A vision-based attitude measurement device for aircraft flight control components

Abstract

This invention discloses a vision-based attitude measurement device for aircraft flight control components, belonging to the field of manufacturing and inspection. An adjustable bracket for altitude and pitch is used to mount a binocular infrared vision measurement component. The binocular infrared vision measurement component, based on the principle of binocular vision, measures the attitude angles of the attitude measurement target and the spatial coordinates of the hidden point measurement target. A high-altitude rapid clamping component enables rapid installation and removal of the attitude measurement target at high altitudes. The attitude measurement target is used to mount multiple multi-directional target points, working in conjunction with the binocular infrared vision measurement component to measure and calculate the attitude angles of the flight control component within a wide range of attitude angles based on spatial coordinate values. The hidden point measurement target is used to mount multiple multi-directional target points and probes, working in conjunction with the binocular infrared vision measurement component to measure and calculate the attitude and position based on spatial coordinate values. This invention enables on-site measurement of the attitude angle parameters of flight control components, avoiding high-altitude operations and improving measurement efficiency.

Description

Technical Field

[0001] This invention belongs to the field of manufacturing inspection and relates to a vision-based attitude measurement device for aircraft flight control components, and more particularly to a device that directly provides on-site measurement of the attitude angles of flight control components during aircraft manufacturing and maintenance. Background Technology

[0002] The aircraft flight control system is used to maneuver the aircraft during flight, achieving the purpose of controlling the aircraft's attitude and enabling maneuvers. Modern aircraft flight control systems use a control stick, pedals, and flight mode control panel as input devices for the pilot, with redundant computers as the core for calculation and processing, and electromechanical / electrohydraulic servo actuators as the execution components. By controlling components such as the rudder, ailerons, flaps, and canards, it achieves functions such as control of the aircraft's three axes (pitch, roll, yaw), trim, lift, and drag. A failure in any control component of the aircraft's flight control system can lead to a severe deterioration in flight performance. If multiple control components (control surfaces) fail, and remedial measures are not taken promptly, it can result in a serious in-flight accident. Therefore, the safety and reliability of the aircraft flight control system is one of the most important factors determining the aircraft's flight safety performance. Thus, before all types of aircraft leave the factory and during periodic maintenance, it is necessary to measure and determine whether the aircraft's control system components, such as the horizontal stabilizer, ailerons, rudder, and flaps, meet the requirements for flight conditions to ensure flight safety.

[0003] Currently, there are two solutions for measuring the attitude angles of aircraft flight control components during manufacturing and periodic maintenance. One solution uses tilt sensors, including conventional tilt sensors and wireless tilt sensors. Typically, a traditional two-axis gravity accelerometer tilt measuring instrument with a digital LCD display is used. This instrument has low accuracy and can only measure rotation angles where the axis of rotation is parallel to the ground. It cannot measure parameters such as the rotation angle of the control wheel or rudder surface, where the axis of rotation is at a certain angle to the ground. Furthermore, using this instrument results in high workload and low efficiency for testing personnel. To address these shortcomings, Commercial Aircraft Corporation of China (COMAC) disclosed an angle measuring device for aircraft flight control systems in patent CN103336506A. The angle measuring device includes a sensor module, a main control module, a wireless communication module, and a power supply module. The sensor module includes an angular velocity gyroscope and a gravity accelerometer. The main control module is electrically connected to the sensor module to receive angular velocity signals from the angular velocity gyroscope and gravity acceleration signals from the gravity accelerometer, and processes these signals to convert them into deflection angle signals. The wireless communication module is electrically connected to the main control module to receive deflection angle signals from the main control module and transmit the deflection angle signals to a remote control server. The power supply module is electrically connected to each of the above modules to provide power to them. This device can simultaneously measure and calculate angles, combining the advantages of the fast dynamic response of the angular rate gyroscope and the high repeatability of the gravity accelerometer, realizing wireless transmission of measurement data and remote measurement and control. However, this solution requires strict positioning for clamping, necessitates operators working at height to place the angle measuring device, and cannot solve the problem of scissor error measurement. The second solution is commonly used in periodic inspections, using steel rulers and steel tape measures. The main method is for maintenance and inspection personnel to climb ladders to collect data at height, and then process the data to obtain the measurement results. For example, a steel tape measure can be used to measure the marked measurement points of flight control actuators such as the rudder, elevators, horizontal stabilizers, and ailerons to obtain position data under different states, which is then converted into the required angles to determine whether the angle requirements are met. A steel ruler can be used to measure the neutral position and limit dimensions of the control stick to determine whether the position and dimensions meet the dimensional requirements. When the pilot feels the neutral position, the projection distance of the left and right aileron measurement points on the aileron rotation plane needs to be measured at multiple points to obtain the projection surface, and then the scissor difference needs to be calculated to determine whether it meets the requirements. The problems with this method are that the attitude measurement of actuators such as the horizontal stabilizer, rudder, flaps, ailerons, and canards is calculated by back-calculating the distance of the measurement points using a steel tape measure. Therefore, the distance measurement and the deformation of the measurement points will be introduced into the calculation of attitude angles. Thus, in the periodic maintenance and repair process, traditional manual steel ruler and steel tape measure measurement is inefficient, has low alignment accuracy, and is prone to errors in manual inspection. Summary of the Invention

