CN109900713A - Camera-guided unmanned aerial vehicle wind power blade defect dynamic detection system and method thereof - Google Patents
Camera-guided unmanned aerial vehicle wind power blade defect dynamic detection system and method thereof Download PDFInfo
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Abstract
The invention discloses a camera-guided dynamic detection system for defects of wind power blades of an unmanned aerial vehicle, which comprises a blade global motion measurement system, an unmanned aerial vehicle station blade local damage detection system, an information processing analysis and control system and a field comprehensive support and guarantee system. The detection method based on the system is also disclosed, and the camera calibration is firstly carried out; acquiring images of the rotating blades through a global motion measurement system, acquiring full-field displacement and deformation information of the rotating blades, and extracting the outline of the rotating blades; then controlling and planning the near-distance local observation of the unmanned aerial vehicle, and acquiring high-resolution images of the local area of interest of the blade at different positions under different stress states; and carrying out manual or semi-automatic fault detection and analysis according to the displacement of the characteristic points on the blade and the change of the image. The method has the advantages of stable detection process, realization of high-precision detection of the global and local surfaces of the large-scale wind power blade, high detection efficiency, rich functions, easy control and great labor saving.
Description
Technical field
The present invention relates to videographic measurment technology and moire detection technique more particularly to a kind of unmanned plane wind-powered electricity generations of camera shooting guidance
Blade is bubbled and the dynamic detection system and method for surface defect.
Background technique
With the continuous enhancing of china's overall national strength, country is constantly soaring to the demand of the energy.Using wind power generation
Through becoming a kind of reliable clean energy resource.China starts the exploration and demonstration work of Wind Power Project in the 1980s.It is expected that
The electricity needs of the country 17% is able to satisfy to the year two thousand fifty.Large-scale wind power field is built in remote mountain area or greater coasting area more, hands over
Logical inconvenience, and unit is in high-altitude, once certain components of unit break down, not only shuts down for a long time and generated energy is caused to damage
It loses, and the lifting again and part replacement of entire unit, requires a large amount of man power and material.
Modern times large-scale horizontal axial type Wind turbines as mainstream, structure is extremely complex, generally by blade, power transmission
The components such as chain, generator and pylon composition.The type of common wind power equipment mechanical breakdown mainly includes blade fault, power transmission
The failure of mechanism-trouble, generator failure, yaw system failure and pylon failure, these critical components will cause wind-driven generator
The shutdown of group is even failed.Numerous studies are done to wind electricity blade detection method and instrument both at home and abroad, but mostly immature.It is real
Crop leaf measuring method instrument requires to carry out range estimation detection using telescope and rope spider-man under shutdown status, can examine
Survey project is few, low efficiency, reliability are low, cannot find the isostructural mechanical breakdown of blade in time, the serious wind-powered electricity generation cause that hinders
Sustainable development.
Therefore, the unmanned plane wind electricity blade defect dynamic that those skilled in the art is dedicated to inventing a kind of camera shooting guidance is examined
Examining system and method are based on videographic measurment technology and moire detection technique, break through large scale high-acruracy survey, online movement simultaneously
With the great matter of science and technology such as deformation measurement.
Summary of the invention
In view of the above drawbacks of the prior art, the technical problem to be solved by the present invention is to based on videographic measurment technology and
High-acruracy survey, bubbling online and the surface defects detection that moire detection technique is realized wind electricity blade while being carried out.
To achieve the above object, the present invention provides a kind of unmanned plane wind electricity blade defect dynamic detection systems of camera shooting guidance
System comprising following system:
Blade global motion measuring system: it is set to ground, including two independent global camera measurement platforms, each
A overall situation camera measurement platform has the camera array that is made of one or several cameras, between two global camera measurement platforms
Away from intersection angle according to measurement task demand flexible arrangement, for carrying out three-dimensional motion measurement to wind electricity blade and image border is taken turns
Exterior feature measurement, and obtain the 3 D motion trace of each point-of-interest of blade；
Unmanned plane station blade local damage detection system: including unmanned plane, unmanned plane carries detection load, and detection load can
Including high resolution camera and digital image projector, for the optical imagery of shooting at close range blade surface, observable blade
The abnormal conditions such as face crack, damage, de- felt, while also can measure the blade partial 3 d under different location difference stress
Profile and blade surface deformation；
Information process analysis and control system: including computer and transmission cable, global motion measuring system and nothing are used for
The data of man-machine station blade local damage detection system are synchronous, transmission, processing and analysis, at the same according to mission requirements complete for
The control at unmanned plane station；
The comprehensive support in field and safeguards system: transport and electric power including several offroad vehicles, for photogrammetric equipment
It ensures.
