CN109060286A - Unmanned plane low-frequency vibration detection device and method based on digital speckle - Google Patents
Unmanned plane low-frequency vibration detection device and method based on digital speckle Download PDFInfo
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- G01M7/00—Vibration-testing of structures; Shock-testing of structures
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Abstract
The invention discloses a kind of unmanned plane low-frequency vibration detection device and method based on digital speckle, described device includes unmanned plane, drive excitation mechanism and vibration detection mechanism, it is coated with random speckle respectively on the left and right wing of the unmanned plane, and symmetrically it is pasted with several coded targets, the left and right wing of the driving excitation mechanism and unmanned plane connects, for motivating the left and right wing of unmanned plane to generate vibration, the vibration detection mechanism includes two conjugation vision-based detection groups, two groups of acceleration transducers and processing equipment, described two conjugation vision-based detection groups are respectively used to random speckle and coded target on detection left and right wing, two groups of acceleration transducers are separately positioned on the left and right wing of unmanned plane, the processing equipment respectively with two conjugation vision-based detection groups, two groups of acceleration transducer connections.Comprehensive, quick, the high-precision vibration detection of the loaded wing section structure for generating vibration main to unmanned plane may be implemented in the present invention.
Description
Technical field
The present invention relates to a kind of vibration detection device, especially a kind of unmanned plane low-frequency vibration detection based on digital speckle
Device and method belongs to the vibration detection field of large-size pliable structure.
Background technique
Large-scale unmanned plane is awing often generated low-frequency vibration by air-flow load, thus inside wing and external
Changes will occur for load distribution, generates Various Complexes modal vibration, the vibration deformations such as bending, torsion and to a certain extent can
It seriously affects flying quality, destroy unmanned plane structure, or even generating flutter makes aircraft unstability cause to damage.For the span be 40~
Wing tip fluctuation can exceed that 1m when the large-scale unmanned plane during flying of 50m, for falcon formula fixed-wing unmanned plane, although overall volume phase
To smaller, but aspect ratio causes greatly wing section lift resistance ratio after loaded deformation to reduce, so as to cause rolling moment and yaw forces
Square significantly increases, and to needing flexible flying quality to have a significant impact, wherein dynamic caused by low frequency Large Amplitude Vibration becomes
Shape influences significant.Therefore low frequency vibration measurement is carried out to the main loaded wing section for generating vibration of unmanned plane, had great
Meaning.
The method multiplicity of unmanned plane wing flutter detection, but traditional measurement method such as acceleration transducer, foil gauge, laser
Displacement sensor is difficult to be mounted on aerofoil surface under the premise of not interfering with unmanned plane during flying, and is spot measurement, can not
Wing three-dimensional vibrating information is obtained, and there are more problems for the installation measurement of large curved structure.
Summary of the invention
The purpose of the present invention is to solve the defect of the above-mentioned prior art, a kind of nobody based on digital speckle is provided
The complete of the loaded wing section structure for generating vibration main to unmanned plane may be implemented in machine low-frequency vibration detection device, the device
Face, quick, high-precision vibration detection.
The unmanned plane low-frequency vibration detection method based on digital speckle that another object of the present invention is to provide a kind of.
The purpose of the present invention can be reached by adopting the following technical scheme that:
Unmanned plane low-frequency vibration detection device based on digital speckle, including unmanned plane, driving excitation mechanism and vibration inspection
Mechanism is surveyed, is coated with random speckle respectively on the left and right wing of the unmanned plane, and be symmetrically pasted with several coded targets, institute
The left and right wing for stating driving excitation mechanism and unmanned plane connects, for motivating the left and right wing of unmanned plane to generate vibration, the vibration
Dynamic testing agency includes two conjugation vision-based detection groups, two groups of acceleration transducers and processing equipment, described two conjugation visions
Detected components are not used to detect random speckle and coded target on the wing of left and right, and two groups of acceleration transducers are set respectively
Set on the left and right wing of unmanned plane, the processing equipment respectively with two conjugation vision-based detection groups, two groups of acceleration transducers
Connection.
Further, the unmanned plane includes fuselage, head, port wing, starboard wing, empennage and propeller, the fuselage
It is connect respectively with head, port wing, starboard wing, empennage, propeller, the port wing and starboard wing horizontal suspended.
Further, the port wing and starboard wing include stringer, rib, wingtip and aileron, the stringer respectively with
Rib, wingtip connection, and the hanging one end of stringer is arranged in wingtip, is equipped with skinning layer, the pair on the outside of the rib and wingtip
The wing is arranged in skinning layer, and close to wingtip.
Further, the driving excitation mechanism includes the first vibration excitor, the second vibration excitor and signal processing module, described
Signal processing module is connect with the first vibration excitor, the second vibration excitor respectively, and first vibration excitor is connect with unmanned plane port wing,
Second vibration excitor is connect with unmanned plane starboard wing.
