CN106092057B - 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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CN106092057B
CN106092057B CN201610602202.2A CN201610602202A CN106092057B CN 106092057 B CN106092057 B CN 106092057B CN 201610602202 A CN201610602202 A CN 201610602202A CN 106092057 B CN106092057 B CN 106092057B
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rotor blade
stereo vision
mark point
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CN106092057A (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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    • 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) in the uniform binding mark point in every rotor blade both sides of helicopter；2) four lens cameras are matched two-by-two, forms four sets of Binocular Stereo Vision Systems, and every set system is demarcated；3) transformational relation between the respective coordinate system of four sets of Binocular Stereo Vision Systems and total station instrument coordinate system is obtained using total powerstation；4) three-dimensional information for the rotor blade image pair mark point that four sets of Binocular Stereo Vision Systems collect is calculated；5) by under the rotor blade mark point three-dimensional information unification of four sets of Binocular Stereo Vision System measurement gained to total station instrument coordinate system, the rotor blade dynamic trajectory measurement based on four item stereo visions is realized.It is an advantage of the invention that：The three-dimensional reconstruction to rotor blade movement locus can be completed, has the advantages that field range is big, contactless, precision is high, security 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 the measuring method based on stereoscopic vision more particularly to a kind of helicopters based on four item stereo visions Rotor blade dynamic trajectory measuring method.
Background technology
Rotor is the core component of helicopter, and rotation generates the lift needed for helicopter flight and pushes away rotor blade at a high speed Power.By measuring the movement locus of rotor blade, can be designed for rotor structure, stop block design, blade aerodynamic load above and below propeller hub Design, airscrew pyramidal angle adjustment provide important evidence.Rotor blade dynamic trajectory measurement be directly related to helicopter security, The accuracy of comfort, reliability and weapon system is the important inspection item in helicopter development, production and working service.
Rotor blade dynamic trajectory measures the whole process with Helicopter Development, in helicopter development, produces and makes With occupying considerable status in maintenance.Accurately, efficiently and automatically measurement rotor blade dynamic trajectory is helicopter design life Production unit makes great efforts the direction of research always.Foreign countries are more to the research of blade tip dynamic trajectory, but to entire rotor blade dynamic rail The research of mark is less.
Traditional measuring method has：
1) geometric measurement method, such method generally use displacement sensor and laser displacement sensor turn angle change It turns to change in displacement to measure, but the angle of flap of rotor blade and shimmy angle can only be measured, the dynamic of rotor blade can not be measured State track；
2) high-speed CCD imaging method, requirement CCD imaging optical axises are vertical with rotor when this method measures, this is in practical operation It is difficult to realize, and CCD imagings object distance known to this method requirement, and object distance is typically what is changed during being imaged, this may cause Generate unacceptable test error；
3) stereo-visiuon measurement method, this method gathers rotor blade image by binocular camera simultaneously, and passes through parallax Method calculates rotor blade mark point three-dimensional information；This method measurement accuracy is higher, but the field range measured is smaller, can not measure Rotor blade is in the dynamic trajectory of each spatial position.
In conclusion traditional rotor blade dynamic trajectory measurement technology can not completely measure rotor blade entire empty Between position dynamic trajectory.The present invention forms four item stereo vision measuring systems using four video cameras, can expand measurement model It encloses, so as to fulfill the function being monitored to dynamic trajectory of the rotor blade in entire space.
The content of the invention
It is an object of the invention to provide a kind of helicopter rotor blade dynamic trajectory measurements based on four item stereo visions Method.First, the mark point of known dimensions, shape and spacing is pasted in every rotor blade specific position；Then, using four mesh Video camera, high-speed computer, angular transducer, helicopter rotor blade image of the lighting apparatus structure based on four item stereo visions Acquisition device, and four lens cameras are matched two-by-two, form four sets of Binocular Stereo Vision Systems；Using standard calibration template, entirely Instrument of standing demarcates four item stereo vision systems；Finally, the four item stereo vision system acquisition motion states demarcated are utilized Under rotor blade mark point image, and calculate mark point three-dimensional information.
