CN112319845A - Deformation monitoring method and system for aircraft wall plate precision self-correction - Google Patents
Deformation monitoring method and system for aircraft wall plate precision self-correction Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
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- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
Abstract
The application provides a deformation monitoring method and system for aircraft panel precision self-correction. The deformation monitoring method comprises the following steps: determining key features of the aircraft panel that affect deformation during manufacturing; monitoring the key features in real time by using a binocular camera based on structured light; calculating a key characteristic deformation error according to a real-time monitoring result to obtain deformation data; and carrying out numerical calculation according to the deformation data of the key characteristics to obtain integral deformation data. The structured light is used as an imaging light source, so that the problem of light reflection when a common white light source irradiates on the metal wall plate is effectively solved. Meanwhile, the structured light imaging is simple to operate, a large number of camera identification marks do not need to be adhered to the surface of the measured object, and the workload is greatly reduced. Deformation is monitored by using a binocular camera, the measurement range is large, the measurement response is quick, and the measurement precision is ensured by using structured light as a characteristic matching light source.
Description
Technical Field
The application relates to the field of aviation manufacturing, in particular to a deformation monitoring method and system for aircraft panel precision self-correction.
Background
The aircraft wall plate has the characteristics of large size (such as 2500mm multiplied by 30000mm), thin thickness (such as 60mm) and the like, and belongs to a typical large thin-wall part. In the process of processing or assembling the wall plate of the airplane, in order to ensure the final precision of the wall plate, the deformation of a workpiece during processing or assembling must be controlled within a certain range. At present, the deformation problem in the manufacturing process of the aircraft panel is usually solved by manually correcting after the manufacturing is finished. Under current process conditions, the accuracy of the profile of an aircraft panel is ensured by tooling, for example, by assembly jigs during assembly. The assembly fixture is a rigid positioning technology, and has no variability on the supporting curved surface of the aircraft wall plate, so that one tool can be only used for one part. This would significantly reduce manufacturing flexibility and efficiency, while also involving storage, maintenance, management, etc. of a large number of rigid jobs.
At present, the rigid positioning technology is gradually replaced by the flexible positioning technology, and the technology can be used for processing different parts, so that the manufacturing flexibility and efficiency can be greatly improved, and strong economic benefits are brought. However, the flexible tool is designed by taking the static theoretical appearance of the workpiece as a reference to design key characteristic points and a support structure. However, in the process of processing or assembling the aircraft wall plate, on one hand, processing errors can occur in the theoretical appearance; on the other hand, in the assembly work, the local processing generates a large acting force on the workpiece, and further causes deformation of the workpiece and changes in the positioning relationship, thereby causing stress concentration and assembly errors. These errors, if not adjusted during the machining or assembly process, will cause even greater deviations in subsequent assembly processes. In addition, manual adjustment is time-consuming and labor-consuming, and the working efficiency is greatly reduced.
Disclosure of Invention
The application aims at the deformation problem of the aircraft wall plate in the manufacturing process, applies the structured light imaging technology to the processing and assembling process of the aircraft wall plate, and aims to provide a deformation monitoring method for the precision self-correction of the aircraft wall plate.
According to a first aspect of the present application, there is provided a deformation monitoring method for aircraft panel manufacturing, comprising:
determining key features of the aircraft panel that affect deformation during manufacturing;
monitoring the key features in real time by using a binocular camera based on structured light;
calculating a key characteristic deformation error according to a real-time monitoring result to obtain deformation data;
and carrying out numerical calculation according to the deformation data of the key characteristics to obtain integral deformation data.
According to some embodiments of the application, the key features comprise:
and positioning nails or prefabricated connecting holes on the aircraft wall plate.
According to some embodiments of the present application, real-time monitoring of critical features using a binocular camera based on structured light includes:
projecting structured light capable of forming a coding fringe grid to the surface of the key feature to be measured;
shooting a two-dimensional image of key features of an object under the structured light irradiation by using a camera;
and extracting the edge or center position coordinates of the image, and converting the pixel coordinates into three-dimensional coordinates in a world coordinate system.
According to some embodiments of the application, the deformation error comprises:
positional and/or rotational deviations of the key features.
