CN106092057A - A kind of helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions - Google Patents

A kind of helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions Download PDF

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Publication number
CN106092057A
CN106092057A CN201610602202.2A CN201610602202A CN106092057A CN 106092057 A CN106092057 A CN 106092057A CN 201610602202 A CN201610602202 A CN 201610602202A CN 106092057 A CN106092057 A CN 106092057A
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rotor blade
stereo vision
binocular stereo
labelling point
coordinate
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CN106092057B (en
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余磊
熊邦书
涂晓衍
韩杨杨
莫燕
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Nanchang Hangkong University
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Nanchang Hangkong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken

Abstract

A kind of helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions, specifically includes following steps: 1) at helicopter every rotor blade both sides uniform binding mark point；2) four lens cameras are matched two-by-two, composition four set Binocular Stereo Vision System, and every cover system is demarcated；3) total powerstation is used to obtain the transformational relation between the four set respective coordinate systems of Binocular Stereo Vision System and total station instrument coordinate system；4) three-dimensional information of the rotor blade image pair labelling point that four set Binocular Stereo Vision Systems collect is calculated；5) the rotor blade labelling point three-dimensional information unification that four set Binocular Stereo Vision Systems are measured gained is arrived under total station instrument coordinate system, it is achieved rotor blade dynamic trajectories based on four item stereo visions are measured.The invention have the advantage that the three-dimensional reconstruction that can complete rotor blade movement locus, there is the advantage that field range is big, contactless, precision is high, safety is good.

Description

A kind of helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions
Technical field
The present invention relates to measuring method based on stereoscopic vision, particularly relate to a kind of helicopter based on four item stereo visions Rotor blade dynamic trajectory measuring method.
Background technology
Rotor is the core component of helicopter, and rotor blade high speed rotating produces the lift needed for helicopter flight and pushes away Power.By measure rotor blade movement locus, can design for rotor structure, propeller hub bound motion block design, blade aerodynamic load Design, airscrew pyramidal angle adjust offer important evidence.Rotor blade dynamic trajectory measurement be directly connected to helicopter safety, The accuracy of comfortableness, reliability and armament systems, is the important inspection project in helicopter development, production and working service.
Rotor blade dynamic trajectory measures the whole process along with Helicopter Development, in helicopter development, produces and makes Considerable status is occupied in safeguarding.Accurately, efficiently and automatically measuring rotor blade dynamic trajectory is that helicopter design is raw Produce unit and make great efforts the direction of research always.External more to the research of blade tip dynamic trajectory, but rail dynamic to whole rotor blade The research of mark is less.
Traditional measuring method has:
1) geometric measurement method, such method generally uses displacement transducer and laser displacement sensor, angle change is turned Turn to change in displacement measure, but the angle of flap of rotor blade and shimmy angle can only be measured, it is impossible to measure the dynamic of rotor blade State track；
2) high-speed CCD imaging method, requires when the method is measured that CCD imaging optical axis is vertical with rotor, and this is in practical operation Being difficult to, and the method requires known CCD imaging object distance, and during imaging, object distance is typically change, this may cause Produce unacceptable test error；
3) stereo-visiuon measurement method, the method gathers rotor blade image by binocular camera simultaneously, and passes through parallax Method calculates rotor blade labelling point three-dimensional information；The method certainty of measurement is higher, but the field range measured is less, it is impossible to measure Rotor blade is at the dynamic trajectory of each locus.
In sum, traditional rotor blade dynamic trajectory measures measurement rotor blade that technology cannot be complete at whole sky Between the dynamic trajectory of position.The present invention uses four video cameras to form four item stereo visions and measures system, can expand measurement model Enclose, thus realize the function that the rotor blade dynamic trajectory in whole space is monitored.
