CN115077832B - Method for measuring vibration fatigue damage of three-dimensional surface of high-temperature-resistant component of airplane - Google Patents
Method for measuring vibration fatigue damage of three-dimensional surface of high-temperature-resistant component of airplane Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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Abstract
The invention discloses a three-dimensional surface vibration fatigue damage measuring method for a high-temperature-resistant component of an airplane, which comprises the following steps: 1. fixing the high-temperature resistant component of the airplane on a vibration fatigue test platform, and arranging a plurality of cameras for acquiring image data of multi-angle images of the high-temperature resistant component of the airplane on the periphery of the vibration fatigue test platform; 2. collecting model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane; 3. calculating the mapping relation between the model data and the image data of the three-dimensional physical model of the high-temperature-resistant component of the airplane; 4. and constructing a full-surface three-dimensional damage model of the high-temperature-resistant component of the airplane, and acquiring the three-dimensional surface damage position and the damage amount of the high-temperature-resistant component of the airplane. The method is established on a strict mathematical mapping relation, can realize good detection precision, and the established full-surface three-dimensional damage model is based on a real object image, is a direct reaction to the actual situation, can improve the identification precision of the damage of the damaged part, and has richer details and faster modeling speed.
Description
Technical Field
The invention belongs to the technical field of vibration fatigue damage measurement, and particularly relates to a three-dimensional surface vibration fatigue damage measurement method for a high-temperature-resistant component of an airplane.
Background
Structural vibration fatigue refers to a phenomenon in which a structure is fatigue-damaged by excitation such as vibration or noise. The vibration fatigue test is widely applied to the fields of aerospace, rail transit and the like as an important mode for verifying the dynamic strength of a structure, and how to accurately and quickly measure damage information in the vibration fatigue test process directly influences test criteria is a key research problem in the field of the vibration fatigue test.
At present, the mainstream method for measuring the vibration fatigue damage of the high-temperature resistant component of the airplane is to monitor a motion signal through an acceleration sensor, a laser displacement sensor or a laser vibration meter and the like, analyze the stress level of a test piece through a strain gauge, and judge and acquire damage information by integrating the information of the acceleration sensor, the laser displacement sensor or the laser vibration meter and the like. Although the method can find the change of the signal after the test piece is damaged, the sensitivity is not high, the damage measurement precision is low, and the sensor is installed on the surface of the high-temperature resistant component of the airplane in a contact mode and is interfered by other factors.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for measuring the vibration fatigue damage of the three-dimensional surface of the high-temperature resistant component of the airplane aiming at the defects in the prior art, which is established on the strict mathematical mapping relation, can realize good detection precision, automatically establishes a model, has higher precision according to pixel-by-pixel modeling determined by projective transformation and coordinate system conversion, has low requirements on systems and parts, does not need to additionally arrange scanning parts, realizes non-contact measurement, and establishes a full-surface three-dimensional damage model based on a real image, which is a direct reaction to the actual situation, thereby improving the identification precision of the damage of damaged parts, enriching the display of details, shortening the modeling time, speeding up the modeling and being convenient for popularization and use.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a three-dimensional surface vibration fatigue damage measuring method for an aircraft high-temperature-resistant component is characterized by comprising the following steps:
fixing an aircraft high-temperature-resistant component on a vibration fatigue test platform, and arranging a plurality of cameras for acquiring image data of multi-angle images of the aircraft high-temperature-resistant component on the peripheral side of the vibration fatigue test platform;
starting a vibration fatigue test platform according to designed vibration fatigue test parameters, and collecting model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane, wherein the model data comprises a triangular surface element, surface element vertex coordinates, surface coordinates and a surface normal vector; the vibration fatigue test parameters comprise vibration intensity and vibration time;
step three, calculating the mapping relation between the model data and the image data of the three-dimensional physical model of the high-temperature-resistant component of the airplane;
and fourthly, constructing a full-surface three-dimensional damage model of the high-temperature-resistant airplane component according to the mapping relation, and comparing the constructed full-surface three-dimensional damage model of the high-temperature-resistant airplane component with a full-surface three-dimensional standard model of the high-temperature-resistant airplane component to obtain the three-dimensional surface damage position and the damage amount of the high-temperature-resistant airplane component.