The present invention adopts the following technical scheme that a kind of helicopter rotor blade dynamic trajectory based on four item stereo visions is surveyed Amount method, the present invention specifically include following steps：
1) mark point of known dimensions, shape and spacing is uniformly pasted in every rotor blade both sides of helicopter；
2) by four lens cameras, high-speed computer, angular transducer, lighting apparatus structure based on four item stereo visions Helicopter rotor blade image acquiring device, and four lens cameras are matched two-by-two, form four sets of Binocular Stereo Vision Systems；
3) every set Binocular Stereo Vision System is demarcated using standard calibration template；
4) global calibration is carried out to four sets of Binocular Stereo Vision Systems using total powerstation, obtains four sets of binocular stereo vision systems System is transformed into rotation, the translation relation of total station instrument coordinate system from respective camera coordinate system, specifically includes following steps：
(a) total station instrument coordinate system is defined；
(b) standard calibration template is positioned under the visual field of Binocular Stereo Vision System, and standard is determined using total powerstation Three-dimensional coordinate of the characteristic point under total station instrument coordinate system on calibrating template；
(c) three-dimensional seat of the characteristic point under its own coordinate in standard calibration template is calculated using Binocular Stereo Vision System Mark；
(d) three-dimensional seat of the standard calibration template characteristic o'clock obtained using step (b), step (c) under two coordinate systems Mark calculates rotation of the Binocular Stereo Vision System coordinate system to total station instrument coordinate system, translation relation；
5) the four sets of Binocular Stereo Vision Systems demarcated using step 3), step 4) gather rotor blade figure simultaneously Picture, and the rotor blade image pair mark point three-dimensional information that often set Binocular Stereo Vision System collects is calculated, it specifically includes Following steps：
(a) use based on the correction algorithm of Brown algorithm to rotor blade image to carrying out Geometry rectification, to eliminate camera lens Distortion；
(b) the row alignment correction spin matrix R obtained using step 3)l、RrTo rotor blade image to carrying out three-dimensional school Just, the rotor blade image pair of severity row alignment is obtained；
(c) using the background interference in image segmentation and largest connected domain method removal binocular image, and mark point is obtained Characteristic information；
(d) Stereo matching is carried out to the mark point in binocular image according to mark point characteristic information；
(e) using the re-projection matrix Q in step 3), mark point three-dimensional information is calculated on the basis of Stereo matching. Specific formula for calculation is as follows：
Wherein, (X/W, Y/W, Z/W) is the three-dimensional coordinate of mark point, and (x, y) is mark point in left camera image plane Image coordinate, d for mark point in the associated parallax of left and right cameras；
6) the rotor blade image tagged point three-dimensional information in step 5) is used to calculate every suit Binocular Stereo Vision System On the basis of, with reference to four sets of respective camera coordinate systems of Binocular Stereo Vision System that step 4) obtains to total station instrument coordinate system Rotation, translation relation, will under four sets of Binocular Stereo Vision Systems measurement gained rotor blade mark point three-dimensional information it is unified To under total station instrument coordinate system, following steps are specifically included：
(a) three-dimensional coordinate of a piece of rotor blade mark point under four sets of Binocular Stereo Vision System coordinate systems is calculated；
(b) the four sets of Binocular Stereo Vision Systems obtained using step 4) each coordinate system to the rotation of total station instrument coordinate system Turn, translation relation is by the piece rotor blade mark point three-dimensional coordinate transformation to total station instrument coordinate system；
(c) three-dimensional coordinate of every step (a), (b) calculating rotor blade mark point under total station instrument coordinate system is repeated, it is complete Paired rotor blade dynamic trajectory measurement.
It is an advantage of the invention that：Four sets of Binocular Stereo Vision Systems are built using four lens cameras, are stood by four sets of binoculars Three-dimensional information of the body vision systematic survey rotor blade mark point at the different position of space, is realized to rotor blade movement locus Dynamic measurement.The present invention can measure three-dimensional information of the rotor blade at the different position of space, complete to transport rotor blade The three-dimensional reconstruction of dynamic rail mark has the advantages that field range is big, contactless, precision is high, security is good.
