CN117269974A - Aircraft motion measurement method, device and system - Google Patents
Aircraft motion measurement method, device and system Download PDFInfo
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Abstract
The application discloses an aircraft motion measurement method, an aircraft motion measurement device and an aircraft motion measurement system, and belongs to the field of aircrafts. The aircraft motion measurement method comprises the following steps: determining a first feature set of feature points on a rotating wing of an aircraft to be tested at a first moment and a second feature set of feature points on the rotating wing at a second moment based on image information of the rotating wing at a plurality of moments; 3D registration is carried out on the first feature set and the second feature set, and first motion information of the rotating wings and a third feature set after 3D registration are obtained; and determining deformation information corresponding to the rotating wing based on the third feature set and the first feature set. According to the aircraft motion measurement method, a high-speed camera is not needed, and the use cost is reduced; decoupling is carried out on the motion information and the deformation information, so that the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
Description
Technical Field
The application belongs to the field of aircrafts, and particularly relates to an aircraft motion measurement method, an aircraft motion measurement device and an aircraft motion measurement system.
Background
The current method for measuring the deformation of the rotary wing mainly comprises contact type measurement and non-contact type measurement, wherein the contact type measurement is to acquire data by monitoring the contact condition of a measuring head and a real object, but the quantity of sensors is insufficient to completely solve the geometric shape of a blade, the sensors influence the structure of the rotary wing, the coupling of motion information and deformation information is not strict, and the measurement accuracy is not high; the measurement needs manual assistance, the surface accuracy of a workpiece is damaged due to improper operation, the measurement accuracy is affected, and the measurement is performed in a point-by-point mode, so that the efficiency is low; non-contact measurement is to acquire data by contacting light, air flow or sound with a workpiece, but non-contact measurement is susceptible to the reflection characteristics of the surface of the workpiece, and a photosensitive position detector is mostly used for detecting the photoelectric position, so that measurement accuracy is not high enough.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides an aircraft motion measurement method, an aircraft motion measurement device and an aircraft motion measurement system, and solves the problems that a high-speed camera is required in the existing aircraft motion measurement method, and measurement cost is high and measurement accuracy is low due to coupling of motion information and deformation information.
In a first aspect, the present application provides a method of aircraft motion measurement, the method comprising:
determining a first feature set of feature points on a rotating wing of an aircraft to be tested at a first moment and a second feature set of feature points on the rotating wing at a second moment based on image information of the rotating wing at a plurality of moments;
3D registration is carried out on the first feature set and the second feature set, and first motion information of the rotating wings and a third feature set after 3D registration are obtained;
and determining deformation information corresponding to the rotating wing based on the third feature set and the first feature set.
According to the aircraft motion measurement method, through the image information of the aircraft rotating wing at a plurality of moments, the characteristic points on the rotating wing can be determined, the first characteristic set and the second characteristic set corresponding to the rotating wing at the first moment and the second moment are obtained according to the characteristic points, and the first motion information of the rotating wing can be obtained through 3D registration of the first characteristic set and the second characteristic set; the third feature set can be obtained by 3D registration, the deformation information of the rotating wing can be obtained based on the third feature set and the first feature set, decoupling of the movement information and the deformation information is realized, and the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
According to the aircraft motion measurement method of the present application, the determining, based on the third feature set and the first feature set, deformation information corresponding to the rotating wing includes:
and subtracting the coordinate vector corresponding to the first target feature point in the third feature set and the coordinate vector corresponding to the second target feature point corresponding to the first target feature point in the first feature set, and obtaining deformation information of the surface area where the feature point is located.
According to the aircraft motion measurement method of the application, after the deformation information of the surface area where the feature points are located is obtained, the method further comprises:
performing space triangulation on the surface of the rotating wing by taking the characteristic points as nodes to obtain a plurality of triangular areas;
and carrying out triangle interpolation calculation in the triangle area with the characteristic point as the vertex based on the deformation information of the surface area with the characteristic point, and obtaining the deformation information of each point in the surface of the rotary wing.
According to the aircraft motion measurement method of the present application, the first motion information includes at least one of velocity information and acceleration information, the 3D registration is performed on the first feature set and the second feature set, and the first motion information of the rotating wing is obtained, including:
3D registration is carried out on the first feature set and the second feature set, and initial motion information of the rotating wing is obtained; the initial motion information is in a discrete curve on a time axis;
and carrying out first-order difference on the discrete curve to determine the speed information, and carrying out second-order difference on the discrete curve to determine the acceleration information.
