Displacement and deformation measurements of helicopter rotor blades based on binocular stereo vision
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摘要: 为实现直升机旋翼桨叶位移变形的非接触测量，提出了基于双目立体视觉的三维测量方法。采用编码标记方式，在旋翼桨叶表面粘贴具有唯一编码信息的标记点，以高频激光器提供纳秒级瞬态照明，同步触发高速CCD相机采集桨叶瞬态图像，基于双目立体视觉原理计算标记点的三维坐标，进而计算得到旋翼桨叶的位移变形参数。试验结果表明：该测量方法的测量精度小于0.1 mm，测量准度小于0.3 mm，可满足直升机旋翼桨叶位移变形的高精度测量需求。Abstract: To realize the displacement and deformation measurements of helicopter rotor blades in a non-contact way, the binocular stereo vision based three-dimensional measurement method is presented. First, coded targets with unique identifying information are pasted on the rotor blades. Then, with nanosecond illumination provided by the high-frequency laser, high-speed CCD cameras are triggered synchronously to acquire the transient images of rotor blades. Finally, based on the binocular stereo principle, three-dimensional coordinates of coded targets are obtained, which are used to calculate the displacement and deformation parameters of rotor blades further. The test results show that the accuracy of our proposed method is better than 0.3 mm, which is capable of meeting the high precision displacement and deformation measurement requirements of helicopter rotor blades.
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图 11 编码标记点三维坐标计算结果
Figure 11. Three-dimensional coordinates calculation results of coded targets
表 1 左相机内部参数标定结果
Table 1. Internal calibration results of the left camera
标定参数 标定结果 等效焦距(fu, fv ) (2622.916, 2622.923) 光学中心(cu, cv ) (540.045, 528.145) 不垂直因子s 0 径向畸变系数(k1, k2) (－0.159, 0.435) 重投影误差e 0.232 
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表 2 右相机内部参数标定结果
Table 2. Internal calibration results of the right camera
标定参数 标定结果 等效焦距(fu, fv ) (2621.891, 2622.130) 光学中心(cu, cv ) (539.095, 498.173) 不垂直因子s 0 径向畸变系数(k1, k2) (－0.172, 0.932) 重投影误差e 0.226
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表 3 双目成像系统外部参数标定结果
Table 3. External calibration results of the binocular imaging system
标定参数 标定结果 旋转矩阵R 
平移向量T (914.501 34.923 250.291)
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表 4 测量精准度
Table 4. Measuring accuracy
转速
/(r·min-1)控制总距
/(°)测量精度
σ1/mm测量准度
σ2/mm1300 0 0.079 0.152 6 0.072 0.170 10 0.084 0.178 1860 0 0.072 0.149 6 0.084 0.199 10 0.093 0.232
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表 5 桨尖平均挥舞位移量
Table 5. Average displacements of the blade tip
转速/(r·min-1) 控制总距/(°) 平均挥舞位移量/mm 1300 0 －11.99 6 －6.76 10 1.00 1860 0 －17.03 6 －10.44 10 －1.28
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表 6 桨根、桨尖平均总距
Table 6. Average pitch angle of the blade root and tip
转速
/(r·min-1)控制总距
/(°)桨根平均
总距/(°)桨尖平均
总距/(°)1300 0 －1.72 －5.70 6 4.22 0.68 10 8.15 5.05 1860 0 －1.41 －5.39 6 4.51 1.24 10 8.52 5.56
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表 7 桨根、桨尖总距变化量
Table 7. Changes on pitch angle of the blade root and tip
转速
/(r·min-1)控制总距
/(°)桨根平均
总距变化量/(°)桨尖平均
总距变化量/(°)1300 6 5.94 6.38 10 9.87 10.75 1860 6 5.92 6.63 10 9.93 10.95
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