Further, the signal processing module includes signal generator and power amplifier, the signal generator with
Power amplifier connection, the power amplifier are connect with the first vibration excitor, the second vibration excitor respectively.
Further, each conjugation vision-based detection group includes two high speed cameras, two fluid heads and two sliding blocks, institute
Stating two high speed cameras, two fluid heads and two sliding blocks is to correspond, and every high speed camera is arranged in corresponding liquid
It presses on holder, each fluid head is fixed on corresponding sliding block, and the sliding block of two conjugation vision-based detection groups is slidably arranged in one
On sliding rail；
Described two conjugation vision-based detection groups are respectively the first conjugation vision-based detection group and second is conjugated vision-based detection group, the
Random speckle and coded target on two high speed camera alignment lens unmanned plane port wings of one conjugation vision-based detection group, the
Random speckle and coded target on two high speed camera alignment lens unmanned plane starboard wings of two conjugation vision-based detection groups.
Further, the processing equipment includes computer, A/D capture card, charge amplifier and synchronizer trigger, described
Computer is connect by synchronizer trigger with two conjugation vision-based detection groups, and pass sequentially through A/D capture card, charge amplifier and
Two groups of acceleration transducer connections.
Further, described device further includes support platform, and the unmanned plane is fixed in support platform.
Further, described device further includes workbench, and described two conjugation vision-based detection groups are arranged in workbench
On.
Another object of the present invention can be reached by adopting the following technical scheme that:
Unmanned plane low-frequency vibration detection method based on digital speckle, which comprises
Two high speed cameras for adjusting the first conjugation vision-based detection group, make random on its alignment lens unmanned plane port wing
Speckle and coded target, and two high speed cameras of the second conjugation vision-based detection group are adjusted, make its alignment lens unmanned plane
Random speckle and coded target on starboard wing；
Two high speed cameras of the first conjugation vision-based detection group are demarcated, the two of the first conjugation vision-based detection group are obtained
The internal reference of platform high speed camera and the first position orientation relation；Two high speed cameras of the second conjugation vision-based detection group are demarcated,
Obtain the internal reference and the second position orientation relation of two high speed cameras of the second conjugation vision-based detection group；And to the first conjugation vision
One camera of detection group and the second adjacent camera of conjugation vision-based detection group are demarcated, the of this two cameras is obtained
Three position orientation relations；
In driving excitation mechanism, signal generator issues pumping signal, after power amplifier amplified signal, driving the
One vibration excitor and the second vibration excitor, evoke the low-frequency vibration of unmanned plane or so wing；
Random speckle sequence image on two high speed cameras acquisition unmanned plane port wing of first conjugation vision-based detection group,
Matching initial value is provided using the image coordinate of the coded target on port wing, speckle regions around coded target are expanded
Relevant matches are dissipated, according to the same place of vibration dynamic deformation continuity matching sequence image, in conjunction with the conjugation vision-based detection group
The internal reference and the first position orientation relation of two high speed cameras rebuild the real-time three-dimensional point cloud of port wing；
Random speckle sequence image on two high speed cameras acquisition unmanned plane starboard wing of second conjugation vision-based detection group,
Matching initial value is provided using the image coordinate of the coded target on starboard wing, speckle regions around coded target are expanded
Relevant matches are dissipated, according to the same place of vibration dynamic deformation continuity matching sequence image, in conjunction with the conjugation vision-based detection group
The internal reference and the second position orientation relation of two high speed cameras rebuild the real-time three-dimensional point cloud of starboard wing；
It is according to the first position orientation relation and third position orientation relation, the real-time three-dimensional point cloud conversion of starboard wing is unified to first
It is conjugated under the coordinate system of a high speed camera of vision-based detection group, obtains the left and right wing whole three under the high speed camera coordinate system
Dimension point cloud, and calculate vibratory output；
The vibratory output of the vibratory output and acceleration transducer detection of choosing corresponding points compares verifying, modification exciting ginseng
Number carries out many experiments.
The present invention have compared with the existing technology it is following the utility model has the advantages that
1, the present invention is detected using wing section of the Digital Speckle Correlation Method to unmanned plane principal vibration, random to dissipate
Spot production is simple, is not necessarily to auxiliary optical structure, reduces cost, realizes non-contact measurement using two conjugation vision-based detection groups,
Precision is high, measurement of full field can be achieved, and without introducing circuit noise, avoids the inconvenient problem of Curved dectection sensor installation；
In addition, be also provided with two groups of acceleration transducers, it is respectively used to the vibratory output of detection unmanned plane or so wing, testing result and dissipates
Spot related test results contrast verification, improves the reliability of measurement result.
2, the present invention uses the mode for pasting coded target to provide accurate initial value for speckle matching, is with coded target
Relevant matches are spread at center, improve matching efficiency and precision；It is grouped multiple stereo calibration by camera, realizes left and right pterion cloud
The overall situation of coordinate is unified.
