Helicopter rotor blade dynamic trajectory measuring method based on four-nocular stereo vision

Abstract

Provided is a helicopter rotor blade dynamic trajectory measuring method based on four-nocular stereo vision. The method comprises the following steps that 1, mark points are uniformly stuck to the two sides of each rotor blade of a helicopter; 2, four-nocular cameras are pairwise matched to form four binocular stereo vision systems, and calibration is conducted on each system; 3, conversion relations between coordinate systems of the four binocular stereo vision systems and a coordinate system of a total station are obtained by using the total station; 4, three-dimensional information of the mark points in rotor blade image pairs collected by the four binocular stereo vision systems is calculated; 5, the rotor blade mark point three-dimensional information obtained through measurement of the four binocular stereo vision systems is unified into the coordinate system of the total station, and rotor blade dynamic trajectory measurement based on the four-nocular stereo vision is achieved. The helicopter rotor blade dynamic trajectory measuring method based on the four-nocular stereo vision has the advantages that three-dimensional reconstruction on rotor blade motion trajectories can be completed, the field of view is wide, a non-contact type is achieved, the precision is high, and the safety is good.

Description

technical field [0001] The invention relates to a measurement method based on stereo vision, in particular to a method for measuring dynamic trajectory of helicopter rotor blades based on four-eye stereo vision. Background technique [0002] The rotor is the core component of the helicopter. The high-speed rotation of the rotor blades produces the lift and thrust required for the flight of the helicopter. By measuring the motion trajectory of the rotor blades, it can provide an important basis for the design of the rotor structure, the design of the upper and lower limit blocks of the hub, the design of the blade load, and the adjustment of the common taper of the rotor. The dynamic trajectory measurement of the rotor blades is directly related to the safety, comfort, reliability and accuracy of the weapon system of the helicopter, and is an important inspection item in the development, production and maintenance of the helicopter. [0003] Rotor blade dynamic trajectory me...

AI Technical Summary

Problems solved by technology

[0005] 1) Geometric measurement method, this type of method usually uses displacement sensors and laser displacement sensors to convert angle changes into displacement changes for measurement, but it can only measure the swing angle and shimmy angle of the rotor blades, and cannot measure the dynamics of the rotor blades track;

[0006] 2) High-speed CCD imaging method, which requires the CCD imaging optical axis to be perpendicular to the rotor during measurement, which is difficult to achieve in actual operation, and this method requires known CCD imaging object distance, and the object distance usually changes during the imaging process. This could lead to unacceptable experimental error;

[0007] 3) Stereo vision measurement method, which collects rotor blade images simultaneously through binocular cameras, and calculates the three-dimensional information of rotor blade marker points through the parallax method; this method has high measurement accuracy, but the measurement field of view is small and cannot be measured Dynamic trajectories of rotor blades at various spatial positions

[0008] In summary, the traditional rotor blade dynamic trajectory measurement technology cannot completely measure the dynamic trajectory of the rotor blade in the entire space position

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