Further, when blade global motion measuring system is only used as unmanned plane station to control guidance system, single overall situation phase
Machine measuring table can meet mission requirements.
The unmanned plane wind electricity blade defect dynamic for the camera shooting guidance based on said detecting system that the present invention also provides a kind of
Detection method, comprising the following steps:
Step (1), camera calibration, camera calibration work can be previously-completed indoors, or be carried out under field operation environment.
It flies using being loaded in the field range of the unmanned plane of cooperation mark in the field environment, or directly using on wind electricity blade
Feature, the image of the multiple features of left and right platform camera synchronous acquisition of blade global motion measuring system pass through matching cooperation mark
Will completes camera calibration and solves the inside and outside parameter of camera；
Step (2), the figure of two independent global array camera measurement platforms shooting, collecting rotating vane from different perspectives
Picture obtains rotary motion by technologies such as digital picture correlations to the sequence image analysis that blade is shot during rotation
The whole audience of blade is displaced and strain information, and combining camera calibrating parameters, obtains wind electricity blade point-of-interest during rotation
3 D motion trace；Edge detection is carried out to the image of wind electricity blade, extracts blade profile；
Step (3) is based on blade three-dimensional motion information, using time-domain analysis or frequency-domain analysis, analyzes blade in the surfaces of revolution
The acoplanarity displacement of interior rotation and blade measures the relative deformation under blade different location difference stress, judges blade table
The abnormal conditions in face；
Step (4), information process analysis and control system are under global motion measuring system measurement result planning and guidance, control
Unmanned plane processed closely part observation, obtains high-resolution of the blade local area of interest under different location difference stress
Image；Blade three-dimensional appearance data are obtained based on the technologies such as digital picture correlation or projecting structural optical, are sentenced according to manual or automatic
It is abnormal to read damage, cracking, crackle of blade surface etc..
It further, further include that unmanned plane station blade local damage detection system measurement result is unified to global motion survey
Under the coordinate basis of amount system: several laser positioning indicators can be installed on unmanned plane while irradiating blade, global motion
Measure camera according to the position of laser designator can to the picture that unmanned plane is shot in blade global measuring coordinate system into
Row positioning.
The unmanned plane wind electricity blade defect dynamic testing method of camera shooting guidance of the invention, detection process are stablized, are broken through
The technical problems such as large scale while high-acruracy survey, online movement and deformation measurement, appearance high, feature-rich with detection efficiency
Manageable advantage saves a large amount of manpowers.
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
Detailed description of the invention
Fig. 1 is blade global motion measuring system schematic diagram；
Fig. 2 is the schematic diagram of the unmanned plane and its carrying detection load in dynamic detection system of the invention；
Fig. 3 is the digital image correlation technique flow chart based on rotation subdomain；
Fig. 4 is the propagation path schematic diagram of measurement of full field；
Fig. 5 is initial pixel locations distribution schematic diagram in PSO algorithm；
Fig. 6 is the contours extract flow chart based on perceptual organization and graph theory of dynamic testing method of the invention；
Fig. 7 is the unmanned plane projection line geometry relational graph of dynamic testing method of the invention；
Fig. 8 is the moire pattern of the unmanned plane projection of dynamic testing method of the invention；
Fig. 9 is the frequency domain schematic diagram that digital picture carries out one-dimensional Fourier transform；
In figure, 1 unmanned plane, 2 brackets, 3 lightweight support sticks, 4 projectors, 5 cameras.
Specific embodiment
The present invention provides a kind of unmanned plane wind electricity blade defect dynamic detection systems of camera shooting guidance, which is characterized in that
Including following system:
Blade global motion measuring system is set to ground: one embodiment of the present of invention is as shown in Figure 1, include two only
Vertical global camera measurement platform, two global camera measurement platform spacing and intersection angle according to measurement task demand flexible arrangement,
For carrying out three-dimensional motion measurement and image border profile measurement to wind electricity blade, and obtain the motion state of blade and whole complete
Whole property.For example, it is made of 2 × 2=4 ten million Pixel-level high resolution cameras, it is complete under rotary state to shoot wind electricity blade
The sequence image of about 130 × 130 square metres of field.By the principle of stereoscopic vision between two measuring tables, to wind electricity blade
Three-dimensional motion measurement, obtains the motion state of blade, and in conjunction with time and frequency domain analysis technology, detecting wind electricity blade operating condition is integrally
It is no to have exception, obtain blade overall integrity and arrangement works health status.Meanwhile blade global motion measuring system can also lead to
Image border profile measurement perception deformable blade is crossed, speculates blade damage that may be present in conjunction with Numerical Simulation Results；Measure wind
Whether electric blade king-post has shaking, inclination and the failure of king-post；According to the relationship of blade Plane of rotation and wind direction, judgement is inclined
The boat system failure.