The aircraft motion measurement method according to the application further comprises the following steps:
determining a fourth feature set of the feature points on the rotating wing in the reference state and a fifth feature set of the feature points on the rotating wing in the current state based on the image information of the rotating wing in the reference state and the current state respectively;
performing principal component analysis on the fourth feature set and the fifth feature set respectively, and determining a first direction vector and a second direction vector, wherein the first direction vector is used for representing the direction of the reference line of the rotary wing in the reference state, and the second direction vector is used for representing the direction of the reference line of the rotary wing in the current state;
and projecting the space included angle between the first direction vector and the second direction vector to a coordinate plane of a reference coordinate system of the target rotating wing, and obtaining second motion information of the rotating wing.
According to the aircraft motion measurement method, the image information is acquired based on the following modes:
labeling the rotating wings to obtain a plurality of characteristic points;
and acquiring the image of the rotating wing by adopting at least one of a retroreflection mode and a laser image acquisition mode to acquire the image information.
According to the aircraft motion measurement method of the application, the characteristic points are determined based on the following modes:
and the characteristic points are respectively arranged on the surfaces of the rotary wings along two sides of a reference line, wherein the characteristic points arranged on two sides of the reference line are respectively arranged in a collinear manner, and the characteristic point connecting lines arranged on two sides of the reference line are spatially symmetrical relative to the reference line.
In a second aspect, the present application provides an aircraft motion measurement device comprising:
the first processing module is used for determining a first feature set of the feature points on the rotating wing at a first moment and a second feature set of the feature points on the rotating wing at a second moment based on image information of the rotating wing of the aircraft to be tested at a plurality of moments;
the second processing module is used for carrying out 3D registration on the first feature set and the second feature set to obtain first motion information of the rotating wing and a third feature set after 3D registration;
And the third processing module is used for determining deformation information corresponding to the rotating wing based on the third feature set and the first feature set.
According to the aircraft motion measurement device, through the image information of the aircraft rotating wing at a plurality of moments, the characteristic points on the rotating wing can be determined, the first characteristic set and the second characteristic set corresponding to the rotating wing at the first moment and the second moment are obtained according to the characteristic points, and the first motion information of the rotating wing can be obtained through 3D registration of the first characteristic set and the second characteristic set; the third feature set can be obtained by 3D registration, the deformation information of the rotating wing can be obtained based on the third feature set and the first feature set, decoupling of the movement information and the deformation information is realized, and the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
In a third aspect, the present application provides an aircraft motion measurement system comprising:
the motion capture device is used for collecting image information;
a laser light source;
the aircraft motion measurement device of the second aspect, electrically connected to the motion capture apparatus and the laser light source, respectively.
In a fourth aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the aircraft motion measurement method according to the first aspect described above when executing the computer program.
In a fifth aspect, the present application provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements an aircraft motion measurement method as described in the first aspect above.
In a sixth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the aircraft motion measurement method as described in the first aspect above.
The above technical solutions in the embodiments of the present application have at least one of the following technical effects:
the method comprises the steps that through image information of a rotating wing of an aircraft at a plurality of moments, feature points on the rotating wing can be determined, a first feature set and a second feature set corresponding to the rotating wing at a first moment and a second moment are obtained according to the feature points, and first motion information of the rotating wing can be obtained through 3D registration of the first feature set and the second feature set; the third feature set can be obtained by 3D registration, the deformation information of the rotating wing can be obtained based on the third feature set and the first feature set, decoupling of the movement information and the deformation information is realized, and the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
Further, the surface characteristics of the rotating wings are obtained through the characteristic points, and the characteristic points with retroreflection are arranged on the surfaces of the rotating wings, so that the contrast between the characteristic points and the background image can be remarkably improved; the narrow pulse laser light source is used, imaging integration time is limited by light source explosion pulse width of hundred nanoseconds or lower, enough illumination intensity is obtained, the equivalent effect of ultra-short camera exposure is realized, the detection cost is obviously reduced, and the operation is simple and convenient.
Furthermore, by carrying out 3D registration on the first feature set and the second feature set, initial motion information of the rotary wing can be obtained, the initial motion information is in a discrete curve distribution state on a time axis, speed information of the rotary wing can be obtained by carrying out first-order difference on a discrete curve, acceleration information of the rotary wing can be obtained by carrying out second-order difference on the discrete curve, measurement accuracy of the motion information is improved, and the problem of coupling of the motion information and deformation information of the rotary wing is solved.
Still further, by respectively performing principal component analysis on the obtained fourth feature set and the obtained fifth feature set, a first direction vector and a second direction vector can be obtained, and second motion information of the rotary wing can be obtained by calculating an included angle between the first direction vector and the second direction vector and projecting the included angle onto a rotary wing reference coordinate system defined by a user, so that the measurement accuracy of the motion information is improved, and important information is provided for verification and improvement of the structure and the pneumatic characteristics of the rotary wing.