The three-dimensional surface vibration fatigue damage measuring method for the high-temperature-resistant component of the airplane is characterized by comprising the following steps of: in the third step, the mapping relation between the model data and the image data of the three-dimensional physical model of the high-temperature resistant component of the airplane is calculated, and the method comprises the following steps:
301, solving an internal reference matrix of the camera;
step 302, solving the pose and the external parameter matrix of the camera, and acquiring the mapping relation between model data and image data of the three-dimensional physical model of the high-temperature-resistant component of the airplane.
The three-dimensional surface vibration fatigue damage measuring method for the high-temperature-resistant component of the airplane is characterized by comprising the following steps of: the solving of the internal reference matrix of the camera in step 301 includes the following steps:
step 3001, when solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate system;
Step 3002, rotating the matrix according to the coordinate system from the camera coordinate system to the checkerboard coordinate systemAnd solving the internal reference matrix of the camera.
The three-dimensional surface vibration fatigue damage measuring method for the high-temperature-resistant component of the airplane is characterized by comprising the following steps of: according to the formulaWhen solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate systemWherein, in the step (A),representing a rotation matrix of a coordinate systemA first row and a first column element;representing a rotation matrix of a coordinate systemA first row and a second column of elements;representing coordinate system rotation matricesThe first row and the third column;representing a rotation matrix of a coordinate systemSecond row and first column elements;representing coordinate system rotation matricesA second row and a second column of elements;representing coordinate system rotation matricesSecond row and third column elements;representing coordinate system rotation matricesThird row and first column elements;representing coordinate system rotation matricesA third row and a second column of elements;representing coordinate system rotation matricesThird row and column elements;representing a first element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;representing a second element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;a pixel abscissa representing an image;representing the pixel ordinate of the image.
The three-dimensional surface vibration fatigue damage measuring method for the high-temperature-resistant component of the airplane is characterized by comprising the following steps of: according to the formulaSolving the internal reference matrix of the cameraWherein, in the step (A),representing a rotation matrix of a coordinate systemIn the first column of data in the first column,representing coordinate system rotation matricesThe second column of data in the first column of data,which represents the operation of transposition of the image,representing an identity matrix.
The three-dimensional surface vibration fatigue damage measuring method for the high-temperature-resistant component of the airplane is characterized by comprising the following steps of: according to the formulaSolving camera poseAnd external parameter matrixWherein, in the step (A),represents a position matrix of the high-temperature resistant component of the airplane in a model coordinate system,a matrix of pixel coordinates representing an image; camera poseA position matrix representing the camera in the model coordinate system;
mapping relation between model data and image data according to three-dimensional physical model of high-temperature-resistant component of airplaneConstructing a surface three-dimensional damage model for each image of the acquired high-temperature-resistant component of the airplane;
acquiring each mapping relation between model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane and a plurality of pieces of image data;
and according to each mapping relation between the model data of the three-dimensional physical model of the high-temperature-resistant aircraft component and the data of the plurality of images, completing construction of the full-surface three-dimensional damage model of all the acquired images of the high-temperature-resistant aircraft component.
The method has the advantages that the method is established on a strict mathematical mapping relation, good detection precision can be realized, the model can be established automatically, pixel-by-pixel modeling determined according to projective transformation and coordinate system conversion has higher precision, the requirements on the system and parts are low, scanning parts do not need to be additionally arranged, non-contact measurement is realized, the established full-surface three-dimensional damage model is based on a real object image and is a direct reaction to the actual condition, so the identification precision of damaged parts can be improved, the details are more abundantly displayed, the modeling time is shorter, the modeling speed is faster, the damage model of the high-temperature resistant components of the airplane is established in a one-key and batch mode, the operation is simple, the preview is convenient, and the popularization and the use are convenient.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a block diagram of the process flow of the present invention.
