CN113720721B - Calibration fusion method for inspection of inner cabin structure in aircraft fatigue test - Google Patents
Calibration fusion method for inspection of inner cabin structure in aircraft fatigue test Download PDFInfo
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- CN113720721B CN113720721B CN202110936582.4A CN202110936582A CN113720721B CN 113720721 B CN113720721 B CN 113720721B CN 202110936582 A CN202110936582 A CN 202110936582A CN 113720721 B CN113720721 B CN 113720721B
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- 238000007689 inspection Methods 0.000 title claims abstract description 107
- 238000009661 fatigue test Methods 0.000 title claims abstract description 42
- 238000007500 overflow downdraw method Methods 0.000 title claims abstract description 13
- 238000012360 testing method Methods 0.000 claims abstract description 30
- 230000000007 visual effect Effects 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 20
- 230000004927 fusion Effects 0.000 claims description 72
- 238000001514 detection method Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000011179 visual inspection Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/62—Manufacturing, calibrating, or repairing devices used in investigations covered by the preceding subgroups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0069—Fatigue, creep, strain-stress relations or elastic constants
- G01N2203/0073—Fatigue
Abstract
The application relates to the field of aircraft structural strength full-aircraft fatigue test, in particular to a calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test, which comprises resetting an inspection system in an initial load state of the test, and memorizing and fusing focal lengths and visual field information of a current inspection trolley, a track, a manipulator and various cameras; determining a stop position of the inspection trolley; taking the focal length and the visual field of a 3D structured light camera and a 5K high-definition industrial camera as standards, controlling the angles of 6 joints of the manipulator to adjust the tail end gesture, and memorizing the positioning information of the manipulator; and fusing the stop position information of the inspection trolley and the track, the positioning information of the manipulator, the focal length of the camera and the information of the visual field, and taking the fused information as inspection calibration information. The method has the technical effect of being capable of achieving various data synchronization and accurately collecting machine vision image data.
Description
Technical Field
The application belongs to the field of full-aircraft fatigue test of aircraft structural strength, and particularly relates to a calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test.
Background
The aircraft full-aircraft structural strength test adopts an aircraft structural damage detection method based on 5 G+machine vision to detect surface damage and defects of an aircraft inner cabin, deformation bulge defects and the like, and an inspection trolley, a track, a manipulator and a vision module are used in the aircraft structural damage detection method based on 5 G+machine vision, and an acquisition unit of the vision module comprises a structured light 3D camera, a binocular camera, a 5K high-definition industrial camera, a monitoring camera and other cameras, so that three-dimensional contours of the aircraft structural damage, the surface defects and fixed positions are mainly detected, and the three-dimensional contours are used for comparing differences between the contours and original states. The aircraft structure damage detection system based on 5 G+machine vision can generate various data aiming at aircraft interior cabin inspection, and the data comprise inspection trolley control information, track positioning information, position correction information, manipulator control information, 3D and 2D image information and the like, wherein the information is relatively independent. When the data is compared, certain difference is likely to exist between the information of the same acquisition point output by different equipment, so that certain deviation exists between the positioning information and the visual information acquired by different parts of each detection point, the acquired image information is fuzzy and inaccurate, the damage state is asynchronous with the test state, the accurate position and time of damage cannot be accurately locked, the fatigue damage analysis of the aircraft structure is affected, and the use value of the data is reduced.
Therefore, a method is needed to be designed to reduce the error of output information among different devices, and to accurately control the front-end devices, so as to ensure the acquired images to be clear.
Disclosure of Invention
The application aims to provide a calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test, which aims to solve the problem of unclear images caused by asynchronous data acquisition of different equipment to the same acquisition point in the prior art.
The technical scheme of the application is as follows: the calibrating and fusing method for inspection of the inner cabin structure in the aircraft fatigue test comprises resetting an inspection system in an initial load state of the test, memorizing and fusing focal length and visual field information of a current inspection trolley, a track, a manipulator and various cameras; determining a stop position of the inspection trolley, and memorizing and fusing positioning information of the inspection trolley and the track when the inspection trolley reaches one stop position; taking the focal length and the visual field of a 3D structured light camera and a 5K high-definition industrial camera as standards, controlling the angles of 6 joints of the manipulator to adjust the tail end gesture, and memorizing the positioning information of the manipulator; each camera works and acquires images, and image information of the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused; and fusing the stop position information of the inspection trolley and the track, the positioning information of the manipulator, the focal length of the camera and the visual field information, and realizing the visual inspection of a fixed area in the future in a teaching mode.
Preferably, a data fusion platform is arranged, and the data fusion platform stores various collected information in a classified mode, fuses data at a collection end and controls a patrol system.