Summary of the invention
It is an object of the invention to provide a kind of helicopter rotor blade dynamic trajectories based on four item stereo visions to measure Method.First, known dimensions, shape and the labelling point of spacing are pasted at every rotor blade ad-hoc location；Then, four mesh are used Video camera, high-speed computer, angular transducer, luminaire build helicopter rotor blade images based on four item stereo visions Acquisition device, and four lens cameras are matched two-by-two, composition four set Binocular Stereo Vision System；Use standard calibration template, complete Four item stereo vision systems are demarcated by instrument of standing；Finally, the four item stereo vision system acquisition kinestates demarcated are utilized Under rotor blade labelling dot image, and calculate labelling point three-dimensional information.
The present invention adopts the following technical scheme that, a kind of helicopter rotor blade dynamic trajectories based on four item stereo visions are surveyed Metering method, the present invention specifically includes following steps:
1) the labelling point of known dimensions, shape and spacing is uniformly pasted in helicopter every rotor blade both sides；
2) build based on four item stereo visions by four lens cameras, high-speed computer, angular transducer, luminaire Helicopter rotor blade image acquiring device, and four lens cameras are matched two-by-two, composition four set Binocular Stereo Vision System；
3) standard calibration template is used to demarcate often overlapping Binocular Stereo Vision System；
4) use total powerstation that four set Binocular Stereo Vision Systems are carried out global calibration, it is thus achieved that four set binocular stereo vision systems System is transformed into the rotation of total station instrument coordinate system, translation relation from respective camera coordinate system, specifically includes following steps:
(a) definition total station instrument coordinate system；
B standard calibration template is positioned under the visual field of Binocular Stereo Vision System by (), and use total powerstation to determine standard Characteristic point three-dimensional coordinate under total station instrument coordinate system on calibrating template；
C () uses Binocular Stereo Vision System to calculate the characteristic point three-dimensional seat under himself coordinate in standard calibration template Mark；
The d standard calibration template characteristic o'clock that () use step (b), step (c) obtain three-dimensional seat under two coordinate systems Mark, calculates Binocular Stereo Vision System coordinate and is tied to the rotation of total station instrument coordinate system, translation relation；
5) use step 3), step 4) demarcated four set Binocular Stereo Vision Systems gather rotor blade figure simultaneously Picture, and calculate the rotor blade image pair labelling point three-dimensional information that often set Binocular Stereo Vision System collects, specifically include Following steps:
A () uses correction algorithm based on Brown algorithm to rotor blade image to carrying out Geometry rectification, to eliminate camera lens Distortion；
B () uses step 3) the row alignment correction spin matrix R that obtainsl、RrTo rotor blade image to carrying out three-dimensional school Just, the rotor blade image pair of severity row alignment is obtained；
C () uses image segmentation and largest connected territory method to remove the ambient interferences in binocular image, and obtain labelling point Characteristic information；
D () carries out Stereo matching according to labelling point characteristic information to the labelling point in binocular image；
E () utilizes step 3) in re-projection matrix Q, on the basis of Stereo matching, calculate labelling point three-dimensional information. Specific formula for calculation is as follows:
Q x y d 1 = X Y Z W
Wherein, (X/W, Y/W, Z/W) is the three-dimensional coordinate of labelling point, and (x is y) that labelling point is at left camera image plane Image coordinate, d is the parallax that labelling point associates in left and right cameras；
6) step 5 is being used) calculate rotor blade image tagged point three-dimensional information in every suit Binocular Stereo Vision System On the basis of, integrating step 4) obtain four set the respective camera coordinates of Binocular Stereo Vision System be tied to total station instrument coordinate system Rotation, translation relation, the rotor blade labelling point three-dimensional information that will measure gained under four set Binocular Stereo Vision Systems is unified Under total station instrument coordinate system, specifically include following steps:
A () calculates a piece of rotor blade labelling o'clock three-dimensional coordinate under four set Binocular Stereo Vision System coordinate systems；
B () uses step 4) four set Binocular Stereo Vision System each coordinates of obtaining are tied to the rotation of total station instrument coordinate system Turn, translation relation by this sheet rotor blade labelling point three-dimensional coordinate transformation to total station instrument coordinate system；
C () repeats step (a), (b) calculates every rotor blade labelling point three-dimensional coordinate under total station instrument coordinate system, complete Rotor blade dynamic trajectory is measured in pairs.