3, each conjugation vision-based detection group of the invention is equipped with two high speed cameras, passes through two cunnings on shifting sledge
Block, the horizontal position of adjustable two high speed cameras, to change the positional relationship between two high speed cameras, it is ensured that nobody
The random speckle and coded target of machine or so wing pass through two in the field range of the vision-based detection of two high speed cameras
The damping in pitch knob and panorama of a fluid head rotate knob, the pitch angle and horizontal angle of adjustable two high speed cameras
Comprehensive, quick, the high-precision vibration inspection of the loaded wing section structure for generating vibration main to unmanned plane may be implemented in degree
It surveys.
4, the present invention can be obtained compared with multi information, by changing excitation parameter, by fitting vibration curved surface, calculate vibration speed
Rate finds influence of the research different loads condition such as vibration maximum position to unmanned plane structure.
Detailed description of the invention
Fig. 1 is the unmanned plane low-frequency vibration detection equipments overall structure signal based on digital speckle of the embodiment of the present invention 1
Figure.
Fig. 2 is the main view of the unmanned plane low-frequency vibration detection device based on digital speckle of the embodiment of the present invention 1.
Fig. 3 is the top view of the unmanned plane low-frequency vibration detection device based on digital speckle of the embodiment of the present invention 1.
Fig. 4 is the starboard wing cross-sectional view of the unmanned plane of the embodiment of the present invention 1.
Fig. 5 is the schematic diagram of two conjugation vision-based detection groups of the embodiment of the present invention 1.
Fig. 6 is the overview flow chart of the unmanned plane low-frequency vibration detection method based on digital speckle of the embodiment of the present invention 1.
Fig. 7 is the matching schematic diagram of the unmanned plane low-frequency vibration detection method based on digital speckle of the embodiment of the present invention 1.
Wherein, 1- unmanned plane, 101- fuselage, 102- head, 103- port wing, 104- starboard wing, 1041- stringer, 1042-
Rib, 1043- wingtip, 1044- aileron, 1045- skinning layer, 105- empennage, 106- propeller, 107- first base, 2- are random
Speckle, 3- coded target, 4- support platform, 401- the first vertical supporting bar, the first transverse support bar of 402-, 403- substrate,
The first vibration excitor of 5-, the first mandril of 501-, 502- second base, the second vibration excitor of 6-, the second mandril of 601-, 602- third bottom
Seat, 7- signal generator, 8- power amplifier, the first high speed camera of 9-, the second high speed camera of 10-, the first fluid head of 11-,
The second fluid head of 12-, the first sliding block of 13-, the second sliding block of 14-, 15- third high speed camera, the 4th high speed camera of 16-, 17-
Third fluid head, the 4th fluid head of 18-, 19- third sliding block, 20- Four-slider, 21- sliding rail, the 4th pedestal of 22-, 23-
First acceleration transducer, the second acceleration transducer of 24-, 25- computer, 26-A/D capture card, 27- charge amplifier,
28- synchronizer trigger, 29- workbench, 2901- the second vertical supporting bar, the first laminate of 2902-, the second laminate of 2903-.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment 1:
The three-dimensional speckle vision measuring method based on related (DIC) technology of digital picture developed in recent years, by measurement
Speed is fast, precision is high, strong real-time, by circuit ambient influenced it is small and can non-contact measurement of full field the advantages of, in many industry
Application has been obtained in detection field, and advantage is also very suitable for the whole audience vibration measurement of unmanned plane wing.
Digital Speckle Correlation Method (DSCM) based on DIC technology is a kind of optical measurement method for oscillating, passes through binocular vision
Feel that system acquisition is coated with the tested object image of random speckle, using vibration dynamic deformation continuity according to gray scale related coefficient
Correspondence same place with front and back image, in conjunction with visual stereoscopic calibration result real-time reconstruction three-dimensional point cloud coordinate, to obtain the whole audience
Three-dimensional vibrating amount array.But the randomness of element is searched due to matching, matching efficiency and accuracy are usually lower, therefore this implementation
Example is provided accurately just by searching for coded target in advance for the matching of neighbouring speckle regions using special coded target is pasted
Value, and then relevant matches are diffused, improve detection efficiency and precision.
As shown in FIG. 1 to 3, a kind of unmanned plane low-frequency vibration detection dress based on digital speckle is present embodiments provided
It sets, which includes unmanned plane 1, driving excitation mechanism and vibration detection mechanism, and vibration detection mechanism includes two conjugation visions
Detection group, two groups of acceleration transducers and processing equipment, the dotted line in Fig. 1 indicate the line relationship between each equipment, side
The direction of transfer of detection signal stream is shown to arrow, the dotted line in Fig. 3 indicates the direction of high speed camera camera lens.
The unmanned plane 1 includes fuselage 101, head 102, port wing 103, starboard wing 104, empennage 105 and propeller
106, fuselage 101 is connect with head 102, port wing 103, starboard wing 104, empennage 105, propeller 106 respectively, port wing 103
With 104 horizontal suspended of starboard wing.