[0004] To address the challenges of comprehensive on-site measurement and efficiency of attitude angle parameters for existing aircraft flight control components, the main objective of this invention is to provide a vision-based attitude measurement device for aircraft flight control components. This device measures attitude angles by acquiring multiple infrared target points on the attitude measurement target using binocular infrared vision. It also measures parameters such as scissor error by acquiring multiple infrared target points on a hidden point measurement target using binocular infrared vision principles, thus achieving comprehensive on-site measurement of attitude angle parameters for flight control components. Furthermore, a quick-clamping fixture allows for the installation of multiple infrared target points on the flight control component at high altitudes, thereby avoiding high-altitude operations by personnel and improving measurement efficiency. The high-altitude flight control component includes a rudder and flaps.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] The present invention discloses a vision-based attitude measurement device for aircraft flight control components, which mainly consists of five parts: an adjustable bracket for altitude and pitch, a binocular infrared vision measurement component, a high-altitude quick-clamping component, an attitude measurement target, and a hidden point measurement target.

[0007] The adjustable elevation and pitch bracket is used to mount the binocular infrared vision measurement component, enabling adjustment of the elevation and pitch directions and providing stable support after adjustment, ensuring that the attitude measurement target and hidden point measurement target are within the visible measurement range. The binocular infrared vision measurement component is used to measure the attitude angle of the attitude measurement target and the spatial coordinates of the hidden point measurement target based on the binocular vision principle, achieving comprehensive on-site measurement of the attitude angle parameters of the flight control component. The high-altitude rapid clamping component enables rapid installation and removal of the attitude measurement target at high altitudes, reducing attitude angle measurement preparation time and improving measurement efficiency. The attitude measurement target is used to mount multiple multi-directional target points, working with the binocular infrared vision measurement component to measure and calculate the attitude angles of the flight control component based on spatial coordinate values ​​within a wide range of attitude angles. The hidden point measurement target is used to mount multiple multi-directional target points and probes, working with the binocular infrared vision measurement component to measure and calculate the attitude and position based on spatial coordinate values, thereby obtaining the hidden points and measuring the attitude parameters of the flight control component. The attitude parameters of the flight control components include the attitude angles of the actuating surfaces such as the horizontal stabilizer, rudder, flaps, ailerons, and canards, as well as the elevator scissor difference.

[0008] The height and pitch adjustable bracket mainly consists of two parts: an adjustable height support tripod and a pitch adjustment mechanism. The adjustable height support tripod is a regular tripod, and the pitch adjustment mechanism uses a single pin and an arc-shaped groove locking structure to achieve stable support and connection between the support tripod and the binocular infrared vision measurement component, while also allowing for adjustment and locking of the pitch angle of the binocular infrared vision measurement component.

[0009] The binocular infrared vision measurement assembly mainly consists of a camera bracket, a quick-mount bracket, an indicator laser mount, an indicator laser, a tilt sensor, a mounting connector, a vision measurement camera, and a mounting frame. The camera bracket is mounted on both sides of the mounting connector to support the vision measurement camera, ensuring dimensional stability after the camera's angle is adjusted. The quick-mount bracket is mounted at the bottom of the mounting connector and uses a C-shaped structure to connect the binocular infrared vision measurement assembly to the pitch adjustment mechanism on the elevation and tilt attitude adjustable bracket. The indicator laser is mounted to the mounting connector via the indicator laser mount and emits a laser to indicate the center position of the binocular infrared vision measurement assembly. The tilt sensor is mounted on the mounting connector to establish a connection between coordinate measurement and horizontal measurement, enabling the measurement of the neutral position of some aircraft flight control components. The mounting connector is installed between the two camera brackets, connecting the vision measurement camera to the tilt sensor and the indicator laser. The vision measurement camera and mounting frame are used to mount two cameras to measure the spatial position of the target point.

