基于立体视觉的直升机桨叶扭转角模拟测量方法
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摘要
提出了一种基于立体视觉的直升机桨叶扭转角测量方法.首先,在摄像机坐标系下,采用双目立体视觉技术获取桨叶上圆形标记点的三维坐标;然后,利用在旋翼低速旋转且桨叶处于拉平状态下测量出的标记点的三维坐标建立旋翼坐标系;最后,在旋翼坐标系中利用旋翼高速和低速旋转状态下桨叶上对应标记点的三维坐标来计算桨叶扭转角.多次刚性叶片扭转角测量实验和数据分析说明本文测量方法不仅有效、测量精度高,而且具有非接触式、动态测量和操作简单的优点.
A method based on stereo vision is proposed to accurately measure the torsion of helicopter rotor blades and to simplify the operational process. First, three-dimensional coordinates of the circular markers in the camera coordinate are obtained by using the binocular stereo vision technique. Second, the rotor coordinate is established by the threedimensional coordinates of the markers which are measured when the blades are horizontally straight during low-speed rotation. Finally, the torsion of blades is calculated by the threedimensional coordinates of the markers which are obtained during low-speed rotation and high-speed rotation on the blades in the rotor coordinate. The method proposed in this paper is proved to be effective and accurate by a number of experiments and data analysis on measurement of the torsion of rigid blades. It also shows advantages of non-contact detection, dynamic measurement and easy operation.
A method based on stereo vision is proposed to accurately measure the torsion of helicopter rotor blades and to simplify the operational process. First, three-dimensional coordinates of the circular markers in the camera coordinate are obtained by using the binocular stereo vision technique. Second, the rotor coordinate is established by the threedimensional coordinates of the markers which are measured when the blades are horizontally straight during low-speed rotation. Finally, the torsion of blades is calculated by the threedimensional coordinates of the markers which are obtained during low-speed rotation and high-speed rotation on the blades in the rotor coordinate. The method proposed in this paper is proved to be effective and accurate by a number of experiments and data analysis on measurement of the torsion of rigid blades. It also shows advantages of non-contact detection, dynamic measurement and easy operation.
引文
[1]邵伟平,何敏桃,郝永平.悬停状态共轴双旋翼桨叶扭转气动特性[J].航空动力学报,2014, 29(11):2606-2612.Shao W P, He M T, Hao Y P. Blade-twist aerodynamic characteristics of coaxial rotors in hover[J]. Journal of Aerospace Power, 2014, 29(11):2606-2612.(in Chinese)
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[4]黄有为,程卫真,李岩.直升机旋翼桨叶气动力学参数飞行测试系统[J].光学技术,2012, 38(4):403-409.Luang Y W, Cehng W Z, LI Y. Flight test system for measuring the aerodynamic parameters of rotor blades[J]. Optical Technique, 2012, 38(4):403-409.(in Chinese)
[5]吴国宝,吴志刚,易晖.基于三维数字影像的直升机旋翼运动参数测量方法研究[J].光电技术应用,2016, 31(2):76-80.Wu G B, Wu Z G, Yi H. Research on motion parameter measurement of helicopter rotor blade based on three-dimensional digital image[J]. Electro-Optic Technology Application, 2016,31(2):76-80.(in Chinese)
[6] Baqersad J, Poozesh P, Niezrecki C. Photogrammetry and optical methods in structural dynamics—a review[J]. Mechanical Systems&Signal Processing, 2017, 86:17-34.
[7] Schneider O, Pengel K, Wall B G V D. HART-II blade motion measured by stereo pattern recognition(SPR)[J]. American Helicopter society(AHS)International Forum, 2003.
[8] Schneider O. Analysis of SPR measurements from HART?[J]. Aerospace Science and Technology, 2005, 9(5):409-410.
[9] Sa J H, Kim J W, Park S H. KFLOW results of airloads on HART-II rotor blades with prescribed blade deformation[J]. International Journal of Aeronautical&Space Sciences, 2009,10(2):52-62.
[10]聂建辉,马孜,胡英.一种鲁棒的圆形标记点中心提取方法[J].应用科学学报,2013, 31(1):91-96.Nie J H, Ma Z, Hu Y. Robust detection of artificial circular target center[J]. Journal of Applied Sciences, 2013, 31(1):91-96.(in Chinese)
[11]陈洞滨,熊邦书,黄建萍.基于标记点的直升机旋翼动态三维测量方法[J].半导体光电,2013, 34(5):904-908.Chen D B, Xiong B S, Huang J P. Dynamic 3D-measurement method of helicopter rotor based on marked points[J]. Semiconductor Optoelectronics, 2013, 34(5):904-908.(in Chinese)
[2] Stein P K. Strain gage history and the end of the twentieth century[J]. Experimental Techniques, 2001, 25(2):15-16.
[3] Muller R H G, Pengel K, Wall B G V D. Blade deflection measurement at the low noise ERATO rotor[C]//Proceedings of the 26th European Rotorcraft Forum. Hague, 2000:104.1-104.10.
[4]黄有为,程卫真,李岩.直升机旋翼桨叶气动力学参数飞行测试系统[J].光学技术,2012, 38(4):403-409.Luang Y W, Cehng W Z, LI Y. Flight test system for measuring the aerodynamic parameters of rotor blades[J]. Optical Technique, 2012, 38(4):403-409.(in Chinese)
[5]吴国宝,吴志刚,易晖.基于三维数字影像的直升机旋翼运动参数测量方法研究[J].光电技术应用,2016, 31(2):76-80.Wu G B, Wu Z G, Yi H. Research on motion parameter measurement of helicopter rotor blade based on three-dimensional digital image[J]. Electro-Optic Technology Application, 2016,31(2):76-80.(in Chinese)
[6] Baqersad J, Poozesh P, Niezrecki C. Photogrammetry and optical methods in structural dynamics—a review[J]. Mechanical Systems&Signal Processing, 2017, 86:17-34.
[7] Schneider O, Pengel K, Wall B G V D. HART-II blade motion measured by stereo pattern recognition(SPR)[J]. American Helicopter society(AHS)International Forum, 2003.
[8] Schneider O. Analysis of SPR measurements from HART?[J]. Aerospace Science and Technology, 2005, 9(5):409-410.
[9] Sa J H, Kim J W, Park S H. KFLOW results of airloads on HART-II rotor blades with prescribed blade deformation[J]. International Journal of Aeronautical&Space Sciences, 2009,10(2):52-62.
[10]聂建辉,马孜,胡英.一种鲁棒的圆形标记点中心提取方法[J].应用科学学报,2013, 31(1):91-96.Nie J H, Ma Z, Hu Y. Robust detection of artificial circular target center[J]. Journal of Applied Sciences, 2013, 31(1):91-96.(in Chinese)
[11]陈洞滨,熊邦书,黄建萍.基于标记点的直升机旋翼动态三维测量方法[J].半导体光电,2013, 34(5):904-908.Chen D B, Xiong B S, Huang J P. Dynamic 3D-measurement method of helicopter rotor based on marked points[J]. Semiconductor Optoelectronics, 2013, 34(5):904-908.(in Chinese)
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