It is coated with random speckle 2 respectively on port wing 103 and starboard wing 104, and is symmetrically pasted with several coded targets
3, non-contact measurement is carried out using digital image correlation technique, non-loaded effect and circuit noise will not be introduced, using random
Speckle 2, it can be achieved that measurement of full field, while providing matching initial value using coded target 3 as identification matching characteristic, utilizes vibration
Dynamic deformation continuity is corresponding with reference to scanning for matching near sub-district in the target image, and efficiency and precision can be improved；It is left
Wing 103 is identical with the structure of starboard wing 104, by taking starboard wing 104 as an example, as shown in figure 4, include stringer 1041, rib 1042,
Wingtip 1043 and aileron 1044, stringer 1041 are connect with rib 1042, wingtip 1043 respectively, and wingtip 1043 is arranged in stringer
1041 hanging one end, stringer 1041 bear main moment of flexure, and rib 1042 provides cross-brace, outside rib 1042 and wingtip 1043
Side is equipped with skinning layer 1045, which is composite material, and aileron 1044 is arranged in skinning layer 1045, and close wingtip 1043,
The aileron 1044 can be used for adjusting the steering of unmanned plane 1.
Preferably, in order to stablize support unmanned plane 1, the unmanned plane low-frequency vibration detection device of the present embodiment further includes support
The whole height of platform 4, support platform 4 is lower, guarantees that port wing 103 and 104 surface of starboard wing can be in vibration detection mechanisms
Two conjugation vision-based detection groups field range in, including four first vertical supporting bars, 401, eight first transverse support bars
402 and substrate 403, the upper ends of four first vertical supporting bars 401 by wherein four first transverse support bars 402 respectively with base
Plate 403 is fixedly connected, and the middle part of four first vertical supporting bars 401 is connect with four first transverse support bars 402 respectively；Fuselage
101 are fixed on 403 upper surface of substrate, and specifically, fuselage 101 is placed in 107 top of first base, and passes through the first base
107 are fixed on 403 upper surface of substrate, and the two sides of the first base 107 have the baffle of ribs and fixed main body 101, vibration
When dynamic, fuselage 101, which can be considered, rigidly fixes part.
In the present embodiment, unmanned plane 1 uses scale model, stringer 1041, the rib of port wing 103 and starboard wing 104
1042 be steel frame construction, and skinning layer 1045 uses high density EPO material, span 1.97m, 1.28 m of body length；Support platform 4
By 12 profiles (corresponding four first vertical supporting bars 401 and eight first transverse support bars 402) support, one piece of 1500mm
The stainless steel plate (counterpart substrate 403) of × 1200mm forms, and is connect by angle bar with screw.
The driving excitation mechanism is used to motivate the port wing 103 of unmanned plane 1 and starboard wing 104 to generate vibration comprising
First vibration excitor 5, the second vibration excitor 6 and signal processing module, signal processing module include signal generator 7 and power amplifier
8, the first passage of signal generator 7 is connect with the first passage of power amplifier 8, the second channel and function of signal generator 7
The second channel of rate amplifier 8 connects, the first passage of power amplifier 8, second channel respectively with the first vibration excitor 5, second
Vibration excitor 6 connects, and the first vibration excitor 5 is connect by the first mandril 501 with port wing 103, and the second vibration excitor 6 passes through the second top
Bar 601 is connect with starboard wing 104；The first passage of signal generator 7 generates pumping signal, passes through the first of power amplifier 8
The first vibration excitor 5 is transmitted to after the amplification of channel, the second channel of signal generator 7 generates pumping signal, passes through power amplifier 8
Second channel amplification after be transmitted to the second vibration excitor 6, the first mandril 501 driving port wing 103 of the first vibration excitor 5 generates vibration
Dynamic, the second mandril 601 driving starboard wing 104 of the second vibration excitor 6 generates vibration, when the pumping signal and the of the first vibration excitor 5
When the pumping signal phase of two vibration excitors 6 is identical, port wing 103 and starboard wing 104 generate bending vibration, left when opposite in phase
Wing 103 and starboard wing 104 generate twisting vibration, and changing exciting amplitude or frequency, the result detected by random speckle 2 can obtain
To the maximum vibration curve of port wing 103 and starboard wing 104 under different exciting situations, the wing performance that can be used for unmanned plane is ground
Study carefully and fatigue failure test.
Specifically, the first vibration excitor 5 is clamped by second base 502, and is fixed on substrate 403 by second base 502
On, the second vibration excitor 6 is clamped by third pedestal 602, and is fixed on substrate 403 by third pedestal 602.It is appreciated that the
One vibration excitor 5 can also be fixed on the ground by second base 502, and the second vibration excitor 6 can also be solid by third pedestal 602
Determine on the ground.