Additional aspects and advantages of the 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 application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, wherein:
FIG. 1 is one of the flow diagrams of the aircraft motion measurement method provided in the embodiments of the present application;
FIG. 2 is a second schematic view of an application scenario of an aircraft motion measurement method according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural view of an aircraft motion measurement device provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The aircraft motion measurement method, the aircraft motion measurement device, the aircraft motion measurement system, the electronic device and the readable storage medium provided by the embodiment of the application are described in detail below with reference to the accompanying drawings by specific embodiments and application scenes thereof.
The aircraft motion measurement method can be applied to the terminal, and can be specifically executed by hardware or software in the terminal.
The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer. It should also be understood that in some embodiments, the terminal may not be a portable communication device, but rather have a desktop computer.
In the following various embodiments, a terminal including a display and a touch sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and joystick.
The execution body of the aircraft motion measurement method provided in the embodiment of the present application may be an electronic device or a functional module or a functional entity capable of implementing the aircraft motion measurement method in the electronic device, where the electronic device in the embodiment of the present application includes, but is not limited to, a mobile phone, a tablet computer, a camera, a wearable device, and the like, and the aircraft motion measurement method provided in the embodiment of the present application is described below by taking the electronic device as an execution body as an example.
As shown in fig. 1, the aircraft motion measurement method includes: step 110, step 120 and step 130.
Step 110, determining a first feature set of feature points on a rotating wing at a first moment and a second feature set of feature points on the rotating wing at a second moment based on image information of the rotating wing of the aircraft to be tested at a plurality of moments;
in this step, the plurality of times may be an initial time and an arbitrary time in a flight state.
The image information is the image information of the spatial motion trail of the surface feature points of the rotary wing.
The feature points are points required for acquiring the surface features of the rotary wing and can be set by the user based on the requirements.
The feature points may be represented as: circular mark points, triangular mark points, square mark points, and the like, and are not limited in this application.
The number of feature points is plural.
Hereinafter T is used as 0 Representing the first moment, in T 1 Indicating a second moment.
The first feature set is a set of feature information corresponding to feature points extracted from image information acquired at a first moment and comprises space position coordinates of the feature points.
The second feature set is a set of feature information corresponding to feature points extracted from the image information acquired at the second moment, and the set comprises space position coordinates of the feature points. In the actual execution process, the image characteristic extraction is carried out on the image information of the rotating wings, so that the characteristic points of the rotating wings can be obtained at T 0 Time and T 1 Feature set of time of day.
In some embodiments, the image information may be obtained based on:
labeling the rotating wings to obtain a plurality of characteristic points;
and acquiring images of the rotating wings by adopting at least one of a retroreflection mode and a laser image acquisition mode to acquire image information.
In this embodiment, the feature point may be a circular mark point or other form of mark point, which is not limited in this application.
The number of the feature points can reach the surface features of the characterization rotating wing, and the specific number is not limited in the application.
In some embodiments, feature points having retroreflective properties may be disposed on the rotor surface to enhance the contrast of the feature points with the background image.
Of course, in other embodiments, the feature points may be conventional feature points or feature points with active light emitting characteristics, which is not limited in this application.
In this embodiment, the laser image acquisition mode may use a semiconductor laser light source or other light sources suitable for capturing scenes in high-speed motion with the burst pulse width limited to hundred nanoseconds or less, so as to obtain sufficient illumination intensity, and achieve the equivalent effect of ultra-short camera exposure.
Of course, in other embodiments, the light source may be a natural light source or an electric light source, which is not limited in this application.
In practice, feature points having retroreflection are arranged on the surface of the rotary wing, and the feature points are illuminated using a laser light source.
The inventor finds that in the research and development process, in the related technology, a high-speed camera is mainly adopted to acquire the image information of the rotary wing, so that the problem of high cost is solved.
In the application, the high-speed stroboscopic lighting effect is achieved by adopting the laser light source, and the acquired image quality can be effectively ensured while shooting by adopting a high-speed camera is not needed.
According to the aircraft motion measurement method provided by the embodiment of the application, the surface characteristics of the rotating wings are obtained through the characteristic points, and the characteristic points with retroreflection are arranged on the surfaces of the rotating wings, so that the contrast between the characteristic points and a background image can be remarkably improved; the narrow pulse laser light source is used, imaging integration time is limited by light source explosion pulse width of hundred nanoseconds or lower, enough illumination intensity is obtained, the equivalent effect of ultra-short camera exposure is realized, the detection cost is obviously reduced, and the operation is simple and convenient.
