CN104748696A - Measuring method for full field deformation of large-dip-angle wing - Google Patents
Measuring method for full field deformation of large-dip-angle wing Download PDFInfo
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Abstract
The invention provides a measuring method for full field deformation of a large-dip-angle wing. According to the method, a binocular measurement system is formed by two cameras in one area photographed by a video camera, one of image sequences of to-be-tested surfaces respectively photographed by the two cameras is taken as a reference image sequence, the other image sequence is taken as a target image sequence, each group of images is under one time sequence, and speckles are processed on the images; vertical matching under respective time sequences is performed on the basis of horizontal matching in a first state, and performing horizontal matching for other states besides the first state; deformation displacement fields of the to-be-tested surfaces are reconstructed according to calculation results of matching parameters, calibration parameters of the cameras and a triangulation principle. The measuring method is a non-contact measuring method with a high matching success rate and has the advantage of high speckle matching speed as compared with conventional speckle matching methods.
Description
Technical field
The present invention relates to contactless deformation measurement field, particularly a kind of high spud angle wing full field deformation measure method.
Background technology
Large aircraft wing is out of shape very large in practical flight, although carried out a large amount of analog computations when designing, needs its 3 D deformation data of Measurement accuracy in practical flight experiment.China started at present airliner, transporter manufacture and design work, but also deficienter for the wing detection means of large aircraft in flight course.It is very large that large aircraft wing in flight course bears aerodynamic loading, and usual span wing tip when the large aircraft flight of 40 ~ 50 meters fluctuates up and down more than 1 meter.Wing amplitude of deformation is huge, needs to obtain the wing distortion distributed in three dimensions data of large aircraft in flight course.But, although conventional contact measuring method such as foil gauge, displacement or acceleration transducer etc. can record high-precision deformation result, but this kind of device is difficult to be installed to aerofoil surface under the prerequisite not affecting aircraft flight, and this kind of measurement mechanism is spot measurement, the three-dimensional whole field deformation data of wing cannot be obtained.Adopt measuring method, be subject to the restriction of camera installation site, camera optical axis and measured surface normal angle are excessive, and greatly, correlativity is poor for the image difference of acquisition, cannot the match is successful, complete the reconstruction of three-D displacement and strain field.
Therefore, in order to realize the measurement of full field of aircraft wing distortion in flight course, in the urgent need to a kind of high spud angle, weak relevant speckle matching process, realize speckle image coupling, and then complete the three-dimensional reconstruction of Variable Geometry Wing, realize the measurement of full field of aircraft wing in flight course.
Summary of the invention
For above-mentioned subproblem, the invention provides a kind of high spud angle wing full field deformation measure method, can wing whole field deformation in survey aircraft flight course.Two cameras of shooting the same area are formed one group of binocular measuring system by video camera by described method, reference image sequence is regarded as one group in the image sequence of the measured surface taken separately by two cameras, another group regards target image sequence as, often group image is the state under a time series, described image there is the speckle prepared, then performs following step:
S301: the calculating reference picture in the 1st state and target image being carried out matching parameter;
S302: the calculating reference picture in the reference picture in the i-th state and the 1st state being carried out matching parameter;
S303: the calculating target image in the target image in the i-th state and the 1st state being carried out matching parameter;
S304: utilize the result of calculation in step S302 and step S303, carries out the calculating of matching parameter again by the targeted graphical in the reference picture in the i-th state and the i-th state;
S400: the result of calculation utilizing the matching parameter of S301 ~ S304, the calibrating parameters of combining camera, according to principle of triangulation, rebuilds the deformation displacement field of described measured surface;
The value of described i is 2 ~ N, N is image sequence sum;
Described matching parameter comprises displacement parameter and deformation parameter.
The present invention has following features:
(1) because camera is divided into two rows to be installed on aircraft vertical empennage, upper and lower two cameras composition biocular systems, camera optical axis and measured surface normal angle very large, cause reference picture and target image because camera installation site reason, anamorphose is large, correlativity is poor, compared to traditional speckle matching process, it is high that method of the present invention is matched to power;
(2) because two cameras of shooting the same area are formed one group of binocular measuring system by video camera by described method, reference image sequence is regarded as one group in the image sequence of the measured surface taken separately by two cameras, another group regards target image sequence as, often group image is the state under a time series, matching operation is carried out respectively under its temporal sequence, thus the speckle matching image difference used is little, and compared to traditional speckle matching process, speckle matching speed is fast;
(3) this method uses the mode of optical measurement, is a kind of non-contact measurement method.