In the present embodiment, the first vibration excitor 5 and the second vibration excitor 6 select the JZ-50 magneto-electric of Jia Meng observing and controlling company to swash
Shake device, and working frequency is 5~3000Hz, amplitude ± 5mm, nominal output 500N；Signal generator 7 selects excellent sharp moral UNI-T public
The polygamma function signal generator for taking charge of the model UTG9002C of production, can produce the sine wave of 0.2Hz~2MHz, frequency error
≤ 1%, maximum amplitude 20V；Power amplifier of the power amplifier 8 using the model 50WD1000 of U.S. AR company, work
Working frequency is DC~1000MHz.
As shown in FIG. 1 to FIG. 3, Fig. 5, in the vibration detection mechanism, two conjugation vision-based detection groups are respectively first total
Yoke vision-based detection group and the second conjugation vision-based detection group, the first conjugation vision-based detection group are random on port wing 103 for detecting
Speckle 2 and coded target 3 comprising the first high speed camera 9, the second high speed camera 10, the first fluid head 11, second are hydraulic
Holder 12, the first sliding block 13 and the second sliding block 14, the first high speed camera 9 are arranged on the first fluid head 11, the second high speed phase
Machine 10 is arranged on the second fluid head 12, and the first fluid head 11 is fixed on the first sliding block 13, and the second fluid head 12 is solid
It is scheduled on the second sliding block 14, passes through the first fluid head 11 and adjustable first high speed camera 9 of the second fluid head 12 and
The pitch angle and horizontal rotation angle of two high speed cameras 10；Second conjugation vision-based detection group is for detecting on starboard wing 104
Random speckle 2 and coded target 3 comprising third high speed camera 15, the 4th high speed camera 16, third fluid head 17,
Four fluid heads 18, third sliding block 19 and Four-slider 20, third high speed camera 15 are arranged on third fluid head 17, the
Four high speed cameras 16 are arranged on the 4th fluid head 18, and third fluid head 15 is fixed on third sliding block 19, and the 4th is hydraulic
Holder 18 is fixed on Four-slider 20, passes through third fluid head 15 and the adjustable third high speed of the 4th fluid head 16
The pitch angle and horizontal rotation angle of camera 15 and the 4th high speed camera 16；First sliding block 13, the second sliding block 14, third sliding block
19 and Four-slider 20 be slidably arranged on a sliding rail 21, i.e. the first sliding block 13, the second sliding block 14, third sliding block 19 and the 4th are sliding
Block 20 can move on sliding rail 21, which is fixed on the 4th pedestal 22, pass through mobile first sliding block 13, the second sliding block
14, third sliding block 19 and Four-slider 20, adjustable first high speed camera 9, the second high speed camera 10, third high speed camera
15 and the 4th high speed camera 16 horizontal position, thus change the first high speed camera 9, the second high speed camera 10, third high speed phase
16 relative positional relationship of machine 15 and the 4th high speed camera, in conjunction with the first high speed camera 9, the second high speed camera 10, third high speed phase
The pitch angle of machine 15 and the 4th high speed camera 16, horizontal rotation angle adjustment can make the first high speed camera 9 and the second high speed
Random speckle and coded target on the alignment lens port wing 103 of camera 10, and make third high speed camera 15 and the 4th
Random speckle and coded target on the alignment lens starboard wing 104 of high speed camera 16, the first high speed camera 9 and the second high speed
The visual field of camera 10 can completely include port wing 103, and the visual field of third high speed camera 15 and the 4th high speed camera 16 can complete packet
Starboard wing 104 is included, and there are certain public view fields for the second high speed camera 10 and third high speed camera 15；First conjugation vision
Detection group detects the vibration information of port wing 103, the vibration information of the second conjugation vision-based detection group detection starboard wing 104, then leads to
The position orientation relation crossed between each high speed camera will put cloud coordinate unification, realize the splicing of whole wing vibration dynamic deformation information.
Two groups of acceleration transducers are respectively first group of acceleration transducer and second group of acceleration transducer, and first
There are two the first acceleration transducer 23, two the first acceleration transducers 23 to be arranged in port wing 103 for group acceleration transducer
Lower surface, and close to wingtip, for detecting the vibratory output of 103 wingtip position of port wing, second group of acceleration transducer has two
The lower surface of starboard wing 104 is arranged in a second acceleration transducer 24, two the second acceleration transducers 24, and close to the wing
The tip, for detecting the vibratory output of 104 wingtip position of starboard wing.