As in fig. 2, in some embodiments, the feature points may be determined based on the following:
Characteristic points are respectively arranged on the surfaces of the rotary wings along two sides of a reference line, wherein the characteristic points arranged on two sides of the reference line are respectively arranged in a collinear manner, and the connecting lines of the characteristic points arranged on two sides of the reference line are spatially symmetrical relative to the reference line.
In this embodiment, the reference line is the central axis of the rotary wing.
According to the aircraft motion measurement method provided by the embodiment of the application, the characteristic points are distributed on two sides of the reference line, so that the characteristic points are arranged in a collinear manner, and the characteristic point connecting line is symmetrical with respect to the reference line in space, and the direction of the reference line can be automatically calculated.
Step 120, performing 3D registration on the first feature set and the second feature set, and obtaining first motion information of the rotor wing and a third feature set after 3D registration;
in this step, 3D registration is a process of spatially aligning image information taken at different times, different backgrounds, and different angles.
In an actual implementation, the 3D registration manner may include: quaternion method, iterative nearest point algorithm, point characteristic histogram algorithm, and quick point characteristic histogram.
Wherein, for the quaternion method, the quaternion consists of a real part and three imaginary parts, and the three imaginary parts are closely related to the rotation axis.
The orientation in any three-dimensional space can be expressed as a rotation about a particular axis.
Other forms of rotation representations may be converted to or from quaternions given the rotation axis and rotation angle.
In the actual execution process, an optimal registration method can be selected according to actual requirements, and the method is not limited.
The first motion information includes: speed, acceleration, translation vector T, rotation matrix R, rotation quaternion Q, attitude angle, and other motion information.
In some embodiments, the first motion information includes at least one of velocity information and acceleration information, and step 120 may further include:
3D registration is carried out on the first feature set and the second feature set, and initial motion information of the rotary wing is obtained; the initial motion information is in a discrete curve on a time axis;
and carrying out first-order difference on the discrete curve to determine speed information, and carrying out second-order difference on the discrete curve to determine acceleration information.
In this embodiment, the first feature set and the second feature set are 3D registered, and a coordinate transformation mapping matrix M may be obtained, so as to obtain initial motion information of the rotor.
In an actual execution process, the 3D registration calculates a pairwise overlap of 3D data using coordinates corresponding to feature points in the first feature set and the second feature set, using a plurality of image information of the object acquired from different viewpoints, and derives a globally optimized shape.
In this embodiment, the initial motion information includes running information such as a translation vector T, a rotation matrix R, a rotation quaternion Q, and an attitude angle.
In addition, 3D registration is performed on the first feature set and the second feature set, and a third feature set after 3D registration may be obtained, where the third feature set is used to determine deformation amount information corresponding to the rotating wing.
According to the aircraft motion measurement method provided by the embodiment of the application, the initial motion information of the rotary wing can be obtained by carrying out 3D registration on the first feature set and the second feature set, the initial motion information is in a discrete curve distribution state on a time axis, the speed information of the rotary wing can be obtained by carrying out first-order difference on the discrete curve, the acceleration information of the rotary wing can be obtained by carrying out second-order difference on the discrete curve, the measurement precision of the motion information is improved, and the problem of coupling of the motion information and the deformation information of the rotary wing is solved.
And 130, determining deformation information corresponding to the rotating wing based on the third feature set and the first feature set.
In this step, the third feature set may be a feature set obtained by quaternion registration.
In the actual implementation process, the registration process is divided into two steps of coarse registration and fine registration.
Translational rotation errors between feature points are reduced by coarse registration.
The fine registration takes Euclidean distance between the feature points as an objective function, and is realized by reducing the distance between the feature points.
The deformation information comprises at least one of deformation information of a surface area where the rotating wing characteristic points are located and deformation information of points in the surface of the rotating wing.
The specific implementation of step 130 is described below.
In some embodiments, step 130 may include:
and subtracting the coordinate vectors corresponding to the first target feature points in the third feature set and the second target feature points corresponding to the first target feature points in the first feature set, and obtaining deformation information of the surface area where the feature points are located.
In this embodiment, the first target feature point may be any feature point in the third feature set, and the number of first target feature points may be one or more.
The second target feature points may be any feature points in the first feature set, and the number of the second target feature points may be one or more; and the first target feature points and the second target feature points are in one-to-one correspondence.
For example, the deformation information of the surface area where the feature point a is located can be obtained by subtracting the first coordinate vector of the feature point a in the third feature set from the corresponding second coordinate vector in the first feature set.
According to the aircraft motion measurement method provided by the embodiment of the application, the deformation information of the surface area where the feature points are located can be obtained by subtracting the coordinate vectors corresponding to the first feature set from the third feature set.