According to some embodiments of the present application, performing deformation numerical solution to obtain overall deformation data includes:
constructing a theoretical finite element model of the large wall plate and an assembly finite element model of the key features;
transforming the deformation data into displacement load information of different position characteristics;
applying the displacement load on the theoretical finite element model of the large panel and the assembled finite element model of the key feature;
and operating the theoretical finite element model of the large wall plate and the assembly finite element model of the key characteristics to solve the overall deformation of the large wall plate.
Further, constructing a theoretical finite element model of the large panel and an assembled finite element model of the key feature, comprising:
and constructing a finite element model by adopting the plane triangular mesh shell units endowed with elastic mechanical properties.
According to some embodiments of the present application, constructing the theoretical finite element model of the large panel and the assembled finite element model of the key feature further comprises:
and constructing a finite element model by taking the key features as entity units with the attribute of the analytic rigid body.
According to a second aspect of the present application there is provided a deformation monitoring system for aircraft panel accuracy self-correction, comprising:
the imaging device is used for monitoring key characteristics of the aircraft panel in real time and acquiring image data;
and the control device is used for calculating deformation data of the key features according to the image data of the key features, and further solving the overall deformation of the aircraft panel.
According to some embodiments of the application, the imaging device comprises:
at least one binocular camera carrying a structural light source.
According to some embodiments of the application, the control device comprises:
the coordinate transformation module is used for converting the pixel coordinates into world coordinates;
the key feature reconstruction module is used for constructing a three-dimensional model of the key features according to the world coordinates of each point of the key features;
and the finite element module is used for constructing a finite element model according to the three-dimensional model of the key characteristics and carrying out operation.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application.
Fig. 1 shows a flow chart of a deformation monitoring method according to an example embodiment of the present application.
Fig. 2 shows a perspective view of a binocular measuring device according to an exemplary embodiment of the present application.
Fig. 3 shows a front view of a binocular measuring apparatus according to an exemplary embodiment of the present application.
Fig. 4 shows a right view of a binocular measuring apparatus according to an exemplary embodiment of the present application.
Fig. 5 shows a schematic diagram of the conversion relationship between the image plane coordinates and the space coordinates.
FIG. 6 illustrates a schematic diagram of structured light layer tangential coordinate transformation according to an example embodiment of the present application.
Fig. 7 shows a schematic diagram according to the coordinate transformation between binocular cameras.
Fig. 8 shows a schematic diagram of key features before and after deformation according to an example embodiment of the present application.
Fig. 9 shows a schematic diagram of a deformation monitoring system according to an example embodiment of the present application.
Fig. 10 shows a schematic diagram of an application of a deformation monitoring system according to an exemplary embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully hereinafter with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
It will be understood that, although the terms first, second, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one element from another. Thus, a first component discussed below may be termed a second component without departing from the teachings of the present concepts. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Those skilled in the art will appreciate that the drawings are merely schematic representations of exemplary embodiments, which may not be to scale. The blocks or flows in the drawings are not necessarily required to practice the present application and therefore should not be used to limit the scope of the present application.
The self-correcting technology for the manufacturing precision of the aircraft wall plate needs to solve two problems. One aspect is the problem of distortion correction during manufacturing. Another aspect is the problem of distortion identification during manufacturing. For the aircraft wall plate, as long as the deformation of the key features is accurately identified and the deformation trend is predicted, the flexible tool can be further used for deformation correction, so that the final precision of the whole thin-wall part can be ensured.
The flexible tooling makes it possible to correct deformations during the manufacturing process. With the development of hardware systems such as high-speed industrial CCD cameras, digital light processors and the like, the 3D imaging measurement technology makes it possible to obtain real-time data in the manufacturing process of aircraft panels. Therefore, the deformation monitoring method for the key feature points in the manufacturing process of the aircraft wallboard is used for measuring the key feature state of a machined workpiece in the machining process in real time through a binocular camera-based structural sightseeing imaging technology, rapidly constructing a three-dimensional image of the key features, comparing the position changes of different key features to further obtain the overall deformation condition of the wallboard, and providing basic data for subsequent deformation control and precision correction.
