直升机旋翼三维动态变形测量与可视化分析

胡丙华; 晏晖

doi:10.5768/JAO202344.0103007

直升机旋翼三维动态变形测量与可视化分析

doi: 10.5768/JAO202344.0103007

胡丙华,
晏晖

中国飞行试验研究院，陕西西安 710089

基金项目: 直升机旋翼流场丝线可视化显示及重构技术研究（61422200103202012）

详细信息

作者简介:
胡丙华（1986—），女，硕士，高级工程师，主要从事摄影测量与应用以及光电测试方面的研究。E-mail：hbh125@qq.com

中图分类号: TN29；V217+.3
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- 被引次数: 0
出版历程
- 收稿日期: 2022-01-21
- 修回日期: 2022-05-24
- 网络出版日期: 2022-08-20
- 刊出日期: 2023-01-17

3D dynamic deformation measurement and visual analysis of helicopter rotor

HU Binghua,
YAN Hui

Chinese Flight Test Establishment, Xi'an 710089, China

摘要

摘要: 针对直升机旋翼动载荷飞行试验测试需求，提出一种直升机旋翼三维动态变形测量与可视化分析方法。首先，根据直升机旋翼的结构特点和高速旋转特性，设计了以一组双目高清摄像头为核心的旋翼动态变形影像测量与监控及分析系统；其次，基于双目立体视觉测量理论，论述了测量系统标定、实时单点变形测量、散斑影像匹配、旋翼表面三维重建与三维动态变形可视化分析原理/方法；最后，在地面进行了模拟实测环境的仿真试验，实现了试验系统搭建、试验数据采集、处理与分析。试验结果证明，该方法可获得最大误差优于4 mm的定位测量精度，能很好地实现直升机旋翼三维动态变形测量，为飞行试验旋翼载荷测试数据分析等提供直观、可靠的数据与技术支撑。
- 直升机旋翼 /
- 双目立体视觉测量 /
- 系统标定 /
- 动态变形测量 /
- 数字散斑相关 /
- 三维可视化
Abstract: In order to meet the requirements of helicopter rotor dynamic load test, a three-dimensional (3D) dynamic deformation measurement and visual analysis method for helicopter rotor was proposed. Firstly, according to the structure and high-speed rotation characteristics of helicopter rotor, a dynamic deformation image measurement and monitoring as well as analysis system of rotor with binocular high-definition camera as the core was designed. Then, based on the binocular stereo vision measurement theory, the principle/method of the measuring system calibration, real-time single point deformation measurement, speckle image matching, rotor surface 3D reconstruction and 3D dynamic deformation visual analysis were discussed. Finally, the simulation test of simulated and measured environment was carried out on the ground, and the test system construction, test data acquisition, processing and analysis were realized. The test results show that this method can obtain the positioning measurement accuracy with the maximum error less than 4 mm, and can well realize the 3D dynamic deformation measurement of helicopter rotor, which provides intuitive and reliable data and technical support for the flight test rotor load test data analysis.
- helicopter rotor /
- binocular stereo vision measurement /
- system calibration /
- dynamic deformation measurement /
- digital speckle correlation /
- 3D visualization

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图 1 旋翼动态变形测量与可视化分析系统组成图

Fig. 1 Composition of rotor dynamic deformation measurement and visual analysis system

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图 2 一体化随动视频采集与处理子系统组成与系统信号传输结构示意图

Fig. 2 Composition of integrated servo video acquisition and processing subsystem and signal transmission structure of whole system

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图 3 系统实时数据处理过程图

Fig. 3 Process diagram of real-time data processing of system

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图 4 摄像头布局示意图

Fig. 4 Schematic diagram of camera layout

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图 5 编码标志点检测、识别与匹配流程图

Fig. 5 Flow chart of detection, identification and matching of coded mark points

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图 6 基于数字散斑相关的直升机旋翼变形测量算法实现流程图

Fig. 6 Algorithm implementation process of helicopter rotor deformation measurement based on digital speckle correlation

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图 7 3D测量试验系统连接拓扑图

Fig. 7 Connection topology diagram of 3D measurement test system

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图 8 重建结果

Fig. 8 Reconstruction results

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图 9 平板上邻近两点的运动变化曲线

Fig. 9 Motion change curves of adjacent two points on plate

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图 10 平板上沿纵向较远两点的运动变化曲线

Fig. 10 Motion change curves of two points along longitudinal distance on plate

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表 1 编码标志点的视觉测量计算结果与全站仪测量数据的对比分析

Table 1 Comparison and analysis of visual measurement calculation results of coded mark points and measurement data of total station

点号	全站仪测量数据			全场变形测量软件计算数据			坐标对比/mm
点号	Xc/mm	Yc/mm	Zc/mm	X/mm	Y/mm	Z/mm	dX	dY	dZ
36	980.0	−9.7	1 156.8	979.8	−7.3	1 160.0	−0.2	2.4	3.2
37	560.0	11.0	930.5	560.6	12.2	933.7	0.6	1.2	3.2
38	1 019.1	12.7	505.9	1 020.7	13.5	506.7	1.6	0.8	0.8
39	613.1	32.2	314.1	614.7	32.6	317.1	1.6	0.4	3.0
40	1 055.5	82.6	−5.7	1 056.1	83.6	−2.5	0.6	1.0	3.2
41	982.2	203.3	−483.5	983.0	204.1	−480.9	0.8	0.8	2.6
42	555.8	136.7	−240.9	556.6	136.5	−238.5	0.8	−0.2	2.4
43	695.1	285.9	−847.5	695.7	285.1	−846.3	0.6	−0.8	1.2
44	1 096.3	347.5	−1 056.3	1 096.7	347.3	−1 055.5	0.4	−0.2	0.8
45	1 555.8	269.8	−864.1	1 558.4	269.8	−863.9	2.6	0.0	0.2
46	1 374.7	142.7	−281.4	1 375.7	143.7	−278.8	1.0	1.0	2.6
47	1 410.7	48.5	174.7	1 410.3	50.3	178.5	−0.4	1.8	3.8
48	1 456.7	3.9	665.7	1 457.5	6.3	667.7	0.8	2.4	2.0
49	1 338.0	427.1	−1 140.5	1 339.0	428.3	−1 138.1	1.0	1.2	2.4
50	960.0	597.6	−1 157.2	959.8	598.2	−1 154.6	−0.2	0.6	2.6
Min-error/mm							0.2	0.0	0.2
Max-error/mm							2.6	2.4	3.8
Mean square error/mm							1.1	1.2	2.5

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