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 PDF

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CN115077832B
CN115077832B CN202210897233.0A CN202210897233A CN115077832B CN 115077832 B CN115077832 B CN 115077832B CN 202210897233 A CN202210897233 A CN 202210897233A CN 115077832 B CN115077832 B CN 115077832B
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temperature
coordinate system
model
airplane
resistant component
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CN115077832A (en
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王铁军
乔壮
李鸿宇
江鹏
王彬文
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Xian Jiaotong University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00Vibration-testing of structures; Shock-testing of structures
    • G01M7/02Vibration-testing by means of a shake table
    • G01M7/025Measuring arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64FGROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60Testing or inspecting aircraft components or systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00Subject matter not provided for in other groups of this subclass
    • G01M99/002Thermal testing
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/60Type of objects
    • G06V20/64Three-dimensional objects

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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

Method for measuring vibration fatigue damage of three-dimensional surface of high-temperature-resistant component of airplane
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
Figure 585456DEST_PATH_IMAGE001
Step 3002, rotating the matrix according to the coordinate system from the camera coordinate system to the checkerboard coordinate system
Figure 510687DEST_PATH_IMAGE001
And 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 formula
Figure 797312DEST_PATH_IMAGE002
When solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate system
Figure 124388DEST_PATH_IMAGE003
Wherein, in the step (A),
Figure 408739DEST_PATH_IMAGE004
representing a rotation matrix of a coordinate system
Figure 555686DEST_PATH_IMAGE001
A first row and a first column element;
Figure 396734DEST_PATH_IMAGE005
representing a rotation matrix of a coordinate system
Figure 578317DEST_PATH_IMAGE001
A first row and a second column of elements;
Figure 33569DEST_PATH_IMAGE006
representing coordinate system rotation matrices
Figure 933392DEST_PATH_IMAGE001
The first row and the third column;
Figure 499503DEST_PATH_IMAGE007
representing a rotation matrix of a coordinate system
Figure 597909DEST_PATH_IMAGE001
Second row and first column elements;
Figure 224062DEST_PATH_IMAGE008
representing coordinate system rotation matrices
Figure 345602DEST_PATH_IMAGE001
A second row and a second column of elements;
Figure 715403DEST_PATH_IMAGE009
representing coordinate system rotation matrices
Figure 684627DEST_PATH_IMAGE001
Second row and third column elements;
Figure 481682DEST_PATH_IMAGE010
representing coordinate system rotation matrices
Figure 90518DEST_PATH_IMAGE001
Third row and first column elements;
Figure 998431DEST_PATH_IMAGE011
representing coordinate system rotation matrices
Figure 9113DEST_PATH_IMAGE001
A third row and a second column of elements;
Figure 39385DEST_PATH_IMAGE012
representing coordinate system rotation matrices
Figure 135517DEST_PATH_IMAGE001
Third row and column elements;
Figure 847121DEST_PATH_IMAGE013
representing a first element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;
Figure 977889DEST_PATH_IMAGE014
representing a second element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;
Figure 926865DEST_PATH_IMAGE015
a pixel abscissa representing an image;
Figure 244714DEST_PATH_IMAGE016
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 formula
Figure 760009DEST_PATH_IMAGE017
Solving the internal reference matrix of the camera
Figure 745283DEST_PATH_IMAGE018
Wherein, in the step (A),
Figure 55041DEST_PATH_IMAGE019
representing a rotation matrix of a coordinate system
Figure 922503DEST_PATH_IMAGE001
In the first column of data in the first column,
Figure 975910DEST_PATH_IMAGE020
representing coordinate system rotation matrices
Figure 815690DEST_PATH_IMAGE001
The second column of data in the first column of data,
Figure 296350DEST_PATH_IMAGE021