The technical solution of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows a flow chart of a deformation monitoring method according to an example embodiment of the present application.
As shown in fig. 1, the present application provides a deformation monitoring method for aircraft panel accuracy self-correction, comprising:
in step S110, key features of the aircraft panel that affect deformation during manufacturing are determined.
In the process of planning the process of the aircraft panel, the key characteristics influencing the deformation of the aircraft panel can be determined through simulation or other means, and further, the deformation correction and the precision control can be finally realized through monitoring the deformation condition of the key characteristics and controlling the tool supporting scheme at the key characteristics in the manufacturing process.
Taking the aircraft panel assembly process as an example, the deformation control of the aircraft panel assembly is mainly ensured by key features in the design. The key characteristics mainly comprise connecting joints connected with the wall plate on the tool, such as positioning holes and matching structures, and prefabricated connecting holes, positioning nails and other structures on the wall plate, such as positioning nails such as rivets, screws and the like preassembled on the wall plate before assembly.
The connecting joint is a key feature on the tool, and the connecting joint mainly has the function of ensuring the connection stability and the pose adjustment accuracy of the wall plate and the flexible tool numerical control adjusting mechanism after the wall plate is fixed on the tool. When stress concentration occurs at the local position of the wall plate in the drilling and connecting processes and then assembly deformation errors are generated, the stress can be released by adjusting the three freedom degrees of the moving coordinates of the numerical control structure, and then the assembly deformation is reduced.
The locating pegs are key features on the wall panel. The positioning nail structure is the key for judging the deformation of the wall plate in the drilling-connecting process, and generally, the selection of the positioning nail and the positioning hole on the wall plate is carried out according to the principles of facilitating the appearance control of the wall plate, facilitating the development of the assembly process flow, facilitating the expansion of the next butt joint process and the like.
In step S120, the critical features are monitored in real time using a binocular camera based on structured light.
Among a plurality of online measurement methods, an imaging method based on binocular stereo vision and structured light technology gradually becomes the research focus in the current aviation manufacturing field due to the characteristics of high precision, expandability, rapidity and the like. Compared with a common double-camera positioning and measuring system, the influence of reflection of light on the surface of the wall plate on positioning precision can be effectively reduced by adopting structured light to replace common white light, the operation is simpler, and the measurement data is more efficiently and accurately obtained.
Fig. 2 shows a perspective view of a binocular measuring device according to an exemplary embodiment of the present application.
Fig. 3 shows a front view of a binocular measuring apparatus according to an exemplary embodiment of the present application.
Fig. 4 shows a right view of a binocular measuring apparatus according to an exemplary embodiment of the present application.
According to some embodiments of the present application, the binocular measuring device 410 used in the deformation monitoring method provided by the present application may be a binocular camera shown in fig. 2 to 4.
As shown in fig. 2, the binocular measuring apparatus 410 includes a main body 411, two optical cameras 412, two light sources 413, a set of calibration lights 414, a pitch driving apparatus 415, a rotation driving apparatus 416, and a base 417.
Two optical cameras 412, two light sources 413 and a set of calibration lamps 414 are arranged on the main body 411. One to the left and one to the right of the two optical cameras 412 for acquiring real-time grating images. According to some embodiments of the present application, optical camera 412 may employ a CCD camera. The light sources 413 are arranged in one-to-one correspondence with the optical cameras and emit speckle-encoded light sources with phase differences. A set of calibration lights 414 is disposed around the optical camera 412 and the light source 413 to provide calibration references for calibrating the binocular measuring device 410 to each other.
The pitch drive 415 and the rotation drive 416 are disposed on a base 417 and are connected to the main body 411. The pitching driving device 415 can drive the optical camera to pitch up and down, and the rotating driving device 416 can drive the optical camera to rotate left and right, so that automatic calibration between the binocular cameras is realized.
The process of obtaining key feature measurement data includes: acquiring images of key features through a binocular camera by using a method of slicing a measured object by using structured light; performing coordinate transformation on the acquired key characteristic image, and converting pixel coordinates into three-dimensional space world coordinates; and sequentially constructing measurement models of different key characteristics under a world coordinate system.