Accompanying drawing explanation
Fig. 1 mates process flow diagram;
Fig. 2 the inventive method experimental provision sketch;
The weak associated picture of Fig. 3 high and low position camera shooting;
The oval speckle field that the spraying of Fig. 4 bushing is formed;
Fig. 5 utilizes oval speckle boundary rectangle apex coordinate value to carry out the schematic diagram mated;
Fig. 6 aerofoil surface three-D displacement field pattern.
Embodiment
In a specific embodiment, provide a kind of high spud angle wing full field deformation measure method, can wing whole field deformation in survey aircraft flight course.Two cameras of shooting the same area are formed one group of binocular measuring system by video camera by described method, reference image sequence is regarded as one group in the image sequence of the measured surface taken separately by two cameras, another group regards target image sequence as, often group image is the state under a time series, described image there is the speckle prepared, then performs following step:
S301: the calculating reference picture in the 1st state and target image being carried out matching parameter;
S302: the calculating reference picture in the reference picture in the i-th state and the 1st state being carried out matching parameter;
S303: the calculating target image in the target image in the i-th state and the 1st state being carried out matching parameter;
S304: utilize the result of calculation in step S302 and step S303, carries out the calculating of matching parameter again by the targeted graphical in the reference picture in the i-th state and the i-th state;
S400: the result of calculation utilizing the matching parameter of S301 ~ S304, the calibrating parameters of combining camera, according to principle of triangulation, rebuilds the deformation displacement field of described measured surface;
The value of described i is 2 ~ N, N is image sequence sum;
Described matching parameter comprises displacement parameter and deformation parameter.
In this embodiment, because two cameras of shooting the same area are formed one group of binocular measuring system by video camera by described method, reference image sequence is regarded as one group in the image sequence of the measured surface taken separately by two cameras, another group regards target image sequence as, often group image is the state under a time series, after mating under the 1st state with reference to image and target image sequence, then under its temporal sequence, matching operation is carried out respectively, the result of carrying out matching operation under finally recycling its temporal sequence carries out the reference picture of each state after except the first state and the coupling of target image.Because the speckle matching image difference used is little, compared to traditional speckle matching process, speckle matching speed is fast.
And matching process in this embodiment as shown in Figure 1, one group is reference picture, and one group is target image, and often group image is the state under a time series, their distortion under respective time series, carry out the calculating of matching parameter by the reference picture in the i-th state and target image; Again the reference picture in the reference picture in the i-th state and the 1st state is carried out the calculating of matching parameter; Finally the target image in the target image in the i-th state and the 1st state is carried out the calculating of matching parameter; The mating of reference picture under each equal state and target image is a kind ofly laterally mate, and reference picture or the mating of target image of the reference picture of each state or target image and the 1st state mate for one is longitudinal.The correlativity of each state and previous state is poor, by carrying out longitudinal coupling on the basis of horizontal coupling, can find the central point of matching area faster, and then improves and be matched to power.
Preferably, the optical axis of described camera and the angle of measured surface plane are about 15 degree.Under this angle, can ensure that camera obtains good visual field.
In one embodiment, the place different from above-described embodiment is, described camera is 6, and every 3 cameras are a row, and point two rows are deployed on normal limb tail; Two cameras being positioned at the same row on both sides form a biocular systems; Be positioned at two cameras of middle same row for calculating aircraft back target three-dimensional coordinate in real time.
In this embodiment, the deployment way of camera with reference to Fig. 2, upper row's camera 1., 4. to form with lower row's camera and measure biocular systems M1, measure a-quadrant wing and be out of shape; B) upper row's camera 3., 6. to form with lower row's camera and measure biocular systems M2, measure B region wing and be out of shape.
Further, described in be positioned at the location parameter of two cameras under world coordinate system of the same row on both sides, calculated by the aircraft back target three-dimensional coordinate that calculates the in real time relative position relation in conjunction with two row's cameras.
With reference to Fig. 1, camera 2., 5. real-time computer back target three-dimensional coordinate, and combine 1., 2., 3. phase unit and 4., 5., 6. phase unit relative position relation respectively inverse go out camera 1., 4. with camera absolute outer parameter 3., 6., described definitely outer parameter refers to the position relationship with world coordinate system, and expression formula exists with the parametric form of rotation matrix and translation matrix.