Unmanned plane station blade local damage detection system: including unmanned plane, one embodiment of the present of invention as shown in Fig. 2,
Unmanned plane 1 carries detection load, vertically connects a bracket 2, the bottom connection of bracket 2 in the bottom centre position of unmanned plane 1
Lightweight support stick 3 is laterally fixedly mounted on projector 4 in one projector 4, specially the digital picture projector, lightweight support stick 3
Both ends are respectively fixedly installed with a camera 5, are high resolution camera；Said mechanism is used for the light of shooting at close range blade surface
Learn image, measurement blade partial 3 d profile and detection surface defects of blades situation；It mainly has there are three detection function: (1)
The optical imagery of high resolution camera shooting at close range blade surface, scratch, the crackle equivalent damage of semi-automatic interpretation blade surface；
(2) the digital picture projector is used, using the methods of projecting structural optical, blade partial 3 d profile can be measured, differentiate blade
The defects of surface blisters；(3) it if blade surface is formed with the textures such as spot, can be measured with loading by means of digital image correlation method (DIC) etc.
Surface strain field situation under to different stresses.
Information processing and control system: it including several computers and transmission cable, stores and controls for data, be used for
, transmission synchronous to the test data of base station and unmanned plane station, processing and analysis.The groundwork of the system includes that blade is moved
It is compared with deformation measurement data and blade construction vibration deformation numerical simulation result, analyzes the difference of deformable blade；Blade
Three-dimensional motion time domain or frequency-domain analysis；Blade surface crackle differentiates；Blade surface morphology analysis and bubbling differentiate；Blade measuring number
According to being stored, by tracking and evaluating the evolutionary process of blade local damage compared with previous detection data.
The comprehensive support in field and safeguards system: including several offroad vehicles, being used to undertake the workbench of measuring device, and
And transport and electric power safeguard for photogrammetric equipment.For example, being made of 24 wheel drive offroad vehicles and relevant device, it is responsible for
The photogrammetric equipment of wind electricity blade is transported, vehicle is parked in predetermined position, opening car door can serve as workbench and measure work
Industry.Offroad vehicle provides electric power in field test Shi Kewei test macro simultaneously.
The present invention also provides it is a kind of camera shooting guidance unmanned plane wind electricity blade defect dynamic testing method, mainly include with
Lower step:
Step (1), camera calibration
Camera calibration work can be previously-completed indoors, or be carried out under field operation environment.It is available to be loaded with cooperation
Flight in the field range of the unmanned plane of mark in the field environment, or directly utilize feature on wind electricity blade, blade overall situation fortune
The image of the multiple features of left and right platform camera synchronous acquisition of dynamic measuring system cooperates mark by matching and completes camera calibration simultaneously
Solve the inside and outside parameter of camera.
Step (2), the measurement of blade global motion and contours extract
The image of two independent global array camera measurement platforms shooting, collecting rotating vane from different perspectives, to blade
The sequence image analysis shot during rotation obtains the complete of the blade of rotary motion by technologies such as digital picture correlations
Field displacement and strain information, and combining camera calibrating parameters, obtain the three-dimensional motion during rotation of wind electricity blade point-of-interest
Track；Preferably perceptual organization's contour extraction method based on line segment marshalling and significance analysis carries out side to the image of blade
Edge detection and contours extract.
In the step, the digital image correlation technique based on rotation subdomain is can be used in a kind of specific embodiment, to obtain
The whole audience of the blade of rotary motion is displaced and strain information, digital picture is matched with rotating vane, flow chart such as Fig. 3 institute
Show:
It matches first with SIFT (Scale-invariant feature transform) Feature Extraction Technology with reference to figure
The characteristic point of picture and target image chooses any one seed point in area-of-interest, and the principle of selection is the seed point institute
Subdomain there are two or more characteristic points, these matched characteristic points to being denoted as respectively: ki(xi,yi) and ki'(xi',
yi').Then these matched characteristic point definition vectors are utilizedWith
The vector angle of this two groups of vectors composition, can be acquired by following formula:
Here ΘiFor the angle of two vectors, in the range of 0 ° to 180 °, but subdomain (corresponding initial shooting position is referred to
Set) and the rotation angle θ range of deformation subdomain (corresponding moving displacement after position) be 0 ° to 360 °, be positive counterclockwise.In order to correct
Obtain rotation angle, it is thus necessary to determine that the direction of rotation of vector can then determine at this time according to two vector multiplication crosses.