The processing equipment includes computer 25, A/D capture card 26, charge amplifier 27 and synchronizer trigger 28, is calculated
Machine 25 passes through synchronizer trigger 28 and the first high speed camera 9, the second high speed camera 10, third high speed camera 15, the 4th high speed phase
Machine 16 connects, and specifically, the first high speed camera 9, the second high speed camera 10, third high speed camera 15, the 4th high speed camera 16 are adopted
Guarantee to synchronize with external trigger, the first high speed camera 9, the second high speed camera 10, third high speed camera 15, the 4th high speed camera 16
Four channels of synchronizer trigger 28 are respectively connected to, the first high speed of rising edge of a pulse or failing edge triggering is exported by computer 25
Camera 9, the second high speed camera 10, third high speed camera 15 and the 4th high speed camera 16 synchronous acquisition, acquisition image pass through USB
Interface is passed to computer 25 and saves, and computer 25 analyzes 2 image of random speckle, runs corresponding image processing program, utilizes
The image coordinate of coded target 3 provides matching initial value, is diffused phase to 2 region of random speckle around coded target 3
Matching is closed, image sequence corresponding points are obtained, the real-time three-dimensional point cloud of left and right is rebuild in conjunction with stereo calibration result, and utilize each
Outer ginseng matrix between high speed camera realizes the unification of left-right dots cloud coordinate system, to obtain the vibration letter of unmanned plane wing entirety
Breath；Accelerate in addition, computer 25 passes sequentially through A/D capture card 26, charge amplifier 27 and the first acceleration transducer 23, second
It spends sensor 24 to connect, the first acceleration transducer 23 detects the vibratory output and the second acceleration of 103 wingtip position of port wing
After sensor 24 detects the vibratory output of 104 wingtip position of starboard wing, adopted after the amplification of charge amplifier 27 by A/D capture card 26
Collection is transmitted to computer 25, detects obtained vibratory output contrast verification with three-dimensional random speckle 2.
Preferably, the unmanned plane low-frequency vibration detection device of the present embodiment further includes workbench 29, and workbench 29 wraps
Four second vertical supporting bars 2901 and two blocks of laminates are included, two blocks of laminates are respectively the first laminate 2902 and second from top to bottom
Laminate 2903, the upper end of four second vertical supporting bars 2901 are fixedly connected with four angles of the first laminate 2902 respectively, and four
The middle and lower part of second vertical supporting bar 2901 is fixedly connected with four angles of the second laminate 2903 respectively, and the 4th pedestal 22 passes through spiral shell
Bolt is fixed on 2902 upper surface of the first laminate.
In the present embodiment, the first high speed camera 9, the second high speed camera 10, third high speed camera 15 and the 4th high speed phase
Machine 16 selects Japanese NAC high-speed camera NAC Memrecam HX-7s, and using cmos sensor, resolution ratio is 2560 × 1920
Pixel, rate are 500M/S up to 1000fps, built-in 32G memory, download transmission rate, and vibration processes company may be implemented completely
The acquisition and preservation of continuous image are exported using kilomega network and USB3.0 real-time imaging, having a size of 100W × 100H × 205D (mm),
Weight is 2.9kg；First fluid head 11, the second fluid head 12, third fluid head 15 and the 4th fluid head 16 are adopted
With aluminum alloy material, inside is hydraulic damping, and the first high speed camera 9, the second high speed camera 10, third high speed camera 15 is adjusted
With the pitch angle and horizontal rotation angle of the 4th high speed camera 16；Sliding rail 21 is Famous F8 Carbon fibe sliding rail, overall length
120cm；12 32 paths capture cards of magnificent PCL-813B, sample rate 25kS/s are ground in the selection of A/D capture card 26；Charge amplification
Device 27 select select kistler company model 8203A unidirectional charge type sensor, nominal measurement range be ±
1000mv/g, measurement frequency range are 5Hz~4k Hz；Synchronizer trigger 28 selects the FPKEN- of Fu Guangjing instrument company production
Triggerresynch, settable rising edge of a pulse or failing edge triggering, radio-frequency sensitivity 100MHz.
As shown in Fig. 1~Fig. 6, the present embodiment additionally provides a kind of unmanned plane low-frequency vibration detection side based on digital speckle
Method, this method are realized based on above-mentioned apparatus, comprising the following steps:
Step 1: adjusting the first high speed camera 9 and the second high speed camera 10, make the first high speed camera 9 and the second high speed phase
Random speckle 2 and coded target 3 on the alignment lens port wing 103 of machine 10, and adjust third high speed camera 15 and the
Four high speed cameras 16, make the random speckle on the alignment lens starboard wing 104 of third high speed camera 15 and the 4th high speed camera 16
2 and coded target 3.
Step 2: demarcating using gridiron pattern scaling board to the first high speed camera 9 and the second high speed camera 10, is obtained
The internal reference and the first position orientation relation H of one high speed camera 9 and the second high speed camera 1021；Using gridiron pattern scaling board to third height
Fast camera 15 and the 4th high speed camera 16 are demarcated, obtain third high speed camera 15 and the 4th high speed camera 16 internal reference and
Second position orientation relation H43；And the second high speed camera 10 and third high speed camera 15 are demarcated using gridiron pattern scaling board,
Obtain the third position orientation relation H of the second high speed camera 10 and third high speed camera 1532。
Step 3: signal generator 7 issues pumping signal, after 8 amplified signal of power amplifier, the first vibration excitor is driven
5 and second vibration excitor 6, evoke the low-frequency vibration of port wing 103 and starboard wing 104.