In another embodiment, the place different from previous embodiment is, described step S301 comprises:
Carrying out the reference picture mated being drawn one or more quadrilateral as with reference to subarea, find the target subarea maximum with reference subarea similarity degree in the target image; The center in two subareas that the match is successful is considered to same place; After the match is successful, utilize the mechanics of materials to be out of shape continuity hypothesis with reference to subarea first, constantly expansion calculates neighborhood subarea, until the match is successful in all subareas.
Due to camera optical axis and measured surface normal angle very large, cause reference picture and target image because camera installation site reason, anamorphose is large, correlativity is poor, shooting image out as shown in Figure 3, therefore pass through, artificially carrying out the reference picture mated being drawn one or more quadrilateral as with reference to subarea, to find the target subarea maximum with reference subarea similarity degree in the target image; After same place after finding first fit success, utilize the mechanics of materials to be out of shape continuity hypothesis, constantly expansion calculates neighborhood subarea, until the match is successful in all subareas.In this manner, on the basis of carrying out the horizontal coupling of the 1st state, carry out the longitudinal direction coupling under respective time series, then carry out horizontal coupling for other state except the 1st state, thus can provide initial value accurately for laterally mating, calculating simple.
In the present example, more excellent, suppose that described is rectangle with reference to subarea, described rectangle is (2n+1) × (2m+1) pixel, then by asking the minimum value of following expression formula to find and the described target subarea maximum with reference to subarea similarity degree:
Wherein,
In formula, in the reference subarea that f (x, y) is reference picture, coordinate is the gray-scale value that (x, y) puts; G (x ＇, y ＇) for coordinate in the respective subset of target image be the gray-scale value that (x ＇, y ＇) puts; r
0, r
1, be gradation of image penalty coefficient, compensate the variation of image grayscale because extraneous illumination variation causes; P=[u, u
x, u
y, v, v
x, v
y, r
0, r
1] be correlation parameter to be asked vector; Δ x, Δ y are respectively point (x ＇, y ＇) to the lateral separation of point (x, y) and fore-and-aft distance; U, v are the displacement of point (x ＇, y ＇) corresponding point (x, y) on x-axis, y-axis direction; u
x, v
x, u
y, v
yfor point (x ＇, y ＇) is to the displacement gradient on point (x, y).
Ask C
sSDminimum value be a non-linear minimum value Solve problems, can solve by ILST, the iterative process of the method is linear.
Optionally, described method, when being mated by the image of relative for the image in state i the 1st state, after the match is successful in first reference subarea, draws and has the quadrilateral of identical central point as new reference subarea with first with reference to subarea in the image that will mate.Iterative initial value comparatively accurately can be obtained in this way, guarantee, under the prerequisite obtaining restraining result, also to accelerate the speed of iteration convergence
More excellent, described quadrilateral is regular quadrilateral.The shape of rule is conducive to the carrying out mated, and the target image of the state n that is easy to get thus mates initial value relative to the Seed Points of initial deformation image.
In another embodiment, the place different from previous embodiment is, described method also comprises the steps: before carrying out images match
S100, prepared by wing speckle: use the aerofoil surface spraying speckle pattern that bushing is needing to measure;
S200, camera calibration: camera is fixed on same rigid beam, ensure the relative position of described camera and angle constant; Then, in the visual field of camera, the position of conversion cross, utilizes the image gathered to carry out camera calibration calculating, obtains two cameras position relationship accurately, comprise the external parameter of camera, the inner parameter of camera and lens distortion parameter.
Optionally, speckle is made ellipse by described method, as shown in Figure 4, and then the coordinate figure on four summits of the boundary rectangle of oval central point and described ellipse can be utilized to carry out the calculating of matching parameter.
With reference to Fig. 5, frontier point A, B, C, D and some a, b, c, d coordinate figure of the oval speckle of the correspondence on reference picture and target image can be utilized, calculate matching parameter.But in the operating process of reality, the method for Auto-matching is compared with the manual method selecting the Seed Points that similarity is larger, and stability is lower.
By using method of the present disclosure finally to tested aerofoil surface three-D displacement field pattern as shown in Figure 6.Because the inventive method uses the mode of optical measurement, be a kind of non-contact measurement method, aircraft measurement of full field to aircraft wing distortion in flight course can be realized.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what stress is all the difference with other embodiments, between each embodiment identical similar part mutually see.