Description of the drawings
Fig. 1 is the work flow diagram of the present invention.
Fig. 2 is rotor blade mark point paste position schematic diagram.
Fig. 3 is four item stereo vision system calibrating schematic diagrames.
Fig. 4 is lifting airscrew dynamic trajectory instrumentation plan.
Specific embodiment
The present invention is using the helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions as shown in Figure 1 Flow chart realizes the measurement of helicopter rotor blade dynamic trajectory.Specifically include following implementation steps：
1st, rotor blade binding mark point
Mark point paste position of the present invention is as shown in Figure 2：Using the double ten mark points distributions of 5*2.It is required that mark point size Identical, spacing is identical, and mark point is arranged on rotor blade a quarter chord line and 3/4ths chord lines. Reflecting piece is pasted in rotor blade root, for the acquisition of angle signal.
2nd, four item stereo vision image capturing systems are built
The present invention is using four lens cameras, high-speed computer, angular transducer, lighting apparatus structure based on four mesh stereopsis The helicopter rotor blade image acquiring device of feel, and four lens cameras are matched two-by-two, form four sets of binocular stereo vision systems System.
3rd, Binocular Stereo Vision System is demarcated
The present invention is using Zhang Zhengyou propositions based on the calibration algorithm of plane template in four sets of Binocular Stereo Vision Systems Camera interior and exterior parameter is demarcated, and obtains spin matrix and translation matrix between two video cameras.A set of binocular is stood Body vision system is demarcated, and specifically includes following steps：
1) template image of 10 pairs or more different directions is gathered, stencil plane needs a clamp with camera image plane Angle, and the stencil plane of different directions cannot be parallel；
2) video camera in Binocular Stereo Vision System is put down respectively using the Zhang Zhengyou plane reference algorithms proposed Face is demarcated, and obtains rotation, translation in Binocular Stereo Vision System between the inside and outside parameter of two video cameras and two video cameras Relation；
3) using Bouguet three-dimensional correction algorithms, row alignment correction spin matrix R is calculatedl、RrWith re-projection matrix Q, make With row alignment correction spin matrix Rl、RrThree-dimensional correction is carried out to binocular camera, makes taking the photograph in a set of Binocular Stereo Vision System Camera is in the state of severity row alignment.
4th, four item stereo vision system calibrating
The present invention obtains four sets of Binocular Stereo Vision Systems from respective on the basis of the 3rd step, using standard calibration template Coordinate system be transformed into the rotation of total station instrument coordinate system, translation relation.Four item stereo vision system calibrating schematic diagram such as Fig. 3 institutes Show.Rotation under four item stereo vision system coordinate systems to total station instrument coordinate system, translation relation are solved, specifically includes following step Suddenly：
1) total station instrument coordinate system TCS is defined, as shown in Figure 3；
2) set standard calibration template is placed in video camera 1, video camera 2 forms Binocular Stereo Vision System field range It is interior, using physical coordinates of the characteristic point under total station instrument coordinate system TCS in total station survey standard calibration template, if measure Physical coordinates areWherein i ∈ [1, N], N are the number of characteristic point in template；
3) Binocular Stereo Vision System formed using video camera 1,2 calculates standard calibration template in its coordinate system Cxoy1 Under three-dimensional coordinate, be set toWherein i ∈ [1, N], N are the number of characteristic point in template；
4) three-dimensional coordinate under two coordinate systems obtained using step 2) and step 3), coordinates computed system Cxoy1 is to entirely The spin matrix R to stand under instrument coordinate system TCScw1, translation vector Tcw1, specific calculating process is as follows：