The invention have the advantage that use four lens camera builds four set Binocular Stereo Vision Systems, stood by four set binoculars Body vision systematic survey rotor blade labelling point is at the three-dimensional information of space various location, it is achieved to rotor blade movement locus Kinetic measurement.The present invention can measure the rotor blade three-dimensional information in space various location, completes to transport rotor blade The three-dimensional reconstruction of dynamic track, has the advantage that field range is big, contactless, precision is high, safety is good.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of the present invention.
Fig. 2 is rotor blade labelling point paste position schematic diagram.
Fig. 3 is four item stereo vision system calibrating schematic diagrams.
Fig. 4 is lifting airscrew dynamic trajectory instrumentation plan.
Detailed description of the invention
The present invention uses helicopter rotor blade dynamic trajectory measuring methods based on four item stereo visions as shown in Figure 1 Flow chart, it is achieved the measurement of helicopter rotor blade dynamic trajectory.Specifically include following enforcement step:
1, rotor blade binding mark point
Labelling point paste position of the present invention is as shown in Figure 2: use the double ten labelling points distributions of 5*2.Require labelling point size Identical, spacing is identical, and is arranged on rotor blade 1/4th chord line and 3/4ths chord lines by labelling point.? Rotor blade root pastes reflecting piece, for the acquisition of angle signal.
2, four item stereo vision image capturing systems are built
The present invention uses four lens cameras, high-speed computer, angular transducer, luminaire to build based on four mesh stereopsis The helicopter rotor blade image acquiring device felt, and four lens cameras are matched two-by-two, composition four overlaps binocular stereo vision system System.
3, Binocular Stereo Vision System is demarcated
The calibration algorithm based on plane template that the present invention uses Zhang Zhengyou to propose overlaps in Binocular Stereo Vision Systems four Camera interior and exterior parameter is demarcated, and obtains the spin matrix between two video cameras and translation matrix.A set of binocular is stood Body vision system is demarcated, and specifically includes following steps:
1) gathering 10 template images to above different directions, stencil plane and camera image plane need a clamp Angle, and the stencil plane of different directions can not be parallel；
2) video camera in Binocular Stereo Vision System is put down by plane reference algorithm respectively that use Zhang Zhengyou to propose Face is demarcated, and obtains in Binocular Stereo Vision System the rotation between inside and outside parameter and two video cameras of two video cameras, translation Relation；
3) utilize Bouguet three-dimensional correction algorithm, calculate row alignment correction spin matrix Rl、RrWith re-projection matrix Q, make With row alignment correction spin matrix Rl、RrBinocular camera is carried out three-dimensional correction, makes taking the photograph in a set of Binocular Stereo Vision System Camera is in the state of severity row alignment.
4, four item stereo vision system calibrating
The present invention, on the basis of the 3rd step, uses standard calibration template to obtain four set Binocular Stereo Vision Systems from each Coordinate system be transformed into the rotation of total station instrument coordinate system, translation relation.Four item stereo vision system calibrating schematic diagrams such as Fig. 3 institute Show.Solve four item stereo vision system coordinates and be tied to the rotation under total station instrument coordinate system, translation relation, specifically include following step Rapid:
1) definition total station instrument coordinate system TCS, as shown in Figure 3；
2) set standard calibration template is placed in video camera 1, Binocular Stereo Vision System field range that video camera 2 forms In, utilize characteristic point physical coordinates under total station instrument coordinate system TCS in total station survey standard calibration template, if measure Physical coordinates isWherein i ∈ [1, N], N is the number of characteristic point in template；
3) Binocular Stereo Vision System utilizing video camera 1,2 to form calculates standard calibration template in its coordinate system Cxoy1 Under three-dimensional coordinate, be set toWherein i ∈ [1, N], N is the number of characteristic point in template；
4) utilize step 2) with step 3) three-dimensional coordinate under two coordinate systems obtaining, coordinates computed system Cxoy1 is to entirely Stand the spin matrix R under instrument coordinate system TCScw1, translation vector Tcw1, concrete calculating process is as follows:
