基于立体视觉的直升机桨叶扭转角模拟测量方法

doi:10.3969/j.issn.0255-8297.2018.06.007

应用科学学报 ›› 2018, Vol. 36 ›› Issue (6): 950-957.doi: 10.3969/j.issn.0255-8297.2018.06.007

基于立体视觉的直升机桨叶扭转角模拟测量方法

熊邦书¹, 罗院华¹, 黄建萍², 李新民²

1. 南昌航空大学图像处理与模式识别省重点实验室, 南昌 330063;
2. 中国直升机设计研究所直升机旋翼动力学重点实验室, 江西景德镇 333001

收稿日期:2017-11-07 修回日期:2017-12-13 出版日期:2018-12-31 发布日期:2018-12-31
作者简介:熊邦书,教授,研究方向:模式识别、智能信号处理和图像处理,E-mail:xiongbs@126.com
基金资助:
国家自然科学基金（No.61462063）；江西省高等学校科技落地计划项目基金（No.KJLD13058）；江西省重点研发计划项目基金（No.20171BBE50013）资助

Measurement Method of Torsion of Helicopter Rotor Blades Based on Stereo Vision

XIONG Bang-shu¹, LUO Yuan-hua¹, HUANG Jian-ping², LI Xin-min²

1. Key Laboratory of Image Processing and Pattern Recognition of Province, Nanchang Hangkong University, Nanchang 330063, China;
2. Science and Technology on Rotorcraft Aeromechanics Laboratory, China Helicopter Research and Development Institute, Jingdezhen 333001, Jiangxi Province, China

Received:2017-11-07 Revised:2017-12-13 Online:2018-12-31 Published:2018-12-31

摘要/Abstract

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.

关键词: 双目立体视觉, 扭转角, 旋翼坐标系, 圆形标记点

Abstract: 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.

Key words: binocular stereo vision, circular marker, torsion, rotor coordinate system

中图分类号:

V275+.1

熊邦书, 罗院华, 黄建萍, 李新民. 基于立体视觉的直升机桨叶扭转角模拟测量方法[J]. 应用科学学报, 2018, 36(6): 950-957.

XIONG Bang-shu, LUO Yuan-hua, HUANG Jian-ping, LI Xin-min. Measurement Method of Torsion of Helicopter Rotor Blades Based on Stereo Vision[J]. Journal of Applied Sciences, 2018, 36(6): 950-957.

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基于立体视觉的直升机桨叶扭转角模拟测量方法

Measurement Method of Torsion of Helicopter Rotor Blades Based on Stereo Vision

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