The principle of the transformation process from pixel coordinates to three-dimensional space coordinates is as follows:
fig. 5 shows a schematic diagram of the conversion relationship between the image plane coordinates and the space coordinates. As shown in fig. 5, P (X, Y, Z) is a spatial coordinate of an arbitrary point on the measured object, and Pc (X, Y) is a point coordinate of the point on the imaging plane. According to the similarity relation:
wherein f is the camera focal length.
Thereby, a conversion relationship between the coordinates on the imaging plane and the spatial coordinates can be obtained:
where z is the coefficient of the camera itself.
Translating the space coordinate system to obtain an imaging plane coordinate system, and assuming that a translation vector is (t)x，ty) And then:
considering the relationship between the pixel coordinates and the world coordinates, assume that the ratio of the pixel to the actual size of the camera in the x direction is mxAnd m in the y directionyThen the pixel coordinates are:
where K is a matrix determined only by camera intrinsic parameters. Thus, the previous relationship between the pixel coordinates and the world coordinates can be established.
FIG. 6 illustrates a schematic diagram of structured light layer tangential coordinate transformation according to an example embodiment of the present application. As shown in fig. 6, the structured light emitter projects structured light onto the surface of the object to be measured in a laminar cutting manner, and the emitted light is imaged on the imaging surface of the receiving camera. Wherein (X)w,Yw,Zw) As a world coordinate system, (x)c,yc,zc) To receive the camera coordinate system, (U)c,Vc) Are pixel coordinates.
The structured light is projected flat across the object to be measured to form a slice plane. Suppose Pw＝(xw,yw,zw,1)TAnd pc＝(uc,vc,1)TRespectively cutting a point on the instantaneous intersection line of the surface of the object and a point on the imaging plane for the layer tangent plane, and obtaining the following data according to the imaging model:
wherein s and A [ Rt ] are coefficients related to the internal parameters of the camera.
And because of pwIs a point on the slice plane, thus satisfying the equation:
a0xw+b0yw+c0zw+d0＝0 (6)
wherein, a0、b0、c0、d0The planar coefficients of the slice planes.
Simultaneous equations 5 and 6 can be solved to obtain the coordinates of the spatial points:
in the manufacturing process of the aircraft wall plate, the number of process equipment is large, and complete data of a key feature cannot be monitored by one camera. A key feature is monitored through the binocular camera, and the integrity of key feature measurement data can be guaranteed. Fig. 7 shows a schematic diagram according to the coordinate transformation between binocular cameras. As long as any point on the imaging surface of the first camera can find a corresponding matching point on the imaging surface of the second camera, point location coordinates corresponding to world coordinates can be calculated.
When measuring the key features by using a binocular camera as shown in fig. 2, firstly, structured light capable of forming a coding stripe grating is projected to the surface of the measured key features, and a camera is used for shooting a deformed light field of the surface of an object under the irradiation of the structured light. Then, a two-dimensional image with coding information is obtained through camera processing, the information of the edge or center position of the image is extracted, and the pixel coordinates are converted into three-dimensional coordinates of each point on the surface of the object in a world coordinate system according to the coordinate transformation theory. And finally, converting the obtained point location information into a key feature model, and obtaining measurement data of the key feature.
In step S130, a deformation error of the key feature is calculated according to the real-time monitoring result, so as to obtain deformation data. Taking the key characteristic positioning nail of the aircraft wall plate as an example, in the imaging process, the position and corner change information of the positioning nail can be obtained only by performing upper end plane reconstruction on the nail head part according to the measurement data. Similarly, the deformation of different key characteristics under a world coordinate system can be constructed, and a foundation is provided for the subsequent calculation of the whole deformation of the wallboard.
Fig. 8 shows a schematic diagram of key features before and after deformation according to an example embodiment of the present application.
It is assumed that wall plate deformation is controlled by deformation of N locating pegs and holes, and that key features are arranged in N different locations, respectively. Fig. 8 is a schematic view of the ith fitting key feature of the panel before and after deformation. Let the coordinates of the initial position be Pk(Xki,Yki,Zki) The coordinate after deformation is PB(XBi,YBi,ZBi) Then both the positional deviation and rotational deviation of the key features can be obtained by simple coordinate transformation.