In some embodiments, after obtaining the deformation information of the surface area where the feature point is located, step 130 may further include:
performing space triangulation on the surface of the rotating wing by taking the characteristic points as nodes to obtain a plurality of triangular areas;
and carrying out triangle interpolation calculation in the triangle area with the characteristic point as the vertex based on the deformation information of the surface area with the characteristic point, and obtaining the deformation information of each point in the surface of the rotary wing.
In this embodiment, the feature points are feature points of the surface of the rotary wing.
Triangulation is the division of a triangular mesh on the surface of the rotating wing.
The interpolation calculation includes: nearest neighbor interpolation, linear interpolation, bilinear interpolation, higher order interpolation, etc.
The interpolation calculation method can select an optimal calculation method according to actual requirements, and the method is not limited.
In the actual execution process, the surface of the rotary wing can be divided into a plurality of triangular areas by taking each characteristic point as a node for space triangulation, whether the vertex of any triangular area is the characteristic point is judged, and triangle interpolation calculation is carried out in each triangular area with the characteristic point as the vertex, so that deformation information corresponding to each point in the triangular area can be obtained.
According to the aircraft motion measurement method provided by the embodiment of the application, the deformation of any point on the surface of the rotary wing can be obtained by performing spatial triangulation on the surface of the rotary wing and performing triangle interpolation calculation on the inside of a triangle area with the characteristic point as the vertex.
The inventor finds that in the research and development process, the contact measurement is to acquire data by monitoring the contact condition of a measuring head and a real object, but the number of sensors is insufficient to completely solve the geometric shape of a blade, the sensors influence the structure of a rotating wing, the coupling of motion information and deformation information is not strict, and the measurement accuracy is not high; the measurement needs manual assistance, the surface accuracy of a workpiece is damaged due to improper operation, the measurement accuracy is affected, and the measurement is performed in a point-by-point mode, so that the efficiency is low; non-contact measurement is to acquire data by contacting light, air flow or sound with a workpiece, but non-contact measurement is susceptible to the reflection characteristics of the surface of the workpiece, and a photosensitive position detector is mostly used for detecting the photoelectric position, so that measurement accuracy is not high enough.
In the method, characteristic points on the rotary wing are determined through graphic information of the rotary wing at a plurality of moments, characteristic sets of the rotary wing at a first moment and a second moment are obtained according to the characteristic points, 3D registration is conducted to obtain a third characteristic set and movement information of the rotary wing, deformation of the rotary wing is calculated according to the characteristic sets, the movement information and the deformation information are decoupled, and measurement accuracy is improved; and the measurement process does not need manual assistance, so that the efficiency is improved.
According to the aircraft motion measurement method provided by the embodiment of the application, through the image information of the aircraft rotating wing at a plurality of moments, the characteristic points on the rotating wing can be determined, the first characteristic set and the second characteristic set corresponding to the rotating wing at the first moment and the second moment are obtained according to the characteristic points, and the first motion information of the rotating wing can be obtained through 3D registration of the first characteristic set and the second characteristic set; the third feature set can be obtained by 3D registration, the deformation information of the rotating wing can be obtained based on the third feature set and the first feature set, decoupling of the movement information and the deformation information is realized, and the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
In some embodiments, the method may further comprise:
determining a fourth feature set of the feature points on the rotating wing in the reference state and a fifth feature set of the feature points on the rotating wing in the current state based on the image information of the rotating wing in the reference state and the current state respectively;
the third feature set and the fourth feature set are subjected to principal component analysis respectively, and a first direction vector and a second direction vector are determined, wherein the first direction vector is used for representing the direction of a reference line of the rotary wing in a reference state, and the second direction vector is used for representing the direction of the reference line of the rotary wing in a current state;
And projecting the space included angle between the first direction vector and the second direction vector to a coordinate plane of a reference coordinate system of the target rotating wing, and obtaining second motion information of the rotating wing.
In this embodiment, the reference state is an initial state of the rotor.
The current state is the flight state of the rotor wing.
The fourth feature set includes coordinates corresponding to each feature point in the initial state.
The fifth feature set includes coordinates of each feature point corresponding to the flight state.
Principal component analysis is used for data dimension reduction.
The first direction vector is a first principal component obtained by performing principal component analysis processing on the fourth feature set.
The second direction vector is a first principal component obtained by performing principal component analysis processing on the fifth feature set.
It will be appreciated that principal component analysis is a linear transformation that transforms data into a new coordinate system such that any data is projected onto the coordinates where the variance is greatest; the coordinate axis corresponding to the coordinate with the largest variance is called a first principal component; and carrying out principal component analysis on the feature set to obtain a direction vector corresponding to the first principal component.