Detailed Description
As shown in FIG. 1, the method for measuring the vibration fatigue damage of the three-dimensional surface of the high-temperature resistant component of the airplane comprises the following steps:
fixing an aircraft high-temperature-resistant component on a vibration fatigue test platform, and arranging a plurality of cameras for acquiring image data of multi-angle images of the aircraft high-temperature-resistant component on the periphery of the vibration fatigue test platform;
starting a vibration fatigue test platform according to designed vibration fatigue test parameters, and collecting model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane, wherein the model data comprises a triangular surface element, surface element vertex coordinates, surface coordinates and a surface normal vector; the vibration fatigue test parameters comprise vibration intensity and vibration time;
step three, calculating the mapping relation between the model data and the image data of the three-dimensional physical model of the high-temperature-resistant component of the airplane;
and fourthly, constructing a full-surface three-dimensional damage model of the high-temperature-resistant airplane component according to the mapping relation, and comparing the constructed full-surface three-dimensional damage model of the high-temperature-resistant airplane component with a full-surface three-dimensional standard model of the high-temperature-resistant airplane component to obtain the three-dimensional surface damage position and the damage amount of the high-temperature-resistant airplane component.
It should be noted that the complete technical solution disclosed in this embodiment has the following advantages: 1. the damage model can be established quickly by one key; 2. the model display and interaction effects enable better identifiability compared with the traditional means; 3. the display model can be stored and displayed again. The scheme is based on a strict mathematical mapping relation, and can achieve good detection precision compared with a method of manual mapping or human eye detection marks (the damage positions are approximately matched by certain characteristics (such as edges and corners and the like) of a model). Compared with the method for carrying out damage model mapping by relying on the existing modeling commercial software, the method has the following advantages: 1. automatic model establishment is realized, and manual image-by-image pasting is not needed; 2. the pixel-by-pixel modeling determined according to projective transformation and coordinate system conversion has higher precision; 3. the method can realize the precise modeling of different types of photos, including depth pictures, infrared imaging pictures, surface microstructure pictures and the like, and the mapping work of the pictures can not realize precise operation in the existing software at present. Compared with a three-dimensional reconstruction method based on point cloud scanning, the method has the following advantages: 1. the requirements on the system and parts are low, and scanning parts do not need to be additionally arranged; 2. compared with point cloud scanning which can only reflect the physical size change of a damaged part, the full-surface three-dimensional damage model established by the scheme is based on a real object image and is a direct reaction to the actual condition, so that the identification precision of the damage of the damaged part can be improved, and the details are more abundantly displayed; 3. the modeling time is shorter, and the modeling speed is faster.
In this embodiment, the step three of calculating the mapping relationship between the model data and the image data of the three-dimensional physical model of the aircraft high-temperature-resistant component includes the following steps:
301, solving an internal reference matrix of the camera;
step 302, solving the pose and the external parameter matrix of the camera, and acquiring the mapping relation between model data and image data of the three-dimensional physical model of the high-temperature-resistant component of the airplane.
In this embodiment, solving the internal reference matrix of the camera in step 301 includes the following steps:
step 3001, when solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate system;
Step 3002, rotating the matrix according to the coordinate system from the camera coordinate system to the checkerboard coordinate systemAnd solving the internal reference matrix of the camera.
It should be noted that, by adopting the zhangyouzheng checkerboard calibration method, the pixel coordinates of the checkerboard corner points in the image can be obtained by adopting the 8 × 9 checkerboard at different angles. At this time, the world coordinate system is a three-dimensional cartesian coordinate system with an origin fixed to the center of the checkerboard, and coordinates of the checkerboard corner points in the three-dimensional coordinate system can be obtained by calculating the length and width of the checkerboard, and are known quantities. The relationship between the pixel coordinate system and the actual coordinate system can be obtained asWhen solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate systemWherein, in the step (A),representing coordinate system rotation matricesA first row and a first column element;representing coordinate system rotation matricesA first row and a second column of elements;representing coordinate system rotation matricesThe first row and the third column;representing coordinate system rotation matricesSecond row and first column elements;representing coordinate system rotation matricesA second row and a second column;representing coordinate system rotation matricesSecond row and third column elements;representing coordinate system rotation matricesThird row and first column elements;representing coordinate system rotation matricesThird row and second column elements;representing coordinate system rotation matricesThird row and column elements;representing a first element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;representing a second element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;a pixel abscissa representing an image;representing the pixel ordinate of the image.