IfIt is positive,Be aboutRotation counterclockwise, rotation angle θ=Θ at this time, otherwise θ=360 °-Θ.
A series of approximate rotation angles of target subdomain can be found out in this way, for the estimation time for reducing rotation angle, taken in the present embodiment
Median is the estimated value of rotation angle.After the initial value θ acquisition for rotating angle, the angle θ, rotation formula are rotated to target subdomain
Are as follows:
Wherein, x ', y ' be rotation after whole pixel coordinate, Δ x and Δ y are the pixel in the direction x and y respectively into subdomain
The distance of the heart.By the subdomain after matching rotation and subdomain is referred to, decorrelation caused by capable of eliminating because of rotation, thus accurately
Search corresponding whole pixel in target figure.
Equally, Rotation, the present invention preferably two step Newton-Raphson should be also considered in sub-pix iteration
(NR) the purpose of iterative algorithm, the first step is the Displacement and rotation angle that iteration goes out closer true value, i.e., (u, v, θ)；Second
Step goes out final optimization pass solution using traditional NR algorithm iteration
In the first step, it is assumed that rigid body rotation only has occurred in object, then the coordinate of deformed subdomain can use zeroth order shape
Function representation:
It can use the matching of the correlation function assessment reference subdomain and target subdomain of standard.Here, considering 3 ginsengs of optimization
NumberIts initial value isIt is obtained by the whole pixel search stage of front.In first step NR iteration
In the process, degree of precision solution can be obtained in conjunction with bicubic interpolationThis solution will be as the initial of second step NR iteration
Value.Once rotation angle and displacement determine, go out optimal solution using traditional NR algorithm iteration.The second order shape function of iterative process
Rotation angle θ is introduced, is expressed as follows:
This iterative process needs to optimize 13 variables, i.e. (u, v, ux,uy,vx,vy,uxx,uxy,uyy,vxx,vxy,vyy, θ),
The initial value (u, v, 0,0,0,0,0,0,0,0,0,0, θ) of iteration is determined by first step NR.Two step NR algorithms of the invention can be with
Relevant matching precision is improved well.
In whole audience calculating, it is stable as one that present invention preferably employs a two-way independent S-shaped propagation paths
Seed point propagation scheme, as shown in figure 4, its propagation function are as follows:
Using this propagation function, the initial displacement (u of available next point1,v1), recycle NR algorithm quasi-
Really obtain the sub-pix place value of target point.
With algorithm above, to the sequence image analysis that blade is shot during rotation, combining camera calibrating parameters, just
The three-dimensional position of blade of wind-driven generator any position during rotation can be measured, binding time parameter can be obtained leaf
The three-dimensional motion and deformation of piece.
About the relevant real-time processing of digital picture, of the invention is preferred using such as particle swarm optimization (PSO) whole pixel
Searching algorithm, specific as follows:
In whole pixel search, it is assumed that PiIndicate the current location of ith pixel, viIndicate the present speed of ith pixel,
pbestiIndicate that the optimal location that ith pixel was searched for, gbest indicate the optimal location that pixel group turns over.The optimal position of pixel
The superiority and inferiority set can be by the objective function of institute's optimization problem, i.e., correlation function (formula 5) in digital picture correlation determines.Example
Such as, related coefficient C is set as 0.75, once global correlation coefficient gbest is greater than or equal to C, iteration stops immediately.In sequence chart
In handling, the pixel displacement between adjacent image is smaller, therefore m are generated first in target figure initially in search process
Pixel and random velocity, the target position of upper width figure as the center of next width figure and is generated into M × N number of pixel
Particle, for the diversity for keeping population, remaining particle of random generation in remaining region of search, as shown in Figure 5.Two
In dimension space, pixel group updates respective speed and position according to formula (7) (8) respectively.
vid(t+1)=wvid(t)+c1r1[pbestid-pid(t)]+c2r2[gbestd-vid(t)] (7)
pid(t+1)=pid(t)+vid(t+1) (8)
In formula, d=1,2 ..., representation space dimension, when only considering two dimension, then d=1,2, respectively indicate the whole pixel of image
The direction x and y in coordinate space, w are inertia weight, c1, c2For aceleration pulse, r1, r2It is be uniformly distributed in [0,1] random
Number.In order to control pixel to search space [Pd,min,Pd, max] and excessive movement, particle speed is set as in [Vd,min,Vd,
Max] range.