In the actual execution process, the data in the fourth feature set and the fifth feature set are normalized respectively, so that the average value of each feature point is 0 and the variance is 1; and then carrying out orthogonal transformation on the data so that any data is projected on a coordinate axis with the maximum variance, namely, a direction vector corresponding to the first principal component, thereby respectively obtaining a first direction vector corresponding to the fourth feature set and a second direction vector corresponding to the fifth feature set.
The target rotor reference frame is a user-defined rotor reference frame.
The rotating wing reference coordinate system is a spatial coordinate.
The rotor reference frame origin may be a feature point specified by the user.
The coordinate plane is a plane obtained by a user according to the feature points in the initial state of the rotary wing.
The second motion information includes: and motion information such as a flap angle, a shimmy angle and the like.
In the actual implementation process, calculating the space included angles of the first direction vector and the second direction vector, and respectively projecting the space included angles onto a coordinate plane of a rotating wing reference coordinate system defined by a user, so as to obtain second motion information.
According to the aircraft motion measurement method provided by the embodiment of the application, the first direction vector and the second direction vector can be obtained by respectively carrying out principal component analysis on the obtained fourth feature set and the obtained fifth feature set, and the second motion information of the rotary wing can be obtained by calculating the included angle between the first direction vector and the second direction vector and projecting the included angle onto the rotary wing reference coordinate system defined by a user, so that the measurement precision of the motion information is improved, and important information is provided for verification and improvement of the structure and the pneumatic characteristics of the rotary wing.
According to the aircraft motion measurement method provided by the embodiment of the application, the execution main body can be an aircraft motion measurement device. In the embodiment of the application, an aircraft motion measuring device is taken as an example to execute an aircraft motion measuring method, and the aircraft motion measuring device provided in the embodiment of the application is described.
The embodiment of the application also provides an aircraft motion measuring device.
As shown in fig. 3, the walker motion measurement apparatus includes: a first processing module 310, a second processing module 320, and a third processing module 330.
A first processing module 310, configured to determine a first feature set of a feature point on a rotor of an aircraft to be tested at a first moment and a second feature set of the feature point on the rotor at a second moment based on image information of the rotor at a plurality of moments;
a second processing module 320, configured to perform 3D registration on the first feature set and the second feature set, and obtain first motion information of the rotating wing and a third feature set after 3D registration;
and a third processing module 330, configured to determine deformation information corresponding to the rotating wing based on the third feature set and the first feature set.
According to the aircraft motion measurement device provided by the embodiment of the application, the characteristic points on the rotating wing can be determined according to the image information of the rotating wing of the aircraft at a plurality of moments, the first characteristic set and the second characteristic set corresponding to the rotating wing at the first moment and the second moment are obtained according to the characteristic points, and the first motion information of the rotating wing can be obtained by carrying out 3D registration on the first characteristic set and the second characteristic set; the third feature set can be obtained by 3D registration, the deformation information of the rotating wing can be obtained based on the third feature set and the first feature set, decoupling of the movement information and the deformation information is realized, and the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
In some embodiments, the third processing module 330 may also be configured to:
and subtracting the coordinate vectors corresponding to the first target feature points in the third feature set and the second target feature points corresponding to the first target feature points in the first feature set, and obtaining deformation information of the surface area where the feature points are located.
In some embodiments, after obtaining the deformation information of the surface area where the feature points are located, the third processing module 330 may be further configured to:
performing space triangulation on the surface of the rotating wing by taking the characteristic points as nodes to obtain a plurality of triangular areas;
and carrying out triangle interpolation calculation in the triangle area with the characteristic point as the vertex based on the deformation information of the surface area with the characteristic point, and obtaining the deformation information of each point in the surface of the rotary wing.
In some embodiments, the second processing module 320 may also be configured to:
3D registration is carried out on the first feature set and the second feature set, and initial motion information of the rotary wing is obtained; the initial motion information is in a discrete curve on a time axis;
and carrying out first-order difference on the discrete curve to determine speed information, and carrying out second-order difference on the discrete curve to determine acceleration information.
In some embodiments, the apparatus may further comprise:
The fourth processing module is used for determining a fourth feature set of the feature points on the rotating wings in the reference state and a fifth feature set of the feature points on the rotating wings in the current state based on the image information of the rotating wings in the reference state and the current state respectively;
the third feature set and the fourth feature set are subjected to principal component analysis respectively, and a first direction vector and a second direction vector are determined, wherein the first direction vector is used for representing the direction of a reference line of the rotary wing in a reference state, and the second direction vector is used for representing the direction of the reference line of the rotary wing in a current state;
and projecting the space included angle between the first direction vector and the second direction vector to a coordinate plane of a reference coordinate system of the target rotating wing, and obtaining second motion information of the rotating wing.
In some embodiments, the apparatus may further include a fifth processing module for:
labeling the rotating wings to obtain a plurality of characteristic points;
and acquiring images of the rotating wings by adopting at least one of a retroreflection mode and a laser image acquisition mode to acquire image information.