Step 4: 2 sequence chart of random speckle on the first high speed camera 9 and the second high speed camera 10 acquisition port wing 103
Picture provides matching initial value using the image coordinate of the coded target 3 on port wing 103, to around coded target 3 with
2 region of machine speckle is diffused relevant matches, as shown in fig. 7, for encoded point at a distance of the reference sub-district of (dx, dy), next
Frame carries out relevant matches in the region to correspond to M × N of the encoded point centered on the image coordinate of (dx, dy), i.e. selection phase
As match point, related coefficient (DCC) calculation formula is as follows at relationship number (DCC) maximum sub-district center:
Wherein, f=f (xi, yi) indicate to refer to sub-district (xi, yi) gray value at point,Indicate the average ash with reference to sub-district
Angle value, g=g (x 'i, y 'i) indicate target sub-district (x 'i, y 'i) gray value at point,Indicate the average gray of target sub-district
Value.
It is high in conjunction with the first high speed camera 9 and second according to the same place of vibration dynamic deformation continuity matching sequence image
The internal reference and the first position orientation relation of fast camera 10 rebuild the real-time three-dimensional point cloud of port wing 103.
Step 5: similar with step 4, on third high speed camera 15 and the 4th high speed camera 16 acquisition starboard wing 104 with
Machine speckle sequence image provides matching initial value using the image coordinate of the coded target 3 on starboard wing 104, to coding maker
2 region of random speckle around point 3 is diffused relevant matches, according to the same of vibration dynamic deformation continuity matching sequence image
Famous cake rebuilds the reality of starboard wing in conjunction with the internal reference and the second position orientation relation of third high speed camera 15 and the 4th high speed camera 16
When three-dimensional point cloud.
Step 6: the real-time three-dimensional point cloud of starboard wing is converted system according to the first position orientation relation and third position orientation relation
Under the coordinate system of one to the first high speed camera 9, the left and right wing entirety three-dimensional point cloud under 9 coordinate system of the first high speed camera is obtained,
And vibratory output is calculated, it is as follows:
Wherein,Indicate the speckle three-dimensional coordinate under 9 coordinate system of the first high speed camera,Indicate third high speed camera
Speckle three-dimensional coordinate under 15 coordinate systems；H31For the position orientation relation between the first high speed camera 9 and third high speed camera 15, can lead to
Stereo calibration result is crossed to obtain, as follows:
Step 7: choosing the vibratory output and the first acceleration transducer 23, the detection of the second acceleration transducer 24 of corresponding points
Vibratory output compare verifying, modify excitation parameter, carry out many experiments.
In conclusion the present invention is examined using wing section of the Digital Speckle Correlation Method to unmanned plane principal vibration
It surveys, random speckle production is simple, is not necessarily to auxiliary optical structure, reduces cost, realizes non-connect using two conjugation vision-based detection groups
Touch measurement, precision is high, measurement of full field can be achieved, and without introducing circuit noise, avoids the installation of Curved dectection sensor not
Just the problem of；In addition, being also provided with two groups of acceleration transducers, it is respectively used to the vibratory output of detection unmanned plane or so wing, inspection
Result and speckle related test results contrast verification are surveyed, the reliability of measurement result is improved.
The above, only the invention patent preferred embodiment, but the scope of protection of the patent of the present invention is not limited to
This, anyone skilled in the art is in the range disclosed in the invention patent, according to the present invention the skill of patent
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the scope of protection of the patent of the present invention.
Claims (10)
1. the unmanned plane low-frequency vibration detection device based on digital speckle, it is characterised in that: including unmanned plane, driving excitation mechanism
With vibration detection mechanism, it is coated with random speckle respectively on the left and right wing of the unmanned plane, and is symmetrically pasted with several codings
The left and right wing of index point, the driving excitation mechanism and unmanned plane connects, for motivating the left and right wing of unmanned plane to generate vibration
Dynamic, the vibration detection mechanism includes two conjugation vision-based detection groups, two groups of acceleration transducers and processing equipment, described two
Conjugation vision-based detection group is respectively used to random speckle and coded target on detection left and right wing, two groups of acceleration sensings
Device is separately positioned on the left and right wing of unmanned plane, the processing equipment respectively with two conjugation vision-based detection groups, two groups of acceleration
Spend sensor connection.
2. the unmanned plane low-frequency vibration detection device according to claim 1 based on digital speckle, it is characterised in that: described
Unmanned plane includes fuselage, head, port wing, starboard wing, empennage and propeller, the fuselage respectively with head, port wing, right machine
The wing, empennage, propeller connection, the port wing and starboard wing horizontal suspended.
3. the unmanned plane low-frequency vibration detection device according to claim 2 based on digital speckle, it is characterised in that: described
Port wing and starboard wing include stringer, rib, wingtip and aileron, and the stringer is connect with rib, wingtip respectively, and wingtip is set
One end hanging in stringer is set, skinning layer is equipped on the outside of the rib and wingtip, the aileron is arranged in skinning layer, and close
Wingtip.