Target position d is obtained by PSO algorithm0Afterwards, greatest gradient searching algorithm is recycled, it is possible to prevente effectively from whole picture
In plain airspace the case where multi-peak, final initial estimated location is rapidly and accurately obtained, it is then (reversely combined by IC-GN
Gauss-Newton Methods) sub-pix searching algorithm, it can rapidly obtain Displacement.
By the above-mentioned whole pixel search method of two steps, a point can be quickly obtained in conjunction with IC-GN sub-pix search strategy
Shift value.The quick tracking of multiple characteristic points may be implemented in integrating parallel computing technique.Using C Plus Plus and combine
OpenMP programming mode runs searching algorithm in multi-core computer, can reach the mesh of real-time multiple spot while tracking
's.
Contours extract for wind electricity blade is the edge obtained due to the influence edge detection of noise by edge extracting
Point set needs to be attached these edge sections to form the profile of target, therefore the profile based on edge there may be interruption
Extracting method generally includes edge detection and two key steps are organized into groups at edge.
The edge processing and line segments extraction of wind electricity blade usually can be on the basis of the operator edge detections such as such as Canny
It carries out, then using line segment as primitive, it is organized into groups using perceptual organization's method based on graph theory, further, using known
The matching guidance of blade profile model data, achievees the purpose that blade profile extracts.It is a kind of preferred for Accurate Determining blade profile
Method be using based on line segment marshalling and significance analysis perceptual organization's contour extraction method (Lines Grouping and
Saliency Analyzing based Perceptual Organizational Contour Extraction, LSPC),
The preparation of marshalling primitive, the definition of local conspicuousness and the analysis of profile significance (i.e. global significance) and etc. carry out it is excellent
Change, the defect of the short profile of traditional algorithm preference can be overcome.The detailed process of this method is shown in Fig. 6.
Contours extract process shown in fig. 6 mainly includes three steps:
1) primitive prepares, including three sub-steps of edge detection, edge processing and line segments extraction；
2) line segment is organized into groups, and including construction connectability graph, calculates the connection probability between line segment and the weight of arc is arranged and seeks
Three sub-steps of circle (Cycle) are looked for, wherein weight depends primarily on proximity, continuity and gray consistency between line segment；
3) edge analysis carries out validation verification to profile and significance is analyzed, therefrom selects most significant profile conduct
Output.
The overall failure of step (3), wind electricity blade tests and analyzes:
Rotation of the blade in the surfaces of revolution is analyzed using time-domain analysis or frequency-domain analysis based on blade three-dimensional motion information
With the acoplanarity displacement of blade, the relative deformation under blade different location difference stress is measured；According to the period of blade rotational speed
Property variation and blade local deformation data, judge the abnormal conditions of blade surface.Further, above-mentioned fault detection analysis
Specific method includes the following:
Constant wind off field, regard a rotation at the uniform velocity as the rotation of blade is approximate.On blade along its length three
Dimension rotation is decomposed into the acoplanarity displacement of rotation and blade of the blade in the surfaces of revolution, in time domain, analyzes along length of blade direction
On each point motion change curvilinear motion at any time, each spot moving direction is decomposed into three directions: rotating including blade
Horizontal and vertical direction and the direction perpendicular to Plane of rotation in plane.Normally, when some blade is due to face crack, sand
The defects of eye, leads to internal ponding, revolving speed in the surfaces of revolution can generating period variation feature, according to above-mentioned curve into
Row determines.Displacement of the blade in the direction z is mainly generated by two kinds of factors.One is blades during rotation due to the shadow of air-flow
Loud and structural vibration is deformed；It is another then related with blade injury, transmission shaft failure.The damage of blade is mainly manifested in survey
The displacement for measuring point increased dramatically in some point, and it is in periodic breaks that the failure of transmission shaft, which is mainly reflected in the displacement of the direction blade z,
Compare movement and the deformation data in the direction z of blade along its length in deformation and blade three-dimensional motion measurement of wind electricity blade,
It can be determined that blade overall structure is damaged, analyzed using frequency-domain analysis, such as by Fourier spectrum, it can very intuitively
Characterize above-mentioned failure.