Preferably, test load state information of the fatigue test is synchronously acquired in the inspection process, the test load state information is fused into inspection calibration information, and calibration information influenced by the test load is corrected.
Preferably, the inspection system adopts a grouping mode to locate, and each stop bit is used as a detection point and is stored in a storage file through a data fusion platform as a group of information.
Preferably, the data fusion platform registers the data of each acquisition point on the track and records corresponding address information, the data acquired by the inspection system is stored into corresponding storage files through the registered address information, and the data fusion platform invokes the corresponding storage files through the registered information to control the inspection system.
Preferably, a 5G terminal module is arranged between the inspection system and the data fusion platform, the 5G terminal module adopts a preprocessing mode to transmit data acquired by the acquisition end to the data fusion platform in real time, and the data fusion platform controls the inspection system in real time through the 5G terminal module.
Preferably, each group of test load state information in the data fusion platform corresponds to the inspection calibration information one by one, the inspection system transmits the detected data to the data fusion platform in real time in the process of inspecting the acquisition points, the data fusion platform receives the information acquired by the acquisition end in real time, acquires the test load state information in the fatigue test in real time, acquires the corresponding inspection calibration information according to the acquired test load state information, and controls the inspection system in the current state through the inspection calibration information.
Preferably, the inspection system collects data in a mode of a track, an inspection trolley and a manipulator, the track is arranged along a key position in the cabin, the inspection trolley is matched with the track through a rack by adopting a pulse driving gear, and the position of the inspection trolley is calibrated by adopting a photoelectric sensor so as to drive the manipulator to move in a circulating mode along the track.
The calibration fusion system comprises a positioning information fusion module, a positioning information fusion module and a calibration module, wherein the positioning information fusion module is used for fusing patrol trolley control information, track positioning correction information and manipulator control information; the visual fusion module is used for fusing visual image information acquired by the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera; the fatigue test information module is used for receiving test load state information in a fatigue test; and the integral data fusion module is used for receiving the data of the positioning information fusion module, the visual fusion module and the fatigue test information module and carrying out calibration fusion on the corresponding data one by one.
The utility model provides an aircraft structural strength full-plane fatigue test platform which characterized in that: the system comprises a calibration fusion system for inspection of an inner cabin structure in an aircraft fatigue test.
According to the calibration fusion method for inspection of the inner cabin structure in the aircraft fatigue test, the positioning information of the inspection system is fused, the image information of various cameras is fused, and finally the two types of information are synchronously fused, so that the synchronization of various information data is ensured, and the accurate acquisition of the images of the inspection points of the inner cabin of the aircraft is realized.
Preferably, test load state information in a fatigue test is synchronously collected, calibration data deviation caused by deformation generated in the aircraft test process can be corrected, so that the accuracy of the calibration data is ensured, and the inspection system can be stably controlled.
Drawings
In order to more clearly illustrate the technical solution provided by the present application, the following description will briefly refer to the accompanying drawings. It will be apparent that the figures described below are merely some embodiments of the application.
FIG. 1 is a schematic diagram of the overall process of the present application;
FIG. 2 is a schematic diagram of the overall flow structure of the present application.
1. A positioning information fusion module; 2. a visual fusion module; 3. a fatigue test information module; 4. and the whole data fusion module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application.
Embodiment I, a calibration fusion method for inspection of inner cabin structure in aircraft fatigue test
The method comprises the steps that crack damage and 3D deformation damage images in an aircraft cabin are collected through a patrol system, a track is arranged in the inner cabin along an important detection position of the aircraft through the patrol system, a patrol trolley running along the track is arranged on the track, a multi-degree-of-freedom manipulator is arranged on the patrol trolley, and the tail end of the manipulator, namely one end far away from the patrol trolley, is provided with various cameras to collect crack damage and 3D deformation damage images of the inner cabin of the aircraft.
The camera comprises a 3D structured light camera, a 5K high-definition industrial camera and a high-definition monitoring camera, and the three cameras have a common field of view. The image information collected by various cameras, the position information of the inspection trolley, the track and the manipulator are all transmitted to the background to be processed as the information collected by the collecting end.
In the running process of the inspection system, the aircraft full-aircraft static force/fatigue test runs synchronously and corresponds to each other.
As shown in fig. 1 and 2, the device comprises:
step S100, resetting the inspection system in the initial load state of the test, and memorizing and fusing the focal length and visual field information of the current inspection trolley, the track, the manipulator and various cameras;
Step S200, determining a parking position of the patrol trolley, and memorizing and fusing positioning information of the patrol trolley and the track when the patrol trolley reaches one parking position; taking the focal length and the visual field of a 3D structured light camera and a 5K high-definition industrial camera as standards, controlling 6 joints of the manipulator to adjust the tail end gesture, and memorizing the positioning information of the manipulator;
Step S300, each camera works and acquires images, and image information of the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused;
and step S400, merging the stop position information of the inspection trolley, the positioning information of the manipulator, the focal length of the camera and the visual field information, and realizing the visual inspection of a fixed area in the future in a teaching mode by taking the merged information as inspection calibration information.