Appoint and take physical coordinates under TCS coordinate systemAny the most not collinear three points in i ∈ [1, N]Corresponding with under Cxoy1 coordinate systemThere is a following relation:
Wherein,
If Rcw1=[R1 R2 R3]T, wherein
R 1 = ( r 1 , r 2 , r 3 ) R 2 = ( r 4 , r 5 , r 6 ) R 3 = ( r 7 , r 8 , r 9 ) - - - ( 3 )
The x-component corresponding by equation in formula (1), can solve R1, computing formula is as follows:
In like manner, with y-component, R can be solved2, and due to Rcw1It is orthogonal matrix, therefore R3=R1×R2。
Obtaining Rcw1On the basis of, translation vector T can be obtainedcw1, calculate process as follows:
T c w 1 = ( p c 1 + p c 2 + p c 3 - R c w 1 · p w 1 - R c w 1 · p w 2 - R c w 1 3 · p w 3 ) / 3 - - - ( 5 )
5, rotor blade labelling point three-dimensional information is measured
Use the four set Binocular Stereo Vision Systems demarcated through the 3rd step, the 4th step to gather the rotor blade figure of motion simultaneously Picture, gathers a rotor blade image, each angle repeated acquisition 50 times, and calculating every certain angle (such as 15 ° of angles) and often overlaps The rotor blade image pair labelling point three-dimensional information that Binocular Stereo Vision System collects.To a set of Binocular Stereo Vision System The a pair rotor blade image collected carries out three-dimensional information calculating to labelling point, specifically includes following steps:
1) use correction algorithm based on Brown algorithm to rotor blade image to carrying out Geometry rectification, to eliminate camera lens Distortion；
2) the row alignment correction spin matrix R that the 3rd step obtains is usedl、RrTo rotor blade image to carrying out three-dimensional correction, Obtain the rotor blade image pair of severity row alignment；
3) use image segmentation and largest connected territory method to remove the ambient interferences in binocular image, and obtain labelling point Characteristic information；
4) according to labelling point characteristic information, the labelling point in binocular image is carried out Stereo matching；
5) use the re-projection matrix Q in the 3rd step, on the basis of Stereo matching, calculate labelling point three-dimensional information, specifically Computing formula is as follows:
Q x y d 1 = X Y Z W - - - ( 6 )
Wherein, (X/W, Y/W, Z/W) is the three-dimensional coordinate of labelling point, and (x is y) that labelling point is at left camera image plane Image coordinate, d is the parallax that labelling point associates in left and right cameras.
6, rotor blade dynamic trajectory is measured
The four set Binocular Stereo Vision System coordinate systems using the 4th step to obtain are changed the rotation to total station instrument coordinate system, are put down Shifting relation and the rotor blade image tagged point three-dimensional information under each group of Binocular Stereo Vision System coordinate system in the 5th step, complete Rotor blade dynamic trajectory is measured in pairs.A piece of rotor blade is carried out dynamic trajectory measurement, specifically includes following steps:
1) a piece of rotor blade labelling o'clock three-dimensional coordinate in four set Binocular Stereo Vision System each coordinate systems is calculated, if Rotor blade rotates a circle, and calculates rotor blade respectively at t under the triggering of the pulse signal of angular transducer1、t2、t3、t4Four The individual moment lays respectively at stereo visual system 1, stereo visual system 2, stereo visual system 3, the visual field of stereo visual system 4 Under, as shown in Figure 4；
2) the four set respective coordinates of Binocular Stereo Vision System using the 4th step to obtain are tied to the rotation of total station instrument coordinate system Turn, translation relation by this rotor blade labelling point three-dimensional coordinate transformation to total station instrument coordinate system.If t1Moment, rotor blade labelling Point is measured the three-dimensional coordinate obtained under coordinate system Cxoy1 at stereo visual system 1 place and isi∈ [1,10], the three-dimensional coordinate under total station instrument coordinate system TCS isI ∈ [1,10], coordinate system Cxoy1 turns Shift to the spin matrix R of total station instrument coordinate system TCScw1, translation vector Tcw1, calculated by equation belowExtremelyConversion:
P t 1 ( w ) = [ R c w 1 , T c w 1 ] · P t 1 C 1 - - - ( 7 )
3) step 2 is repeated) by t2、t3、t4Moment rotor blade labelling point three-dimensional coordinate information is changed to total station instrument coordinate system Under, complete the dynamic trajectory monitoring that a piece of rotor blade is rotated a circle；
4) step 1 is repeated) to step 3) complete the monitoring to all rotor blade dynamic trajectories.