[0010] The high-altitude rapid clamping assembly mainly consists of a chuck connecting plate, a chuck locking rod, a clamping guide spring, a lower clamping plate, an upper clamping plate, a clamping plate opening adjustment ball thread component, an upper locking bent rod, a rod-mounted connecting seat, a high-altitude clamping rod, an upper pulley and mounting seat, a locking reset rope, a lower pulley and mounting seat, and a handheld locking block. The chuck connecting plate is mounted on the upper clamping plate for quick connection with the pin on the rod-mounted connecting seat. The chuck locking rod is fixedly mounted on the lower clamping plate; its L-shaped structure allows the lower clamping plate to rotate around the connecting shaft of the upper and lower clamping plates, thereby opening and closing the clamping opening and facilitating the installation of the workpiece. One end of the clamping guide spring is mounted on the upper clamping plate, and the other end is mounted on the lower clamping plate. It uses a pin-hole guide to ensure that the spring force is axial while simultaneously generating a thrust on the lower clamping plate as it repositions around the connecting shaft between the upper and lower clamping plates. This ensures that the high-altitude quick-clamping assembly can stably clamp the workpiece. The clamping plate opening adjustment ball-head threaded component is mounted on both the upper and lower clamping plates. Adjustment allows for adjustment of the clamping opening to accommodate measurements of workpieces of different thicknesses. The upper locking rod is mounted on the rod connecting seat. Adjusting the tension and slack of the locking reset rope rotates the chuck locking rod, thereby opening and closing the clamping opening. The high-altitude clamping rod is used to mount the upper pulley and mounting seat, the lower pulley and mounting seat, the locking reset rope, and the handheld locking block, enabling high-altitude support, clamping, and disassembly of the high-altitude quick-clamping assembly. The upper pulley and its mounting base, and the lower pulley and its mounting base are connected to the aerial clamping rod through a central hole. Bearings are also installed inside the upper pulley and the lower pulley. The upper pulley and the lower pulley are used to steer the force applied to the locking and reset rope. The hand-held locking block is mounted on the aerial clamping rod through a shaft. The locking and reset rope is tightened or loosened by rotating the hand-held block around the shaft.

[0011] The attitude measurement target mainly consists of a target point support frame, a control panel, a measurement target point, a constant current circuit, a power supply, and an interface cover. The target point support frame is used to mount the control panel, measurement target point, constant current circuit, power supply, and interface cover, ensuring the stability of the measurement target point after installation. The control panel is used for switching the measurement target point on and off, the constant current circuit is used for current control of the measurement target point, the power supply is used to power the hidden point measurement target, and the interface cover is used to install the charging interface and communication interface.

[0012] The hidden point measurement target has the same structure as the attitude measurement target, except that one side of the target point support frame is extended and fitted with a detachable probe. Therefore, in conjunction with a binocular infrared vision measurement component, attitude and position measurements and calculations based on spatial coordinates are performed to obtain the hidden point and thus measure the attitude parameters of the flight control components. These attitude parameters include the attitude angles of the horizontal stabilizer, rudder, flaps, ailerons, canards, and other actuation surfaces, as well as the elevator scissor difference.