In some embodiments, the first processing module 310 may also be configured to:
characteristic points are respectively arranged on the surfaces of the rotary wings along two sides of a reference line, wherein the characteristic points arranged on two sides of the reference line are respectively arranged in a collinear manner, and the connecting lines of the characteristic points arranged on two sides of the reference line are spatially symmetrical relative to the reference line.
The aircraft motion measurement device in the embodiment of the application may be an electronic device, or may be a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be other devices than a terminal. By way of example, the electronic device may be a mobile phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, mobile internet appliance (Mobile Internet Device, MID), augmented reality (augmented reality, AR)/Virtual Reality (VR) device, robot, wearable device, ultra-mobile personal computer, UMPC, netbook or personal digital assistant (personal digital assistant, PDA), etc., but may also be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the embodiments of the present application are not limited in particular.
The aircraft motion measurement device in embodiments of the present application may be a device having an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems, which is not specifically limited in the embodiments of the present application.
The aircraft motion measurement device provided in the embodiment of the present application can implement each process implemented by the method embodiments of fig. 1 to 2, and in order to avoid repetition, a detailed description is omitted here.
The embodiment of the application also provides an aircraft motion measurement system.
The aircraft motion measurement system includes: motion capture device, laser light source and aircraft motion measurement apparatus as described in any of the embodiments above.
In this embodiment, the motion capture device is used to acquire image information, i.e., a spatial motion profile of the rotating wing surface feature points.
The laser source comprises a semiconductor laser source, has the characteristics of narrow pulse and high peak power output, and is suitable for capturing scenes in high-speed motion with the pulse width of burst flash limited to hundred nanoseconds or below.
The aircraft motion measurement device is electrically connected to the motion capture device and the laser light source, respectively, for performing the aircraft motion measurement method as described in any of the embodiments above.
According to the aircraft motion measurement system provided by the embodiment of the application, the motion capture device can be used for collecting the retroreflection characteristic points irradiated by the laser light source and determining the characteristic points on the rotating wing, so that a high-speed camera with high cost is avoided, and the cost is reduced; acquiring a first feature set and a second feature set of the rotary wing corresponding to the first moment and the second moment according to the feature points, and obtaining first motion information of the rotary wing by carrying out 3D registration on the first feature set and the second feature set; the 3D registration can also obtain a third feature set, and based on the third feature set and the first feature set, the deformation information of the rotating wing can be obtained, so that decoupling of the movement information and the deformation information is realized, and the measurement accuracy is improved; the measurement process does not need manual assistance, so that the measurement efficiency is improved, and the error generated manually is reduced.
In some embodiments, the aircraft motion measurement system may further comprise a reference line calculator.
In this embodiment, the reference line calculator is used to calculate the direction of the reference line in space (i.e., the first direction vector and the second direction vector described above) by rotating the wing surface feature points.
Wherein the rotating wing surface features comprise at least one retroreflective feature point.
The surface characteristic points of the rotary wing are distributed along two sides of a reference line of the rotary wing, and the characteristic points on the two sides are respectively and equally spaced and collinearly arranged with the reference line.
And the reference line calculator is used for carrying out principal component analysis based on the surface feature coordinates of the rotating wings and acquiring the direction of the reference line in space.
In some embodiments, the aircraft motion measurement system may further comprise a motion parameter calculator.
In this embodiment, the motion parameter calculator is configured to calculate the first motion information and the second motion information of the rotary wing by the rotary wing surface feature points.
The motion parameter calculator acquires a first feature set and a second feature set, performs 3D registration, and acquires first motion information and a third feature set of the rotary wing.
And acquiring a first direction vector and a second direction vector, and calculating second motion information of the rotary wing through the first direction vector and the second direction vector.
In some embodiments, the aircraft motion measurement system may further comprise a deformation measurement calculator.
In this embodiment, the deformation measurement calculator is configured to calculate deformation information of a surface area where the rotor wing feature points are located and deformation information of points within the surface of the rotor wing from the rotor wing surface feature points.
The deformation measurement calculator subtracts the first target feature point in the third feature set and the coordinate vector corresponding to the second target feature point corresponding to the first target feature point in the first feature set, so as to obtain deformation information of the surface area where the feature point is located. Performing space triangulation on the surface of the rotating wing by taking the characteristic points as nodes to obtain a plurality of triangular areas; and performing triangle interpolation calculation in a triangle area with the characteristic points as vertexes to obtain deformation information of each point in the surface of the rotary wing.