Claims (1)

1. a helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions, it is characterised in that specifically include Following steps:
1) the labelling point of known dimensions, shape and spacing is uniformly pasted in helicopter every rotor blade both sides；
2) based on four item stereo visions going straight up to is built by four lens cameras, high-speed computer, angular transducer, luminaire Machine rotor blade image acquiring device, and four lens cameras are matched two-by-two, composition four set Binocular Stereo Vision System；
3) standard calibration template is used to demarcate often overlapping Binocular Stereo Vision System；
4) use total powerstation to four set Binocular Stereo Vision Systems carry out global calibration, it is thus achieved that four set Binocular Stereo Vision Systems from Respective camera coordinate system is transformed into the rotation of total station instrument coordinate system, translation relation, specifically includes following steps:
(a) definition total station instrument coordinate system；
B standard calibration template is positioned under the visual field of Binocular Stereo Vision System by (), and use total powerstation to determine standard calibration Characteristic point three-dimensional coordinate under total station instrument coordinate system in template；
C () uses Binocular Stereo Vision System to calculate characteristic point three-dimensional coordinate under himself coordinate in standard calibration template；
The d standard calibration template characteristic o'clock that () use step (b), step (c) obtain three-dimensional coordinate under two coordinate systems, meter Calculate Binocular Stereo Vision System coordinate and be tied to the rotation of total station instrument coordinate system, translation relation；
5) use step 3), step 4) demarcated four set Binocular Stereo Vision Systems gather rotor blade image simultaneously, and Calculate the rotor blade image pair labelling point three-dimensional information that often set Binocular Stereo Vision System collects, specifically include following step Rapid:
A () uses correction algorithm based on Brown algorithm to rotor blade image to carrying out Geometry rectification, abnormal to eliminate camera lens Become；
B () uses step 3) the row alignment correction spin matrix R that obtainsl、RrTo rotor blade image to carrying out three-dimensional correction, Rotor blade image pair to the alignment of severity row；
C () uses image segmentation and largest connected territory method to remove the ambient interferences in binocular image, and obtain the spy of labelling point Reference ceases；
D () carries out Stereo matching according to labelling point characteristic information to the labelling point in binocular image；
E () utilizes step 3) in re-projection matrix Q, on the basis of Stereo matching, calculate labelling point three-dimensional information.Specifically Computing formula is as follows:
Q x y d 1 = X Y Z W
Wherein, (X/W, Y/W, Z/W) is the three-dimensional coordinate of labelling point, and (x y) is the labelling point figure at left camera image plane As coordinate, d is the parallax that labelling point associates in left and right cameras；
6) step 5 is being used) calculate the base of rotor blade image tagged point three-dimensional information in every suit Binocular Stereo Vision System On plinth, integrating step 4) the four set respective camera coordinates of Binocular Stereo Vision System that obtain are tied to the rotation of total station instrument coordinate system Turn, translation relation, the rotor blade labelling point three-dimensional information that will measure gained under four set Binocular Stereo Vision Systems is unified to complete Stand under instrument coordinate system, specifically include following steps:
A () calculates a piece of rotor blade labelling o'clock three-dimensional coordinate under four set Binocular Stereo Vision System coordinate systems；
B () uses step 4) four set Binocular Stereo Vision System each coordinates of obtaining are tied to the rotation of total station instrument coordinate system, flat Shifting relation by this sheet rotor blade labelling point three-dimensional coordinate transformation to total station instrument coordinate system；
C () repeats step (a), (b) calculates every rotor blade labelling point three-dimensional coordinate under total station instrument coordinate system, and it is right to complete Rotor blade dynamic trajectory is measured.