In this embodiment, according to the formulaSolving the internal reference matrix of the cameraWherein, in the step (A),representing coordinate system rotation matricesIn the first column of data in the first column,representing a rotation matrix of a coordinate systemThe second column of data in the first column of data,which represents the operation of transposition of the image,representing an identity matrix.
In this embodiment, according to the formulaSolving the pose of the cameraAnd external parameter matrixWherein, in the process,represents a position matrix of the high-temperature resistant component of the airplane in a model coordinate system,a matrix of pixel coordinates representing an image; camera poseA position matrix representing the camera in the model coordinate system;
mapping relation between model data and image data according to three-dimensional physical model of high-temperature-resistant component of airplaneConstructing a surface three-dimensional damage model for each image of the acquired high-temperature-resistant component of the airplane;
it should be noted that, by using the knowledge about the imaging optics, we can obtain the correspondence between the model coordinate system and the pixel coordinate system, where the model coordinate system represents the coordinate system of the three-dimensional model file itself for representing the model information, and the coordinate system is in millimeters. The pixel coordinate system is an orthogonal rectangular coordinate system which takes the upper left corner of the picture as an origin, the horizontal right corner as a first coordinate and the vertical downward corner as a second coordinate, and takes pixels as a unit.Point location data of the three-dimensional model is actually brought in, therebyThe calculated camera pose is the position under the model coordinate system.
In this step, first, three vertex coordinates of each bin in one image are obtained, pixels of the three vertices are calculated, and when any one of the three vertices is larger than the pixel of the camera itself, it is indicated that the vertex is not captured by the camera, and the bin is discarded (for example, the pixel of the camera is 3000 × 5000, and if the pixel corresponding to a certain vertex is 5000 × 6000, the capturing range of the camera is exceeded). When three vertexes are confirmed to be located in the pixel range of the camera, the included angle relationship between the normal vector of the surface element and the camera position vector (the vector of the camera position coordinate point pointing to the origin of the model coordinate system) is judged, the two vectors are subjected to dot product operation, and if the dot product operation result (used for representing the verticality of the surface element relative to the camera) is positive, the surface element is considered to belong to the positive range (when the coordinate vector of the camera and the normal vector of a certain surface element are located on the same straight line, the camera is equivalent to be directly opposite to the surface element). According to the corresponding relation between the three vertexes and the pixel points, constructing a surface element at the corresponding position point of the three-dimensional physical model by using a glVertex3f and glTexCoord method in OpenGl, then setting the constructability of the surface element as False, and after traversing of all surface elements in the image is completed, constructing a full-surface three-dimensional damage model of the acquired image of the high-temperature-resistant component of the airplane.
After solving the internal reference matrix of the camera, the method is based on the formulaObtaining four groups of corresponding points, and obtaining each mapping relation between model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane and a plurality of pieces of image data;
and according to each mapping relation between the model data of the three-dimensional physical model of the high-temperature-resistant aircraft component and the data of the plurality of images, completing construction of the full-surface three-dimensional damage model of all the acquired images of the high-temperature-resistant aircraft component.