The positioning information of the inspection trolley, the track and the manipulator is fused, high-precision repeated positioning is achieved, the image information of the 3D structural light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused, the synchronization of acquired surface crack damage and 3D deformation damage images is guaranteed, the images can be completely displayed, the synchronization and accuracy of all the information acquired by the acquisition end are guaranteed through the fusion of the information of the stop positions of the inspection trolley and the track, the positioning information of the manipulator and the focal length and visual field information of the camera, the position and time of damage occurrence can be accurately locked, and the use value of data is guaranteed.
Through carrying out vision fusion to multiple cameras, the comprehensive field of view of each camera can reach 300mm 350mm, and detection accuracy can reach 0.4mm. And the information is fused in a step-by-step fusion mode, the information with the same type is fused first, and then the information with different types is fused, so that the calibration fusion efficiency is effectively improved.
Preferably, a data fusion platform is arranged, and the data fusion platform stores various collected information in a classified mode, fuses data at a collection end and controls a patrol system. The data fusion platform controls the inspection system through the inspection calibration information after data fusion, effectively ensures the control precision of the inspection system, can correct the inspection system in real time, and facilitates the data retrieval by classifying and storing the data.
Preferably, in the fatigue test process, the aircraft is likely to deform so as to change the track, the change of the track can lead to deviation of original calibration information, and meanwhile, the information generated in the full-aircraft fatigue test is not influenced by the deformation of the aircraft. The method adopted for the problem is as follows:
And synchronously acquiring test load state information of the fatigue test in the inspection process, fusing the test load state information into inspection calibration information, and correcting the calibration information influenced by the test load. The calibration information is corrected by the test load state information, so that the precision of the inspection calibration information is effectively ensured, and the image acquisition quality of the inspection system is ensured.
Preferably, the inspection system performs positioning in a grouping manner, and each stop bit is used as a detection point and is stored as a group of information in a storage file through the data fusion platform. The grouping design improves the inspection regularity of the inspection system, and is convenient to control; the positioning information is memorized in a grouping mode, so that the data can be conveniently fetched and controlled, and the data can be conveniently consulted.
Preferably, the data fusion platform registers the data of each acquisition point on the track, records the corresponding address information, stores the data acquired by the inspection system into the corresponding storage file through the registered address information, and invokes the corresponding storage file through the registered information to control the inspection system. Through the setting, various data are ensured to be stored and called in a stable classified mode.
Preferably, a 5G terminal module is arranged between the inspection system and the data fusion platform, the 5G terminal module adopts a preprocessing mode to transmit data acquired by the acquisition end to the data fusion platform in real time, and the data fusion platform controls the inspection system in real time through the 5G terminal module.
The 5G network performs millisecond transmission, can upload the inspection trolley control information, the track positioning correction information, the manipulator control information and the visual information of each camera to the data fusion platform in real time, can control the inspection system in real time, and ensures the real-time property of data.
Preferably, each group of test load state information of the data fusion platform corresponds to the inspection calibration information one by one, the inspection system transmits detected data to the data fusion platform in real time in the process of inspecting the acquisition points, the data fusion platform receives information acquired by the acquisition end in real time, acquires the test load state information in the fatigue test in real time, acquires the corresponding inspection calibration information according to the acquired test load state information, and controls the inspection system in the current state through the inspection calibration information. Through the cooperation of using experimental load state information, can carry out real-time accurate location and correction when carrying out data acquisition to the inspection system, guarantee each camera data acquisition's accuracy.
Preferably, the inspection system collects data in a mode of a track, an inspection trolley and a manipulator, the interior of the track is arranged along a key position in a cabin, the inspection trolley is matched with the track through a gear by adopting a pulse driving gear, and the position of the inspection trolley is calibrated by adopting a photoelectric sensor so as to drive the manipulator to move in a circulating mode along the track. The trolley adopts the pulse driving gear, on one hand, stable and accurate operation is realized by matching with the gear, and on the other hand, accurate positioning can be realized by matching with the photoelectric sensor, and the final positioning precision can reach 0.1mm.
In a second embodiment, as a specific implementation manner, the calibration fusion system for inspection of the inner cabin structure in the aircraft fatigue test comprises a positioning information fusion module 1, a vision fusion module 2, a fatigue test information module 3 and an overall data fusion module 4.