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CN107966112A (en) * 2017-12-03 2018-04-27 中国直升机设计研究所 A kind of large scale rotor movement parameter measurement method
CN108469254A (en) * 2018-03-21 2018-08-31 南昌航空大学 A kind of more visual measuring system overall calibration methods of big visual field being suitable for looking up and overlooking pose
CN110095089A (en) * 2019-03-11 2019-08-06 新拓三维技术(深圳)有限公司 A kind of measurement method and system of aircraft rotation angle
CN110844110A (en) * 2019-10-11 2020-02-28 中国直升机设计研究所 Method for determining phase of blade motion parameter
CN111292375A (en) * 2020-02-11 2020-06-16 中国空气动力研究与发展中心低速空气动力研究所 Helicopter blade mark point identification and matching method based on position constraint
CN112407323A (en) * 2020-11-03 2021-02-26 中国直升机设计研究所 Articulated rotor blade root motion parameter measuring device and method
CN112414324A (en) * 2020-12-22 2021-02-26 南昌航空大学 Helicopter rotor blade torsion angle measurement method based on binocular stereo vision
CN112711246A (en) * 2020-12-23 2021-04-27 贵州航天计量测试技术研究所 Follow-up system motion characteristic calibration system and method based on multi-view vision system
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CN114577144A (en) * 2022-03-03 2022-06-03 中国飞行试验研究院 Rotor blade flapping angle dynamic real-time test calibration calculation method based on single camera
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CN107966112A (en) * 2017-12-03 2018-04-27 中国直升机设计研究所 A kind of large scale rotor movement parameter measurement method
CN108469254A (en) * 2018-03-21 2018-08-31 南昌航空大学 A kind of more visual measuring system overall calibration methods of big visual field being suitable for looking up and overlooking pose
CN110095089A (en) * 2019-03-11 2019-08-06 新拓三维技术(深圳)有限公司 A kind of measurement method and system of aircraft rotation angle
CN110095089B (en) * 2019-03-11 2020-10-13 新拓三维技术(深圳)有限公司 Method and system for measuring rotation angle of aircraft
CN110844110A (en) * 2019-10-11 2020-02-28 中国直升机设计研究所 Method for determining phase of blade motion parameter
CN111292375A (en) * 2020-02-11 2020-06-16 中国空气动力研究与发展中心低速空气动力研究所 Helicopter blade mark point identification and matching method based on position constraint
CN112407323A (en) * 2020-11-03 2021-02-26 中国直升机设计研究所 Articulated rotor blade root motion parameter measuring device and method
CN112407323B (en) * 2020-11-03 2022-07-01 中国直升机设计研究所 Articulated rotor blade root motion parameter measuring device and method
CN112414324A (en) * 2020-12-22 2021-02-26 南昌航空大学 Helicopter rotor blade torsion angle measurement method based on binocular stereo vision
CN112711246A (en) * 2020-12-23 2021-04-27 贵州航天计量测试技术研究所 Follow-up system motion characteristic calibration system and method based on multi-view vision system
CN113776462A (en) * 2021-09-14 2021-12-10 安徽数智建造研究院有限公司 High-speed rail no-ballast rail bearing platform three-dimensional shape detection method based on digital image
CN113776462B (en) * 2021-09-14 2024-03-01 安徽数智建造研究院有限公司 Three-dimensional shape detection method for high-speed rail ballastless track bearing platform based on digital image
CN114577144A (en) * 2022-03-03 2022-06-03 中国飞行试验研究院 Rotor blade flapping angle dynamic real-time test calibration calculation method based on single camera
CN115775281A (en) * 2022-12-15 2023-03-10 苏州中科先进技术研究院有限公司 Global calibration method for non-target four-eye stereoscopic vision system

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