Helicopter rotor blade motion parameter measuring method based on binocular three-dimensional vision

Abstract

A helicopter rotor blade motion parameter measuring method based on binocular three-dimensional vision includes the steps: (1) utilizing two binocular three-dimensional vision systems to construct a helicopter rotor blade motion image obtaining device; (2) utilizing a standard calibration template to achieve calibration of each binocular three-dimensional vision system; (3) sticking a certain number of calibrating points on each blade of a helicopter; (4) on the base that blade calibrating points in a binocular three-dimensional vision left image and a binocular three-dimensional vision right image are matched with the calibrating points, utilizing camera inner parameters and camera outer parameters, calibrated well, of the binocular three-dimensional vision systems to achieve measurement of three-dimensional information of the calibrating points in blades; (5) utilizing the three-dimensional information, obtained in the step (4), of the calibrating points in the blades, conducting calculation according waving, shimmying, and torsion definitions of blade motion parameters, and obtaining the blade motion parameters of helicopter rotor blades. The helicopter rotor blade motion parameter measuring method based on the binocular three-dimensional vision has the advantages of being simple in operation, free of contact type, small in danger coefficient, high in precision and the like.

Description

technical field [0001] The invention relates to a measurement method based on binocular stereo vision, in particular to a method for measuring motion parameters of helicopter rotor blades based on binocular stereo vision. Background technique [0002] The rotor is the core component of the helicopter. The high-speed rotation of the rotor blades produces the lift and thrust required for the flight of the helicopter. The blades are soft, slender structures that flap, shimmy and twist during rotation. The changes in flap angle, shimmy angle and twist angle are called rotor blade kinematic parameters. The range of motion of the blade and the trajectory of the tip can be determined by measuring the motion parameters of the rotor blade, which provides an important basis for the design of the rotor structure, the design of the upper and lower limit blocks of the rotor hub, the design of the blade load, and the adjustment of the common taper of the rotor. The measurement of rotor ...

AI Technical Summary

Problems solved by technology

Traditional measurement methods include: (1) Geometric measurement method, which usually uses displacement sensors and laser displacement sensors to convert angle changes into displacement changes for measurement, but can only measure the swing angle and shimmy angle of the blade, and cannot Measure the torsion angle of the blade; (2) strain modal analysis method, which is also one of the methods currently used in practical applications. Although this method is theoretically complete, it has great limitations in practical applications, and may even unacceptable experimental error

Traditional rotor blade motion parameter measurement techniques either cannot measure blade torsion, or cannot directly measure blade motion parameters

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