Blade needs to consider that gravity leads to the variation of malformation in rotary course, therefore by combining vane stress
Mutation analysis, to assess the malformation of blade.Establish respectively blade rotate to several reference states (such as positioned at trunnion axis a left side
Right two horizontal positions) stress model, while considering leaf structure and material parameter, calculated using numerical simulation technology
The uneven deformation of blade.In view of the variation of wind field wind speed causes the change of blade lift, in realistic simulation, leaf can be combined
Piece wind field fluid structure interaction mode as a result, providing under different wind speed, blade different rotating speeds, deformation of the blade two horizontal positions
Difference.
In view of the blade in blade rotation process is in cyclically-varying under gravity, it is preferable that pay close attention to emphatically
Blade is in this four special states of horizontal and vertical position.Using dual camera systems synchronous acquisition blade in horizontal, vertical position
The image on four regions is set, is reference with one of position, using three-dimensional digital image correlation method accurately to extract leaf
Relative deformation of the piece in other positions.
Step (4),Blade regional area fault detection analysis based on unmanned plane:
Information process analysis and control system are under the guidance of global motion measuring system measurement result, controlling planning unmanned plane
Closely part observation obtains full resolution pricture of the blade local area of interest under different location difference stress.Base
It is abnormal according to damage, cracking, crackle of manual or automatic interpretation blade surface etc. in three-dimensional appearance data.
Blade surface is bubbled, crackle interpretation mainly comprises the steps that
The interpretation that S4.1, blade surface are bubbled
The problem of dynamic image analysis is carried out to the blade of operating under state of flight in view of unmanned plane, of the invention one
A embodiment is projected on one group of grid line to blade local surfaces by the digital picture projector of unmanned plane, based on projecting grating
Measuring principle, to the measuring three-dimensional morphology of blade surface, in conjunction with manually being judged, to determine blade surface with the presence or absence of being bubbled
Etc. typical blade injury.Based on three-dimensional appearance data, damage, cracking, the crackle of interpretation blade surface etc. are abnormal.
One embodiment of the present of invention as shown in fig. 7, camera perpendicular to the previous reference planes R of blade, and with magic lantern optical axis
Ray meet at a point O, by unmanned plane carry magic lantern projection grid line to blade surface, as shown in Figure 8.Obviously, magic lantern is in nothing
When poor distant place is by grating projectin to reference planes, the grid line on R should be equidistant.Its pitch P0For P/cos θ, pass through
Camera adopts figure, and grid line normal direction in the x-direction, for every a line on monitor, can regard the ash that a finite length is 512 as
Degree series are indicated with Fourier space are as follows:
Wherein, f0=1/P0。
In actual measurement, magic lantern is placed on away from the limited place L of R plane0, between the grid line observed on the reference plane at this time
Away from be in the x-direction variation.In Fig. 7, crosses O point and make a plane I, be allowed to the optical axis perpendicular to magic lantern, light at infinity
The light that source issues hands over I plane in A point, hands over reference planes in B point, and when practical lantern projection is to A point at this time, friendship reference planes
In C point, it is seen then that line segment BC is exactly the caused phase shift on the reference plane of both optical paths, by raster pattern in this case
Every a line of elephant is indicated with Fourier space are as follows:
Wherein,
For actual blade surface, height changes with x, y, and the grid line projected on blade face may be expressed as:
Known by Fig. 7, meets at C point when lantern projection is to object plane H point with reference planes, it is flat with R when camera absorbs H point information
Face meets at D point, therefore total phaseIt may be expressed as:
One width digital picture, it is a two-dimensional discrete series, and leaf transformation should be adopted under normal circumstances in winning to it
With two-dimensional Fourier transformation, but for some special images, grid line image as escribed above, it has very strong in the x-direction
It is periodical, and the periodicity along its vertical direction is very weak, therefore, the present invention is approximate using one-dimensional Fourier transform in the x-direction
Instead of two-dimensional Fourier transform, this will be greatly simplified in calculation amount.
One-dimensional Fourier transform is carried out in the x-direction to (11) formula:
In domain space shown in Fig. 9, a filter function appropriate is chosen, its certain rank is only allowed to filter nf0Pass through, into
After row reverse Fourier transformation, by fn(x, y) is exported respectively with real and imaginary parts:
Wherein B0, B1For transformed coefficient.