In some embodiments, as shown in fig. 4, the embodiment of the present application further provides an electronic device 400, including a processor 401, a memory 402, and a computer program stored in the memory 402 and capable of running on the processor 401, where the program when executed by the processor 401 implements the processes of the embodiment of the method for measuring the motion of an aircraft, and the same technical effects can be achieved, and for avoiding repetition, a description is omitted herein.
The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device described above.
The embodiment of the application further provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements each process of the above-mentioned embodiment of the aircraft motion measurement method, and can achieve the same technical effects, so that repetition is avoided, and no further description is given here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements the above-described aircraft motion measurement method.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or an instruction, implementing each process of the above embodiment of the method for measuring the movement of the aircraft, and achieving the same technical effect, so as to avoid repetition, and no further description is provided here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A method of measuring movement of an aircraft, comprising:
determining a first feature set of feature points on a rotating wing of an aircraft to be tested at a first moment and a second feature set of feature points on the rotating wing at a second moment based on image information of the rotating wing at a plurality of moments;
3D registration is carried out on the first feature set and the second feature set, and first motion information of the rotating wings and a third feature set after 3D registration are obtained;
and determining deformation information corresponding to the rotating wing based on the third feature set and the first feature set.
2. The aircraft motion measurement method according to claim 1, wherein the determining deformation information corresponding to the rotary wing based on the third feature set and the first feature set includes:
and subtracting the coordinate vector corresponding to the first target feature point in the third feature set and the coordinate vector corresponding to the second target feature point corresponding to the first target feature point in the first feature set, and obtaining deformation information of the surface area where the feature point is located.
3. The aircraft motion measurement method according to claim 2, wherein after the obtaining of the deformation information of the surface region in which the feature point is located, the method further comprises:
performing space triangulation on the surface of the rotating wing by taking the characteristic points as nodes to obtain a plurality of triangular areas;
and carrying out triangle interpolation calculation in the triangle area with the characteristic point as the vertex based on the deformation information of the surface area with the characteristic point, and obtaining the deformation information of each point in the surface of the rotary wing.
4. A method of aircraft motion measurement according to any of claims 1-3, wherein the first motion information comprises at least one of velocity information and acceleration information, the 3D registration of the first feature set and the second feature set to obtain first motion information of the rotating wing comprises:
3D registration is carried out on the first feature set and the second feature set, and initial motion information of the rotating wing is obtained; the initial motion information is in a discrete curve on a time axis;
and carrying out first-order difference on the discrete curve to determine the speed information, and carrying out second-order difference on the discrete curve to determine the acceleration information.
5. A method of measuring movement of an aircraft according to any one of claims 1 to 3, further comprising:
determining a fourth feature set of the feature points on the rotating wing in the reference state and a fifth feature set of the feature points on the rotating wing in the current state based on the image information of the rotating wing in the reference state and the current state respectively;
performing principal component analysis on the fourth feature set and the fifth feature set respectively, and determining a first direction vector and a second direction vector, wherein the first direction vector is used for representing the direction of the reference line of the rotary wing in the reference state, and the second direction vector is used for representing the direction of the reference line of the rotary wing in the current state;
And projecting the space included angle between the first direction vector and the second direction vector to a coordinate plane of a reference coordinate system of the target rotating wing, and obtaining second motion information of the rotating wing.
6. A method of measuring movement of an aircraft according to any one of claims 1 to 3, wherein the image information is obtained on the basis of:
labeling the rotating wings to obtain a plurality of characteristic points;
and acquiring the image of the rotating wing by adopting at least one of a retroreflection mode and a laser image acquisition mode to acquire the image information.
7. A method of measuring movement of an aircraft according to any one of claims 1 to 3, wherein the feature points are determined based on:
and the characteristic points are respectively arranged on the surfaces of the rotary wings along two sides of a reference line, wherein the characteristic points arranged on two sides of the reference line are respectively arranged in a collinear manner, and the characteristic point connecting lines arranged on two sides of the reference line are spatially symmetrical relative to the reference line.
8. An aircraft motion measurement device, comprising:
the first processing module is used for determining a first feature set of the feature points on the rotating wing at a first moment and a second feature set of the feature points on the rotating wing at a second moment based on image information of the rotating wing of the aircraft to be tested at a plurality of moments;
The second processing module is used for carrying out 3D registration on the first feature set and the second feature set to obtain first motion information of the rotating wing and a third feature set after 3D registration;
and the third processing module is used for determining deformation information corresponding to the rotating wing based on the third feature set and the first feature set.
9. An aircraft motion measurement system, comprising:
the motion capture device is used for collecting image information;
a laser light source;
the aircraft motion measurement device of claim 8, electrically connected to the motion capture apparatus and the laser light source, respectively.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the aircraft motion measurement method according to any one of claims 1-7 when executing the program.
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