Appoint and take physical coordinates under TCS coordinate systemsArbitrary not collinear three points in i ∈ [1, N]It is corresponding under Cxoy1 coordinate systemsThere is following relation：
Wherein,
If Rcw1=[R1 R2 R3]T, wherein
By the corresponding x-component of equation in formula (1), R can be solved1, calculation formula is as follows：
Similarly, with y-component, R can be solved2, and due to Rcw1It is orthogonal matrix, therefore R3=R1×R2。
R is being obtainedcw1On the basis of, translation vector T can be obtainedcw1, calculating process is as follows：
5th, rotor blade mark point three-dimensional information measures
Gather the rotor blade figure of movement simultaneously using the four sets of Binocular Stereo Vision Systems demarcated through the 3rd step, the 4th step Picture gathers a rotor blade image, each angle repeated acquisition 50 times every certain angle (such as 15 ° of angles), and calculates and often cover The rotor blade image pair mark point three-dimensional information that Binocular Stereo Vision System collects.To a set of Binocular Stereo Vision System A pair of of the rotor blade image collected carries out three-dimensional information calculating to mark point, specifically includes following steps：
1) use based on the correction algorithm of Brown algorithm to rotor blade image to carrying out Geometry rectification, to eliminate camera lens Distortion；
2) the row alignment correction spin matrix R obtained using the 3rd stepl、RrTo rotor blade image to carrying out three-dimensional correction, Obtain the rotor blade image pair of severity row alignment；
3) using the background interference in image segmentation and largest connected domain method removal binocular image, and mark point is obtained Characteristic information；
4) Stereo matching is carried out to the mark point in binocular image according to mark point characteristic information；
5) using the re-projection matrix Q in the 3rd step, mark point three-dimensional information is calculated on the basis of Stereo matching, specifically Calculation formula is as follows：
Wherein, (X/W, Y/W, Z/W) is the three-dimensional coordinate of mark point, and (x, y) is mark point in left camera image plane Image coordinate, d for mark point in the associated parallax of left and right cameras.
6th, rotor blade dynamic trajectory measures
The four sets of Binocular Stereo Vision System coordinate systems obtained using the 4th step are converted to the rotating of total station instrument coordinate system, 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, it is complete Paired rotor blade dynamic trajectory measurement.Dynamic trajectory measurement is carried out to a piece of rotor blade, specifically includes following steps：
1) three-dimensional coordinate of a piece of rotor blade mark point in the respective coordinate system of four sets of Binocular Stereo Vision Systems is calculated, if Rotor blade rotates a circle, and calculates rotor blade respectively under the triggering of the pulse signal of angular transducer in t1、t2、t3、t4Four A moment is located at stereo visual system 1, stereo visual system 2, stereo visual system 3, the visual field of stereo visual system 4 respectively Under, as shown in Figure 4；
2) using four sets of respective coordinate systems of Binocular Stereo Vision System that the 4th step obtains to the rotation of total station instrument coordinate system Turn, translation relation is by the rotor blade mark point three-dimensional coordinate transformation to total station instrument coordinate system.If t1Moment, rotor blade mark Putting the three-dimensional coordinate measured under the coordinate system Cxoy1 where stereo visual system 1 isi∈ [1,10], the three-dimensional coordinate under total station instrument coordinate system TCS areI ∈ [1,10], coordinate system Cxoy1 turn Shift to the spin matrix R of total station instrument coordinate system TCScw1, translation vector Tcw1, calculated by equation belowExtremelyConversion：
3) step 2) is repeated by t2、t3、t4Moment rotor blade mark point three-dimensional coordinate information is converted to total station instrument coordinate system Under, it completes to monitor the dynamic trajectory that a piece of rotor blade rotates a circle；
4) monitoring of the step 1) to step 3) completion to all rotor blade dynamic trajectories is repeated.