(10) formula is the grid line expression formula on datum plane, it is also carried out with the identical processing of (11) formula, and point
It Shu Chu real and imaginary parts:
Wherein C0, C1For transformed coefficient.
By treated grid line image, intensity profile is substantially sinusoidal or cosine distribution, but due to light
According to the reasons such as uneven, the grey seat distribution in each region of grid line image is not very uniformly, in addition, the gray scale of actual grid line image is simultaneously
All areas are not completely covered, in order to improve precision, guarantee the requirement that computer automatically processes, further to image at
Reason, makes (13), (14), (15), the coefficient constant in (16) formula:
Triangulo operation is carried out to four formulas above respectively, is obtained:
By making addition and subtraction to four formulas above, the moire phase diagram of Hidden object elevation information has just been obtained
Picture.From (21) and (22) formula and Ke get:
Mr=Mr1+Mr2-I0=I0+I1cos[nψ(x,y)] (25)
From (23) and (24) formula and Ke get:
Mj=Mj1-Mj2+I0=I0+I1sin[nψ(x,y)] (26)
Wherein:
In Fig. 7, geometrical relationship Δ E is utilizedpHEC∽ Δ CHD, therefore
(28) formula is substituted into (27) formula, object may be expressed as: from face height and the relationship of position phase
The phase difference of striped may be expressed as:
Above-mentioned processing can be realized by using FORTRAN77 language.Using ATAN intrinsic function, value range (- π/
2,π/2).Since the apparent height fluctuating of blade is continuously that range is also larger, just it is considered as in mutually calculating in place in this way
The position obtained by ATAN function is mutually worth expand to it is corresponding with position variation of body surface being range, the process i.e. go package to handle.
In the present invention, two-dimentional calculating can be preferably replaced using ONE-DIMENSIONAL METHOD, by going package processing that position is mutually worth to expansion
Open up it is corresponding with position variation of body surface being range, to simplify calculating process and save the time, the specific steps are that:
The phase mehtod for calculating a section in the y-direction first, then gradually calculates the position phase in each section, often in the x-direction again
After calculating a line, Coordination Treatment is mutually also carried out using the position in the direction y section, goes package to handle every a line, it is proposed that with
Lower method, it is assumed that the position of currently processed point is mutually worth for Ql, the position of former point is mutually Ql-1。
If Ql-Ql-1> pi/2, then the position phase of currently processed point and the position put after it mutually all subtract π；
If Ql-1-Ql> pi/2, then the position phase of currently processed point and the position put after it mutually all add π；
If | Ql-Ql-1| < pi/2, then the position phase of current place's point is with no treatment.
Obtain the two-dimensional phase distribution of blade, so that it may object acoplanarity displacement be obtained according to (20) formula, so as to measure object
The appearance profile of body.
By above method it can be concluded that the position phasor of blade part pattern, in conjunction with manually being judged, leaf can be determined
On piece whether there is the appearance for having the defects of bubbling.
The interpretation of S4.2, blade surface crackle
In order to detect the crackle of blade surface, such as following formula, definition blade local damage degree:
Wherein, PsFor using Edge-Detection Algorithm, inside blade local surfaces image outline, the image that detects
Middle gray value, color or texture be discontinuous and the elemental area in the region of mutation；PaFor blade local surfaces institute in the picture
The elemental area accounted for.
The calculation formula of blade local damage degree described in formula (31), the detection and identification of crackle are crucial.
Blade cracks detection based on image can be divided into three steps with identification:
The first step, to pre-processing for image, including image gray processing, image denoising, edge detection, effect is logical
Processing, arrangement, the obtained image information of analysis processing are crossed, the texture for reflecting blade profile and crackle in image is searched out；
Second step, blade profile is extracted to be divided with the blade topography in image, and the topography of blade is accurately positioned；
Third step, firstly, extracting the projection properties of crackle, is obtained in blade local image region to the Classification and Identification of crackle
The projection law of band and longitudinal grin out；Then, using in morphology opening operation and closed operation, remove edge detection in small
Grain noise and burr, convenient for extracting the geometrical characteristic of crack image；Finally, extracting crackle skeleton, and calculate the length of crackle, width
The geometrical characteristics such as degree.
In order to realize the automation of Identification of Cracks, injury tolerance threshold value of warning may be set according to actual conditions.For pattern
The leaf area higher than injury tolerance threshold value of warning that profile, texture difference change, system are determined as abnormal area automatically；For shape
The leaf area lower than injury tolerance secure threshold that looks profile, texture difference change, system are determined as normal region automatically；For
Leaf area between injury tolerance threshold value of warning and secure threshold prompts feedback, by the way of artificial interpretation.