which represents the operation of transposition of the image,
Figure 667419DEST_PATH_IMAGE022
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 formula
Figure 258938DEST_PATH_IMAGE023
Solving camera pose
Figure 218804DEST_PATH_IMAGE024
And external parameter matrix
Figure 870365DEST_PATH_IMAGE025
Wherein, in the step (A),
Figure 650102DEST_PATH_IMAGE026
represents a position matrix of the high-temperature resistant component of the airplane in a model coordinate system,
Figure 107628DEST_PATH_IMAGE027
a matrix of pixel coordinates representing an image; camera pose
Figure 922000DEST_PATH_IMAGE028
A 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 airplane
Figure 744463DEST_PATH_IMAGE029
Constructing 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
Figure 11496DEST_PATH_IMAGE001
Step 3002, rotating the matrix according to the coordinate system from the camera coordinate system to the checkerboard coordinate system
Figure 210396DEST_PATH_IMAGE001
And 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 as
Figure 692324DEST_PATH_IMAGE002
When solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate system
Figure 685688DEST_PATH_IMAGE003
Wherein, in the step (A),
Figure 440018DEST_PATH_IMAGE004
representing coordinate system rotation matrices
Figure 442609DEST_PATH_IMAGE001
A first row and a first column element;
Figure 28311DEST_PATH_IMAGE005
representing coordinate system rotation matrices
Figure 192576DEST_PATH_IMAGE001
A first row and a second column of elements;
Figure 434201DEST_PATH_IMAGE006
representing coordinate system rotation matrices
Figure 974904DEST_PATH_IMAGE001
The first row and the third column;
Figure 352796DEST_PATH_IMAGE007
representing coordinate system rotation matrices
Figure 766591DEST_PATH_IMAGE001
Second row and first column elements;
Figure 229933DEST_PATH_IMAGE008
representing coordinate system rotation matrices
Figure 574327DEST_PATH_IMAGE001
A second row and a second column;
Figure 806725DEST_PATH_IMAGE009
representing coordinate system rotation matrices
Figure 578372DEST_PATH_IMAGE001
Second row and third column elements;
Figure 591327DEST_PATH_IMAGE010
representing coordinate system rotation matrices
Figure 473833DEST_PATH_IMAGE001
Third row and first column elements;
Figure 826317DEST_PATH_IMAGE011
representing coordinate system rotation matrices
Figure 768865DEST_PATH_IMAGE001
Third row and second column elements;
Figure 11060DEST_PATH_IMAGE012
representing coordinate system rotation matrices
Figure 697256DEST_PATH_IMAGE001
Third row and column elements;
Figure 904246DEST_PATH_IMAGE013
representing a first element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;
Figure 17696DEST_PATH_IMAGE014
representing a second element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;
Figure 942926DEST_PATH_IMAGE015
a pixel abscissa representing an image;
Figure 229551DEST_PATH_IMAGE016
representing the pixel ordinate of the image.
In this embodiment, according to the formula
Figure 556627DEST_PATH_IMAGE030
Solving the internal reference matrix of the camera
Figure 575399DEST_PATH_IMAGE018
Wherein, in the step (A),
Figure 987926DEST_PATH_IMAGE019
representing coordinate system rotation matrices
Figure 828974DEST_PATH_IMAGE001
In the first column of data in the first column,
Figure 10557DEST_PATH_IMAGE020
representing a rotation matrix of a coordinate system
Figure 465809DEST_PATH_IMAGE001
The second column of data in the first column of data,
Figure 100052DEST_PATH_IMAGE021
which represents the operation of transposition of the image,
Figure 666163DEST_PATH_IMAGE022
representing an identity matrix.
In this embodiment, according to the formula
Figure 30148DEST_PATH_IMAGE023
Solving the pose of the camera
Figure 656302DEST_PATH_IMAGE031
And external parameter matrix
Figure 777841DEST_PATH_IMAGE032
Wherein, in the process,
Figure 147643DEST_PATH_IMAGE026
represents a position matrix of the high-temperature resistant component of the airplane in a model coordinate system,
Figure 303818DEST_PATH_IMAGE027
a matrix of pixel coordinates representing an image; camera pose
Figure 913922DEST_PATH_IMAGE028
A 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 airplane
Figure 522758DEST_PATH_IMAGE029
Constructing 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.
