基于立体视觉的直升机桨叶扭转角模拟测量方法

Measurement Method of Torsion of Helicopter Rotor Blades Based on Stereo Vision

提出了一种基于立体视觉的直升机桨叶扭转角测量方法.首先,在摄像机坐标系下,采用双目立体视觉技术获取桨叶上圆形标记点的三维坐标;然后,利用在旋翼低速旋转且桨叶处于拉平状态下测量出的标记点的三维坐标建立旋翼坐标系;最后,在旋翼坐标系中利用旋翼高速和低速旋转状态下桨叶上对应标记点的三维坐标来计算桨叶扭转角.多次刚性叶片扭转角测量实验和数据分析说明本文测量方法不仅有效、测量精度高,而且具有非接触式、动态测量和操作简单的优点.

A method based on stereo vision is proposed to accurately measure the torsion of helicopter rotor blades and to simplify the operational process. First, three-dimensional coordinates of the circular markers in the camera coordinate are obtained by using the binocular stereo vision technique. Second, the rotor coordinate is established by the threedimensional coordinates of the markers which are measured when the blades are horizontally straight during low-speed rotation. Finally, tile torsion of blades is calculated by the threedimensional coordinates of the markers which are obtained during low-speed rotation and high-speed rotation on the blades in the rotor coordinate. The method proposed in this paper is proved to be effective and accurate by a number of experiments and data analysis on measurement of the torsion of rigid blades. It also shows advantages of non-contact detection, dynamic measurement and easy operation.