In addition, being that measurement result is unified to global motion when using unmanned plane station blade local damage detection system
Under measuring system coordinate basis, several laser positioning indicators can be installed on unmanned plane while irradiating blade, global motion
Measuring camera can be to the picture that unmanned plane is shot in blade global measuring system coordinates benchmark according to the position of laser designator
In positioned.
Above-mentioned dynamic testing method, detection process are stablized, and have detection efficiency high, feature-rich, easily controlled
Advantage saves a large amount of manpowers.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (4)
1. a kind of unmanned plane wind electricity blade defect dynamic detection system of camera shooting guidance, uses UAV flight's videographic measurment to carry
Lotus combined ground global measuring camera realizes, dynamic comprehensive, high-precision online health monitoring non-contact to wind electricity blade,
It is characterised in that it includes following system:
Blade global motion measuring system: it is set to ground, including two independent global camera measurement platforms, each is complete
Office's camera measurement platform has the camera array being made of one or several cameras, the spacing of two global camera measurement platforms
With intersection angle according to measurement task demand flexible arrangement, for carrying out three-dimensional motion measurement and image border profile to wind electricity blade
Measurement, and obtain the 3 D motion trace of each point-of-interest of blade；
Unmanned plane station blade local damage detection system: including unmanned plane, unmanned plane carries detection load, and detection load may include
High resolution camera and digital image projector, for the optical imagery of shooting at close range blade surface, observable blade surface
The abnormal conditions such as crackle, damage, de- felt, while also can measure the blade partial 3 d profile under different location difference stress
And blade surface deformation；
Information process analysis and control system: including computer and transmission cable, global motion measuring system and unmanned plane are used for
The data for blade local damage detection system of standing are synchronous, transmission, handle and analyze, while being completed according to mission requirements for nobody
The control of machine station motion state；
The comprehensive support in field and safeguards system: transport and electric power safeguard including several offroad vehicles, for photogrammetric equipment.
2. the unmanned plane wind electricity blade defect dynamic detection system of camera shooting guidance as described in claim 1, which is characterized in that leaf
When piece global motion measuring system is only used as unmanned plane station to control guidance system, single overall situation camera measurement platform, which can meet, appoints
Business demand.
3. a kind of unmanned plane wind electricity blade defect dynamic testing method of camera shooting guidance, uses as described in claim 1 dynamic
State detection system, which comprises the following steps:
Step (1), camera calibration, camera calibration work can be previously-completed indoors, or be carried out under field operation environment.It can benefit
It is flown with being loaded in the field range of the unmanned plane of cooperation mark in the field environment, or directly using special on wind electricity blade
Sign, the image of the multiple features of left and right platform camera synchronous acquisition of blade global motion measuring system pass through matching cooperation mark
It completes camera calibration and solves the inside and outside parameter of camera；
Step (2), the image of two independent global array camera measurement platforms shooting, collecting rotating vane from different perspectives are right
The sequence image analysis that blade is shot during rotation obtains the blade of rotary motion by technologies such as digital picture correlations
Whole audience displacement and strain information, and combining camera calibrating parameters it is three-dimensional during rotation to obtain wind electricity blade point-of-interest
Motion profile；Edge detection is carried out to the image of wind electricity blade, extracts blade profile；
Step (3) is based on blade three-dimensional motion information, using time-domain analysis or frequency-domain analysis, analyzes blade in the surfaces of revolution
The acoplanarity displacement of rotation and blade measures the relative deformation under blade different location difference stress, judges blade surface
Abnormal conditions；
Step (4), information process analysis and control system control nothing under global motion measuring system measurement result planning and guidance
Man-machine short distance is locally observed, and High-Resolution Map of the blade local area of interest under different location difference stress is obtained
Picture；Blade three-dimensional appearance data are obtained based on the technologies such as digital picture correlation or projecting structural optical, according to manual or automatic interpretation
Damage, cracking, crackle of blade surface etc. are abnormal.
4. the unmanned plane wind electricity blade defect dynamic testing method of camera shooting guidance as claimed in claim 3, which is characterized in that also
Including unifying unmanned plane station blade local damage detection system measurement result under the coordinate basis of global motion measuring system:
Several laser positioning indicators can be installed on unmanned plane while irradiating blade, global motion measures camera according to laser designation
The picture that the position of device can shoot unmanned plane positions in blade global measuring coordinate system.
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