Claims (1)

1. a kind of helicopter rotor blade dynamic trajectory measuring method based on four item stereo visions, it is characterised in that specifically include Following steps：
1) mark point of known dimensions, shape and spacing is uniformly pasted in every rotor blade both sides of helicopter；
2) going straight up to based on four item stereo visions is built by four lens cameras, high-speed computer, angular transducer, lighting apparatus Machine rotor blade image acquiring device, and four lens cameras are matched two-by-two, form four sets of Binocular Stereo Vision Systems；
3) every set Binocular Stereo Vision System is demarcated using standard calibration template, obtained two in Binocular Stereo Vision System Rotation, translation relation between the inside and outside parameter of platform video camera and two video cameras utilize Bouguet three-dimensional correction algorithms, meter Calculate row alignment correction spin matrix Rl、RrWith re-projection matrix Q；
4) four sets Binocular Stereo Vision Systems are carried out with global calibrations using total powerstation, four sets of Binocular Stereo Vision Systems of acquisition from Respective camera coordinate system is transformed into the rotation of total station instrument coordinate system, translation relation, specifically includes following steps：
(a) total station instrument coordinate system is defined；
(b) standard calibration template is positioned under the visual field of Binocular Stereo Vision System, and standard calibration is determined using total powerstation Three-dimensional coordinate of the characteristic point under total station instrument coordinate system in template；
(c) three-dimensional coordinate of the characteristic point under its own coordinate in standard calibration template is calculated using Binocular Stereo Vision System；
(d) three-dimensional coordinate of the standard calibration template characteristic o'clock obtained using step (b), step (c) under two coordinate systems, meter Calculate rotation of the Binocular Stereo Vision System coordinate system to total station instrument coordinate system, translation relation；
5) the four sets of Binocular Stereo Vision Systems demarcated using step 3), step 4) gather rotor blade image simultaneously, and The rotor blade image pair mark point three-dimensional information that often set Binocular Stereo Vision System collects is calculated, specifically includes following step Suddenly：
(a) use based on the correction algorithm of Brown algorithm to rotor blade image to carrying out Geometry rectification, it is abnormal to eliminate camera lens Become；
(b) the row alignment correction spin matrix R obtained using step 3)l、RrTo rotor blade image to carrying out three-dimensional correction, obtain The rotor blade image pair to align to severity row；
(c) using the background interference in image segmentation and largest connected domain method removal binocular image, and the spy of mark point is obtained Reference ceases；
(d) Stereo matching is carried out to the mark point in binocular image according to mark point characteristic information；
(e) using the re-projection matrix Q in step 3), mark point three-dimensional information is calculated on the basis of Stereo matching, specifically Calculation formula is as follows：
<mrow> <mi>Q</mi> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>x</mi> </mtd> </mtr> <mtr> <mtd> <mi>y</mi> </mtd> </mtr> <mtr> <mtd> <mi>d</mi> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mi>X</mi> </mtd> </mtr> <mtr> <mtd> <mi>Y</mi> </mtd> </mtr> <mtr> <mtd> <mi>Z</mi> </mtd> </mtr> <mtr> <mtd> <mi>W</mi> </mtd> </mtr> </mtable> </mfenced> </mrow>
Wherein, (X/W, Y/W, Z/W) is the three-dimensional coordinate of mark point, and (x, y) is figure of the mark point in left camera image plane As coordinate, d is mark point in the associated parallax of left and right cameras；
6) in the base that step 5) is used to calculate rotor blade image tagged point three-dimensional information in every suit Binocular Stereo Vision System On plinth, with reference to four sets of respective camera coordinate systems of Binocular Stereo Vision System that step 4) obtains to the rotation of total station instrument coordinate system Turn, translation relation, the rotor blade mark point three-dimensional information of measurement gained under four sets of Binocular Stereo Vision Systems is unified to complete It stands under instrument coordinate system, specifically includes following steps：
(a) three-dimensional coordinate of a piece of rotor blade mark point under four sets of Binocular Stereo Vision System coordinate systems is calculated；
(b) the four sets of Binocular Stereo Vision Systems obtained using step 4) each coordinate system to the rotating of total station instrument coordinate system, put down Shifting relation is by the piece rotor blade mark point three-dimensional coordinate transformation to total station instrument coordinate system；
(c) step (a) is repeated, (b) calculates three-dimensional coordinate of the every rotor blade mark point under total station instrument coordinate system, completion pair Rotor blade dynamic trajectory measures.
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