[0013] The method for establishing the connection between coordinate measurement and level measurement using the binocular infrared vision measurement component is as follows: Pin holes are embedded below the granite surface on a high-precision granite platform. The pin holes are arranged in a straight line, with more than two columns. Two columns of pin holes are also arranged on the granite end face. Pin-attached targets are installed on all pin holes. A high-precision electronic level is placed on the top surface of the high-precision granite to measure the levelness of the granite plane. The levelness of the granite platform is ensured by adjusting the jacks supporting the granite. The pin-attached targets are used to install infrared spherical targets and have the same design height. The height difference of the pin-attached targets must be controlled within ±0.01mm. After the pin-attached targets are installed on the top and end faces of the granite, the flatness of the granite itself provides a planar reference. The pin-attached targets use a magnetic attraction method to hold the infrared spherical targets, ensuring positional repeatability during repeated installations. After all pin-mounted target seats are installed on the top and end faces of the granite platform, the flatness is checked using a laser tracker in conjunction with a laser-tracked target ball of the same diameter as the infrared spherical target seat. After the inspection is passed, all pin-mounted target seats are installed on the infrared spherical target. Then, the binocular infrared vision measurement component is set up on the height and pitch adjustable bracket and placed at one end of the high-precision granite end face. After preliminary leveling, it is ensured that the binocular infrared vision measurement component can simultaneously measure the infrared spherical target on both the end face and the top face. A binocular infrared vision measurement component is used to simultaneously measure the infrared spherical targets on the end face and top face to obtain their corresponding spatial coordinates. Simultaneously, the tilt angle values ​​in two directions from the tilt sensor on the binocular infrared vision measurement component are read. Then, a normal vector direction is obtained by fitting the center point of the infrared spherical target on the top face, and another normal vector direction is obtained by fitting the center point of the infrared spherical target on the end face. According to the right-hand rule, a coordinate system is established with the center of one of the infrared spherical targets on the top face as the origin. The tilt angle values ​​in the two directions are used as the vector directions of the tilt sensor. The relationship between the tilt sensor vector and the measured end face vector is used to determine the relationship between the coordinate measurement and the horizontal measurement of the binocular infrared vision measurement component.

[0014] Preferably, the vision measurement camera in the binocular infrared vision measurement assembly is an infrared camera.

[0015] Preferably, the camera bracket in the binocular infrared vision measurement component is made of carbon fiber material, which has a low coefficient of thermal expansion. This reduces the thermal expansion deformation of the vision-based aircraft flight control component attitude measurement device during field use, thereby increasing its applicability in field use.

[0016] Preferably, the indicator laser in the binocular infrared vision measurement component is a cross-shaped laser to facilitate indicating the position of the measurement center line of the binocular infrared vision measurement component.

[0017] Preferably, the tilt sensor is a two-dimensional tilt sensor to facilitate the horizontal alignment of the target point measured by the binocular infrared vision measurement component with the ground in two directions.

[0018] Preferably, the high-altitude clamping rod in the high-altitude rapid clamping assembly is made of carbon fiber to increase rigidity and reduce weight.

[0019] Preferably, the locking and reset rope is made of steel wire rope to reduce the impact of the elasticity of the reset rope.

[0020] Preferably, the upper and lower pulleys and the mounting seat bearings in the high-altitude rapid clamping assembly are V-groove bearings.

[0021] Preferably, the measurement target point in the attitude measurement target is an infrared target point to improve the applicability of outdoor field measurement.

[0022] The working method of the vision-based attitude measurement device for aircraft flight control components disclosed in this invention is as follows:

[0023] First, set up an adjustable height and pitch support bracket, and install the binocular infrared vision measurement component onto it, ensuring stable and reliable support. Next, install the attitude measurement target onto the high-altitude quick-clamping assembly. Adjust the clamping disc opening of the handheld high-altitude quick-clamping assembly and the ball-end threaded part to the appropriate position, ensuring that the opening is greater than the thickness of the measured part. Using the high-altitude clamping rod of the handheld high-altitude quick-clamping assembly, position the attitude measurement target near the measured part. Then, press the handheld locking block of the handheld high-altitude quick-clamping assembly, causing the handheld locking block to rotate around the axis mounted on the high-altitude clamping rod. This opens the upper opening of the handheld locking block, causing the reset rope to tighten using a wire rope. Through the rotation of the upper pulley and mounting base, the lower pulley and mounting base, and the upper-mounted bearing, the upper locking bend rod rotates around the axis mounted on the high-altitude clamping rod, thus narrowing the lower opening. The upper opening simultaneously narrows, thereby pressing the L-shaped chuck locking rod and causing the lower clamping plate to rotate clockwise around the connecting shaft of the upper and lower clamping plates, thus opening the clamping jaws. At this point, align the clamping jaws with the workpiece being measured, place the workpiece into the clamping jaws, and release the hand-held locking block of the high-altitude quick-clamping assembly. The lower clamping plate, under the pressure of the guide spring, rotates counterclockwise around the connecting shaft of the upper and lower clamping plates, thus tightening the clamping jaws. After clamping, remove the components below the upper locking bend. Open the binocular infrared vision measurement assembly. Based on the laser emitted by the indicator laser, adjust the horizontal and pitch directions so that the attitude measurement target enters the center of the measurement field of view. The binocular infrared vision measurement assembly begins measurement, records the current position, and operates the aircraft control stick to different measurement conditions to measure the spatial coordinates of the target point in the attitude measurement target at different positions. Since the relative spatial coordinates of the target point in the attitude measurement target are known...