In step S140, according to the deformation data of the key features, a deformation numerical calculation is performed to obtain overall deformation data.
After a binocular camera is used for imaging and deformation data of all key features are calculated, the deformation data are converted into displacement load information of different position features, then displacement loads are applied to the constructed theoretical wall plate and the key feature assembly finite element model, and further the overall deformation of the wall plate is solved. The main process of constructing the finite element model is as follows:
when a finite element model is constructed, because the wall plate belongs to a typical thin-wall part, the ratio of the length to the width to the thickness of the wall plate has a great difference, and the deformation belongs to elastic deformation, according to the example embodiment of the application, the plane triangular grid shell unit endowed with elastic mechanical properties is adopted for modeling. According to other example embodiments of the application, during modeling, detail features with negligible influence on deformation, such as irregular chamfers, fillets, grooves and the like, during wallboard design modeling can be removed.
For the key feature locality, the key feature itself may be constructed with entity elements whose attributes are analytical rigid bodies. According to example embodiments of the present application, the connection of key features to wall panels, ribs, stringers, etc., allows for local refinement and subdivision of the units. And simultaneously constructing a node displacement library with different node displacements, wherein the node displacement library comprises displacements in three directions and rotations in three directions so as to apply displacement loads to different characteristics.
Assuming that M is a displacement load applied by a key feature node, L is a load in a corresponding node library, and a is a transformation matrix for transforming deformation and torsion information into a node coordinate system, it can be obtained that: and M is AL + s, wherein s is the distance between the features before and after the overall deformation.
Fig. 9 shows a schematic diagram of a deformation monitoring system according to an example embodiment of the present application.
According to a second aspect of the present application, there is provided a deformation monitoring system 1000 for self-correction of large panel manufacturing accuracy, as shown in fig. 9. The deformation monitoring system 1000 includes an imaging device 400 and a control device 500.
And the imaging device 400 is used for monitoring key characteristics of the aircraft wall plate in real time and acquiring image data. According to an example embodiment of the present application, the imaging device 400 may include at least one binocular camera 410 (shown in fig. 2) carrying a structural light source. The number of binocular cameras 410 may be determined according to the size of the aircraft panels, the number of critical features, and the location, and the present application is not limited thereto.
And the control device 500 is used for calculating deformation data of the key features according to the image data of the key features, and further calculating the overall deformation of the aircraft panel. According to some embodiments of the present application, the control device 500 may include a coordinate transformation module 510, a key feature reconstruction module 520, and a finite element module 530. The coordinate transformation module 510 is used to transform the pixel coordinates into world coordinates. The key feature reconstruction module 520 is used to construct a three-dimensional model of the key feature based on the world coordinates of the points of the key feature. The finite element module 530 is configured to construct a finite element model according to the three-dimensional model of the key features and perform operations, so as to finally obtain the overall deformation data.
Fig. 10 shows a schematic diagram of an application of a deformation monitoring system according to an exemplary embodiment of the present application.
As shown in fig. 10, taking an aircraft panel assembly process as an example, during the assembly of the aircraft panel 100, the flexible tooling 200 is attached to the aircraft panel 100 to provide support thereto and to secure it. The support point scheme or support stiffness of the flexible tooling 200 to the aircraft panel 100 can be adjusted. Manufacturing equipment 300 performs an assembly action on aircraft panel 100. The imaging device 400 includes a plurality of binocular measuring devices 410, each disposed about the workpiece 100 such that the measurement area covers a respective critical feature of the aircraft panel 100.
The imaging device 400 is connected to a control device (not shown) and transmits the acquired real-time image to the control device for error determination. According to some embodiments of the application, the control device may be an upper computer. The upper computer receives the real-time image acquired by the imaging device 400, and performs coordinate transformation, model reconstruction and finite element calculation on the real-time image to finally obtain deformation data of the whole aircraft panel.