4. the unmanned plane low-frequency vibration detection device according to claim 1 based on digital speckle, it is characterised in that: described
Driving excitation mechanism includes the first vibration excitor, the second vibration excitor and signal processing module, and the signal processing module is respectively with the
One vibration excitor, the connection of the second vibration excitor, first vibration excitor connect with unmanned plane port wing, second vibration excitor and nobody
The connection of machine starboard wing.
5. the unmanned plane low-frequency vibration detection device according to claim 4 based on digital speckle, it is characterised in that: described
Signal processing module includes signal generator and power amplifier, and the signal generator is connect with power amplifier, the function
Rate amplifier is connect with the first vibration excitor, the second vibration excitor respectively.
6. the unmanned plane low-frequency vibration detection device according to claim 1 based on digital speckle, it is characterised in that: each
Being conjugated vision-based detection group includes two high speed cameras, two fluid heads and two sliding blocks, two high speed cameras, two liquid
Pressure holder and two sliding blocks are to correspond, and every high speed camera is arranged on corresponding fluid head, each fluid head
It is fixed on corresponding sliding block, the sliding block of two conjugation vision-based detection groups is slidably arranged on a sliding rail；
Described two conjugation vision-based detection groups are respectively the first conjugation vision-based detection group and the second conjugation vision-based detection group, and first is total
Random speckle and coded target on two high speed camera alignment lens unmanned plane port wings of yoke vision-based detection group, second is total
Random speckle and coded target on two high speed camera alignment lens unmanned plane starboard wings of yoke vision-based detection group.
7. the unmanned plane low-frequency vibration detection device according to claim 1-6 based on digital speckle, feature
Be: the processing equipment includes computer, A/D capture card, charge amplifier and synchronizer trigger, and the computer passes through same
Step trigger is connect with two conjugation vision-based detection groups, and is passed sequentially through A/D capture card, charge amplifier and two groups of acceleration and passed
Sensor connection.
8. the unmanned plane low-frequency vibration detection device according to claim 1-6 based on digital speckle, feature
Be: described device further includes support platform, and the unmanned plane is fixed in support platform.
9. the unmanned plane low-frequency vibration detection device according to claim 1-6 based on digital speckle, feature
Be: described device further includes workbench, and described two conjugation vision-based detection groups are arranged on workbench.
10. the unmanned plane low-frequency vibration detection method based on digital speckle, it is characterised in that: the described method includes:
Two high speed cameras for adjusting the first conjugation vision-based detection group, make the random speckle on its alignment lens unmanned plane port wing
And coded target, and two high speed cameras of the second conjugation vision-based detection group are adjusted, make its right machine of alignment lens unmanned plane
Random speckle and coded target on the wing；
Two high speed cameras of the first conjugation vision-based detection group are demarcated, two height of the first conjugation vision-based detection group are obtained
The internal reference of fast camera and the first position orientation relation；Two high speed cameras of the second conjugation vision-based detection group are demarcated, are obtained
The internal reference and the second position orientation relation of two high speed cameras of the second conjugation vision-based detection group；And to the first conjugation vision-based detection
One camera of group and the second adjacent camera of conjugation vision-based detection group are demarcated, and the third position of this two cameras is obtained
Appearance relationship；
In driving excitation mechanism, signal generator issues pumping signal, and after power amplifier amplified signal, driving first swashs
Shake device and the second vibration excitor, evokes the low-frequency vibration of unmanned plane or so wing；
Random speckle sequence image on two high speed cameras acquisition unmanned plane port wing of first conjugation vision-based detection group, utilizes
The image coordinate of coded target on port wing provides matching initial value, is diffused phase to speckle regions around coded target
Matching is closed, according to the same place of vibration dynamic deformation continuity matching sequence image, in conjunction with two of the conjugation vision-based detection group
The internal reference of high speed camera and the first position orientation relation rebuild the real-time three-dimensional point cloud of port wing；
Random speckle sequence image on two high speed cameras acquisition unmanned plane starboard wing of second conjugation vision-based detection group, utilizes
The image coordinate of coded target on starboard wing provides matching initial value, is diffused phase to speckle regions around coded target
Matching is closed, according to the same place of vibration dynamic deformation continuity matching sequence image, in conjunction with two of the conjugation vision-based detection group
The internal reference of high speed camera and the second position orientation relation rebuild the real-time three-dimensional point cloud of starboard wing；
It is according to the first position orientation relation and third position orientation relation, the real-time three-dimensional point cloud conversion of starboard wing is unified to the first conjugation
Under the coordinate system of one high speed camera of vision-based detection group, the left and right wing entirety three-dimensional point under the high speed camera coordinate system is obtained
Cloud, and calculate vibratory output；
The vibratory output of the vibratory output and acceleration transducer detection of choosing corresponding points compares verifying, modifies excitation parameter, into
Row many experiments.
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