The positioning information fusion module 1 is used for fusing the control information of the inspection trolley, the track positioning correction information and the manipulator control information;
The visual fusion module 2 is used for fusing visual image information acquired by the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera;
The fatigue test information module 3 is used for receiving information such as test load states, instrument data and the like in a fatigue test and transmitting the information to the integral data fusion module;
The integral data fusion module 4 is used for receiving the data of the positioning information fusion module, the visual fusion module and the fatigue test information module and carrying out calibration fusion on the corresponding data one by one.
Through calibrating and fusing various data, various information can be synchronized in the running process of the inspection system so as to acquire clear image information, thereby facilitating the subsequent structural fatigue damage analysis.
In a third embodiment, as a specific implementation manner, an aircraft structural strength full-aircraft fatigue test stand includes the calibration fusion method as described in the first embodiment. By adopting the method, the key parts and the inaccessible parts of the airplane can be accurately inspected in the fatigue test of the airplane, and the high-precision repeated positioning and visual information can be ensured to be obtained.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test is characterized by comprising the following steps: comprising
Resetting the inspection system in the initial load state of the test, memorizing and fusing the focal length and visual field information of the current inspection trolley, the track, the manipulator and various cameras;
determining a stop position of the inspection trolley, and memorizing and fusing positioning information of the inspection trolley and the track when the inspection trolley reaches one stop position; taking the focal length and the visual field of a 3D structured light camera and a 5K high-definition industrial camera as standards, controlling the angles of 6 joints of the manipulator to adjust the tail end gesture, and memorizing the positioning information of the manipulator;
each camera works and acquires images, and image information of the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused;
The information of the stop positions of the inspection trolley and the track, the information of the positioning of the manipulator, the information of the focal length and the visual field of the camera are fused to be used as inspection calibration information, and the visual inspection of a fixed area in the future is realized in a teaching mode; synchronously acquiring test load state information of a fatigue test in the inspection process, fusing the test load state information into inspection calibration information, and correcting the calibration information influenced by the test load;
setting a data fusion platform, wherein the data fusion platform stores various acquired information in a classified mode, fuses data at an acquisition end and controls a patrol system;
The inspection system adopts a grouping mode to position, each stop bit is used as a detection point and is used as a group of information to be stored in a storage file through the data fusion platform;
The data fusion platform registers the data of each acquisition point on the track and records corresponding address information, the data acquired by the inspection system is stored into corresponding storage files through the registered address information, and the data fusion platform invokes the corresponding storage files through the registered information to control the inspection system.
2. The calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test of claim 1, wherein the method comprises the following steps: the system comprises a data fusion platform, a 5G terminal module, a data acquisition terminal, a 5G terminal module and a data transmission module, wherein the 5G terminal module is arranged between the system and the data fusion platform, the 5G terminal module adopts a preprocessing mode to transmit data acquired by the acquisition terminal to the data fusion platform in real time, and the data fusion platform controls the system in real time through the 5G terminal module.
3. The calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test of claim 1, wherein the method comprises the following steps: each group of test load state information in the data fusion platform corresponds to the inspection calibration information one by one, the inspection system transmits detected data to the data fusion platform in real time in the process of inspecting the acquisition points, the data fusion platform receives information acquired by the acquisition end in real time, acquires the test load state information in the fatigue test in real time, acquires the corresponding inspection calibration information according to the acquired test load state information, and controls the inspection system in the current state through the inspection calibration information.
4. The calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test of claim 1, wherein the method comprises the following steps: the inspection system collects data in a mode of a track, an inspection trolley and a manipulator, the track is arranged along a key position in the cabin, the inspection trolley is matched with the track through a rack by adopting a pulse driving gear, and the position of the inspection trolley is calibrated by adopting a photoelectric sensor to drive the manipulator to move in a circulating mode along the track.
5. A calibration fusion system for inspection of an inner cabin structure in an aircraft fatigue test, which adopts the calibration fusion method as set forth in any one of claims 1 to 4, and is characterized in that: comprising the steps of (a) a step of,
The positioning information fusion module (1) is used for fusing the control information of the inspection trolley, the track positioning correction information and the control information of the manipulator;
The visual fusion module (2) is used for fusing visual image information acquired by the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera;
the fatigue test information module (3) is used for receiving test load state information in a fatigue test;
And the integral data fusion module (4) is used for receiving the data of the positioning information fusion module, the visual fusion module and the fatigue test information module and carrying out calibration fusion on the corresponding data one by one.
6. The utility model provides an aircraft structural strength full-plane fatigue test platform which characterized in that: comprising a calibration fusion system according to claim 5.
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