Figure 430671DEST_PATH_IMAGE026
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 formula
Figure 441352DEST_PATH_IMAGE033
Obtaining 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
Figure 12137DEST_PATH_IMAGE001
Step 3002, rotating the matrix according to the coordinate system from the camera coordinate system to the checkerboard coordinate system
Figure 358804DEST_PATH_IMAGE001
Solving an internal reference matrix of the camera;
according to the formula
Figure 771331DEST_PATH_IMAGE002
When solving the camera calibration, the coordinate system rotation matrix from the camera coordinate system to the checkerboard coordinate system
Figure 799330DEST_PATH_IMAGE003
Wherein, in the process,
Figure 43230DEST_PATH_IMAGE004
representing coordinate system rotation matrices
Figure 232902DEST_PATH_IMAGE001
A first row and a first column element;
Figure 132725DEST_PATH_IMAGE005
representing a rotation matrix of a coordinate system
Figure 698836DEST_PATH_IMAGE001
A first row and a second column;
Figure 62821DEST_PATH_IMAGE006
representing coordinate system rotation matrices
Figure 423395DEST_PATH_IMAGE001
The first row and the third column;
Figure 810514DEST_PATH_IMAGE007
representing coordinate system rotation matrices
Figure 180316DEST_PATH_IMAGE001
A second row and a first column;
Figure 631763DEST_PATH_IMAGE008
representing coordinate system rotation matrices
Figure 428818DEST_PATH_IMAGE001
A second row and a second column of elements;
Figure 37654DEST_PATH_IMAGE009
representing coordinate system rotation matrices
Figure 273463DEST_PATH_IMAGE001
Second row and third column elements;
Figure 284145DEST_PATH_IMAGE010
representing coordinate system rotation matrices
Figure 252101DEST_PATH_IMAGE001
Third row, first column element;
Figure 348233DEST_PATH_IMAGE011
representing coordinate system rotation matrices
Figure 122154DEST_PATH_IMAGE001
Third row and second column elements;
Figure 987341DEST_PATH_IMAGE012
representing coordinate system rotation matrices
Figure 126199DEST_PATH_IMAGE001
Third row and column elements;
Figure 709627DEST_PATH_IMAGE013
representing a first element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;
Figure 21659DEST_PATH_IMAGE014
representing a second element in a position matrix of the high-temperature resistant component of the airplane in a model coordinate system;
Figure 6933DEST_PATH_IMAGE015
a pixel abscissa representing an image;
Figure 316692DEST_PATH_IMAGE016
a pixel ordinate representing an image;
according to the formula
Figure 387416DEST_PATH_IMAGE017
Solving the internal reference matrix of the camera
Figure 4604DEST_PATH_IMAGE018
Wherein, in the step (A),
Figure 844384DEST_PATH_IMAGE019
indicating rotation of coordinate systemMatrix array
Figure 325044DEST_PATH_IMAGE001
The first column of data in the second column of data,
Figure 617485DEST_PATH_IMAGE020
representing coordinate system rotation matrices
Figure 536900DEST_PATH_IMAGE001
The second column of data in the first column of data,
Figure 231186DEST_PATH_IMAGE021
which represents the operation of transposition by means of a transposition operation,
Figure 882747DEST_PATH_IMAGE022
representing an identity matrix;
according to the formula
Figure 990381DEST_PATH_IMAGE023
Solving the pose of the camera
Figure 385590DEST_PATH_IMAGE024
And external reference matrix
Figure 934383DEST_PATH_IMAGE025
Wherein, in the step (A),
Figure 22425DEST_PATH_IMAGE026
a position matrix of the high-temperature resistant component of the airplane in a model coordinate system is represented,
Figure 351775DEST_PATH_IMAGE027
a matrix of pixel coordinates representing an image; camera pose
Figure 550675DEST_PATH_IMAGE028
A 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 model
Figure 953974DEST_PATH_IMAGE029
Constructing 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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