Be described in detail the disclosure above, apply specific case herein and set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for those skilled in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a high spud angle wing full field deformation measure method, it is characterized in that, two cameras of shooting the same area are formed one group of binocular measuring system by video camera by described method, reference image sequence is regarded as one group in the image sequence of the measured surface taken separately by two cameras, another group regards target image sequence as, often group image is the state under a time series, described image has the speckle prepared, then performs following step:
S301: the calculating reference picture in the 1st state and target image being carried out matching parameter;
S302: the calculating reference picture in the reference picture in the i-th state and the 1st state being carried out matching parameter;
S303: the calculating target image in the target image in the i-th state and the 1st state being carried out matching parameter;
S304: utilize the result of calculation in step S302 and step S303, carries out the calculating of matching parameter again by the targeted graphical in the reference picture in the i-th state and the i-th state;
S400: the result of calculation utilizing the matching parameter of S301 ~ S304, the calibrating parameters of combining camera, according to principle of triangulation, rebuilds the deformation displacement field of described measured surface;
The value of described i is 2 ~ N, N is image sequence sum;
Described matching parameter comprises displacement parameter and deformation parameter.
2. method according to claim 1, is characterized in that, preferably, the optical axis of described camera and the angle of measured surface plane are about 15 degree.
3. method according to claim 2, is characterized in that, described camera is 6, and every 3 cameras are a row, and point two rows are deployed on normal limb tail; Two cameras being positioned at the same row on both sides form a biocular systems; Be positioned at two cameras of middle same row for calculating aircraft back target three-dimensional coordinate in real time.
4. method according to claim 3, it is characterized in that, the described location parameter of two cameras under world coordinate system being positioned at the same row on both sides, is calculated by the aircraft back target three-dimensional coordinate that calculates the in real time relative position relation in conjunction with two row's cameras.
5. method according to claim 1, is characterized in that, described step S301 comprises:
Carrying out the reference picture mated being drawn one or more quadrilateral as with reference to subarea, find the target subarea maximum with reference subarea similarity degree in the target image; The center in two subareas that the match is successful is considered to same place; After the match is successful, utilize the mechanics of materials to be out of shape continuity hypothesis with reference to subarea first, constantly expansion calculates neighborhood subarea, until the match is successful in all subareas.
6. method according to claim 5, is characterized in that:
Suppose that described is rectangle with reference to subarea, described rectangle is (2n+1) × (2m+1) pixel, then by asking the minimum value of following expression formula to find and the described target subarea maximum with reference to subarea similarity degree:
Wherein,
In formula, f(x, y) for coordinate in the reference subarea of reference picture be the gray-scale value that (x, y) puts; G (x ', y ') for coordinate in the respective subset of target image be the gray-scale value that (x ', y ') puts; r
0, r
1, be gradation of image penalty coefficient, compensate the variation of image grayscale because extraneous illumination variation causes; P=[u, u
x, u
y, v, v
x, v
y, r
0, r
1] be correlation parameter to be asked vector; Δ x, Δ y are respectively point (x ', y ') to the lateral separation of point (x, y) and fore-and-aft distance; U, v are point (x ', the y ') displacement of corresponding point (x, y) on x-axis, y-axis direction; u
x, v
x, u
y, v
yfor point (x ', y ') is to the displacement gradient on point (x, y).
7. method according to claim 5, is characterized in that:
When the image of relative for the image in state i the 1st state is mated, after the match is successful in first reference subarea, draw in the image that will mate and there is the quadrilateral of identical central point as new reference subarea with first with reference to subarea.
8. method according to claim 7, is characterized in that, described quadrilateral is regular quadrilateral.
9. method according to claim 1, is characterized in that:
Also comprise the steps: before S301
S100, prepared by wing speckle: use the aerofoil surface spraying speckle pattern that bushing is needing to measure;
S200, camera calibration: camera is fixed on same rigid beam, ensure the relative position of described camera and angle constant; Then, in the visual field of camera, the position of conversion cross, utilizes the image gathered to carry out camera calibration calculating, obtains two cameras position relationship accurately, comprise the external parameter of camera, the inner parameter of camera and lens distortion parameter.
10. method according to claim 9, is characterized in that:
Speckle is made ellipse, utilizes the coordinate figure on four summits of the boundary rectangle of oval central point and described ellipse to carry out the calculating of matching parameter.
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