | 2022-12-02 | 惠阳航空螺旋桨有限责任公司 | Propeller blade rigidity test method and propeller blade rigidity test mechanism |
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| CN101566461B (en) * | 2009-05-18 | 2010-11-10 | 西安交通大学 | Method for quickly measuring blade of large-sized water turbine |
| CN102288164B (en) * | 2011-05-05 | 2012-12-19 | 西北工业大学 | Non-contact measuring method for deformation of aircraft wing structure |
| CN102944183B (en) * | 2012-10-31 | 2015-10-21 | 中国航天空气动力技术研究院 | A kind of high-aspect ratio elastic wing measuring method |
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