The control device can also preset a precision strategy library and is connected with the flexible tool 200 and the manufacturing equipment 300. And inquiring a precision correction strategy from the precision strategy library according to the obtained real-time deformation data, for example, adjusting the processing parameters of the manufacturing equipment or adjusting the supporting position or rigidity of the flexible tool, so that the precision self-correction of the aircraft panel manufacturing can be realized.
According to the deformation monitoring method for the aircraft panel manufacturing precision self-correction, the real-time image of the key features is obtained by using the structured light binocular imaging technology, the deformation data of the aircraft panel in the manufacturing process is obtained through coordinate transformation and a calculation method from local deformation to overall deformation, and high-precision data are provided for the subsequent manufacturing precision self-correction. The structured light is used as a light source, so that the problem of light reflection when a common white light source irradiates on the metal wall plate is effectively solved. Meanwhile, the structured light imaging is simple to operate, a large number of camera identification marks do not need to be adhered to the surface of the measured object, and the workload is greatly reduced. Deformation is monitored by using a binocular camera, the measurement range is large, the measurement response is quick, and the measurement precision is ensured by using structured light as a characteristic matching light source.
It should be understood that the above examples are only for clearly illustrating the present application and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A deformation monitoring method for aircraft panel precision self-correction is characterized by comprising the following steps:
determining key features of the aircraft panel that affect deformation during manufacturing;
monitoring the key features in real time by using a binocular camera based on structured light;
calculating a key characteristic deformation error according to a real-time monitoring result to obtain deformation data;
and carrying out numerical calculation according to the deformation data of the key characteristics to obtain integral deformation data.
2. The deformation monitoring method of claim 1, wherein the key features comprise:
and positioning nails or prefabricated connecting holes on the aircraft wall plate.
3. The deformation monitoring method according to claim 1, wherein the real-time monitoring of key features using a binocular camera based on structured light comprises:
projecting structured light capable of forming a coding fringe grid to the surface of the key feature to be measured;
shooting a two-dimensional image of key features of an object under the structured light irradiation by using a camera;
and extracting the edge or center position coordinates of the image, and converting the pixel coordinates into three-dimensional coordinates in a world coordinate system.
4. The deformation monitoring method of claim 1, wherein the deformation error comprises:
positional and/or rotational deviations of the key features.
5. The deformation monitoring method according to claim 1, wherein performing deformation numerical solution to obtain overall deformation data comprises:
constructing a theoretical finite element model of the large wall plate and an assembly finite element model of the key features;
transforming the deformation data into displacement load information of different position characteristics;
applying the displacement load on the theoretical finite element model of the large panel and the assembled finite element model of the key feature;
and operating the theoretical finite element model of the large wall plate and the assembly finite element model of the key characteristics to solve the overall deformation of the large wall plate.
6. The deformation monitoring method of claim 5, wherein constructing the theoretical finite element model of the large panel and the assembled finite element model of the key feature comprises:
and constructing a finite element model by adopting the plane triangular mesh shell units endowed with elastic mechanical properties.
7. The deformation monitoring method of claim 5, wherein constructing the theoretical finite element model of the large panel and the assembled finite element model of the key feature further comprises:
and constructing a finite element model by taking the key features as entity units with the attribute of the analytic rigid body.
8. A deformation monitoring system for aircraft panel accuracy self-correction, comprising:
the imaging device is used for monitoring key characteristics of the aircraft panel in real time and acquiring image data;
and the control device is used for calculating deformation data of the key features according to the image data of the key features, and further solving the overall deformation of the aircraft panel.
9. The deformation monitoring system of claim 8, wherein the imaging device comprises:
at least one binocular camera carrying a structural light source.
10. The deformation monitoring system of claim 8, wherein the control device comprises:
the coordinate transformation module is used for converting the pixel coordinates into world coordinates;
the key feature reconstruction module is used for constructing a three-dimensional model of the key features according to the world coordinates of each point of the key features;
and the finite element module is used for constructing a finite element model according to the three-dimensional model of the key characteristics and carrying out operation.
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| CN113390358A (en) * | 2021-06-04 | 2021-09-14 | 中国十七冶集团有限公司 | Steel structure deformation monitoring method based on machine vision recognition technology |
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