The method is established on a strict mathematical mapping relation, can realize good detection precision, automatically establishes the model, does not need manual image-by-image mapping, determines pixel-by-pixel modeling according to projective transformation and coordinate system conversion, has higher precision, has low requirements on a system and parts, does not need to be additionally provided with scanning parts, and establishes the full-surface three-dimensional damage model based on a physical image and is a direct reaction to the actual condition, so that the identification precision of damaged parts can be improved, the details are more abundantly displayed, the modeling time is shorter, the modeling speed is faster, the damage model of the high-temperature resistant components of the airplane is established in a one-key and batch manner, the operation is simple, the preview is convenient, and the popularization and the use are convenient.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (1)
1. A three-dimensional surface vibration fatigue damage measuring method for an aircraft high-temperature-resistant component is characterized by comprising the following steps:
fixing an aircraft high-temperature-resistant component on a vibration fatigue test platform, and arranging a plurality of cameras for acquiring image data of multi-angle images of the aircraft high-temperature-resistant component on the periphery of the vibration fatigue test platform;
starting a vibration fatigue test platform according to designed vibration fatigue test parameters, and collecting model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane, wherein the model data comprises a triangular surface element, surface element vertex coordinates, surface coordinates and a surface normal vector; the vibration fatigue test parameters comprise vibration intensity and vibration time;
step three, calculating the mapping relation between the model data and the image data of the three-dimensional physical model of the high-temperature-resistant component of the airplane;
fourthly, constructing a full-surface three-dimensional damage model of the aircraft high-temperature-resistant component according to the mapping relation, and comparing the constructed full-surface three-dimensional damage model of the aircraft high-temperature-resistant component with a full-surface three-dimensional standard model of the aircraft high-temperature-resistant component to obtain the three-dimensional surface damage position and the damage amount of the aircraft high-temperature-resistant component;
in the third step, the mapping relation between the model data and the image data of the three-dimensional physical model of the high-temperature resistant component of the airplane is calculated, and the method comprises the following steps:
step 301, solving an internal reference matrix of the camera;
step 302, solving the pose and the external parameter matrix of the camera, and acquiring the mapping relation between model data and image data of a three-dimensional physical model of the high-temperature-resistant component of the airplane;
solving the internal reference matrix of the camera in step 301 includes the following steps:
step 3001, when the camera calibration is solved, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate system;
Step 3002, rotating the matrix according to the coordinate system from the camera coordinate system to the checkerboard coordinate systemSolving an internal reference matrix of the camera;
according to the formulaWhen solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate systemWherein, in the process,representing coordinate system rotation matricesA first row and a first column element;representing a rotation matrix of a coordinate systemA first row and a second column;representing coordinate system rotation matricesThe first row and the third column;representing coordinate system rotation matricesA second row and a first column;representing coordinate system rotation matricesA second row and a second column of elements;representing coordinate system rotation matricesSecond row and third column elements;representing coordinate system rotation matricesThird row, first column element;representing coordinate system rotation matricesThird row and second column elements;representing coordinate system rotation matricesThird row and column elements;representing a first element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;representing a second element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;a pixel abscissa representing an image;a pixel ordinate representing an image;
according to the formulaSolving the internal reference matrix of the cameraWherein, in the step (A),indicating rotation of coordinate systemMatrix arrayThe first column of data in the second column of data,representing coordinate system rotation matricesThe second column of data in the first column of data,which represents the operation of transposition by means of a transposition operation,representing an identity matrix;
according to the formulaSolving the pose of the cameraAnd external reference matrixWherein, in the step (A),a position matrix of the high-temperature resistant component of the airplane in a model coordinate system is represented,a matrix of pixel coordinates representing an image; camera poseA position matrix representing the camera in the model coordinate system;
according to the high-temperature resistant components of the aircraftMapping relation between model data and image data of dimensional physical modelConstructing a surface three-dimensional damage model for each image of the acquired high-temperature-resistant component of the airplane;
acquiring each mapping relation between model data of a three-dimensional physical model of the high-temperature-resistant component of the airplane and a plurality of pieces of image data;
and according to each mapping relation between the model data of the three-dimensional physical model of the high-temperature-resistant aircraft component and the data of the plurality of images, completing construction of the full-surface three-dimensional damage model of all the acquired images of the high-temperature-resistant aircraft component.
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