[0024] For the locations of N measurement target points, the optimization objective function established using the least squares method is as follows:

[0025]

[0026] Where X = (u0, v0, w0, x0, y0, z0) represents the true coordinates of the probe sphere's center. Since there are six unknowns, at least six images are needed for parameter solving. To improve calibration accuracy, hundreds of images are used for least-squares calculations to obtain more precise probe sphere center coordinates.

[0027] In the actual measurement process, the coordinates X of all target points on the hidden point measurement target or attitude measurement target in the i-th measurement state are measured using a binocular vision measurement system. i

[0028] N is the number of measurement target points.

[0029] The measured coordinates of these target points are compared with the pre-calibrated coordinates of the hidden point measurement target or attitude measurement target. s (x s ,y s ,z s Alignment,

[0030] N is the number of measurement target points.

[0031] Solve the following equation:

[0032] X i T =R i X s T +T i

[0033] Let F i (R i ,T i ) = R i X s T +T i -X i T By using the least squares method, i.e., solving

[0034] E(R i ,T i )=min||F i T F i ||

[0035] Obtain the pose of the hidden point measurement target or pose measurement target in its "current state" [R]. i |T i The transformation relationship is relative to the "standard state". Similarly, if the hidden point measurement target or attitude measurement target is set to a certain measurement state as the "initial measurement state", and the coordinates of all measurement target points are X0, the attitude [R0|T0] under this "initial measurement state" can be obtained by the following formula:

[0036] X0 T =R0X s T +T0

[0037] Similarly, [R0|T0] is obtained using the least squares method. Combining the above two equations, we get:

[0038]

[0039]

[0040] Right now After deformation, we obtain:

[0041]

[0042] Therefore, the pose of the i-th measurement state relative to the "initial state of the 0th measurement" is [R]. 0→i |T 0→i ],in

[0043]

[0044] Rotation matrix R 0→i The rotation angle around the coordinate axis is:

[0045]

[0046] in

[0047] This allows us to obtain the angles of the attitude measurement target under different working conditions.

[0048] Taking the horizontal tail deflection as an example, this paper introduces the calculation method of the hidden point measurement target. This method can directly use the hidden point measurement target for measurement. Since the hidden point measurement target can directly measure the coordinates of the probe, it is only necessary to align the probe with the measurement point to carry out the measurement. Measure the measurement points on the horizontal tail respectively. When measuring, first push the control stick forward to the limit, and then return the control stick to the neutral position at a certain speed until the control stick stops. Measure the horizontal tail deflection J1 at this time. Then measure the horizontal tail deflection J2 in the same way in the opposite direction. Calculate the "average deflection" using J_average = (J1 + J2) / 2.

[0049] The main type of symmetrical scissor difference is the horizontal stabilizer scissor difference. The binocular infrared vision measurement unit is placed in the center, with the control stick adjusted to a neutral position. Hidden point measurement targets are used to measure symmetrical points on both sides, and then horizontal measurement points are measured using the same hidden point measurement targets. After obtaining the aircraft's horizontal coordinate system, the measurement points are projected onto the vertical plane to obtain data such as the horizontal stabilizer scissor difference. The attitude measurement target is placed in the center for intermediate transition, serving as a stopover point when both left and right fields of view cannot be simultaneously monitored.

[0050] Beneficial effects:

[0051] 1. The present invention discloses a vision-based attitude measurement device for aircraft flight control components, which uses a binocular infrared vision measurement component in conjunction with an attitude measurement target with infrared measurement target points to realize the attitude measurement of outdoor test components.

[0052] 2. The present invention discloses a vision-based attitude measurement device for aircraft flight control components. It can use a binocular infrared vision measurement component in conjunction with a hidden point measurement target to measure the hidden reference point, and measure parameters such as the horizontal stabilizer's left and right symmetry scissor difference and skewness. Thus, a single device can achieve the purpose of comprehensive on-site measurement of the attitude angle of aircraft flight control components.

[0053] 3. The present invention discloses a vision-based attitude measurement device for aircraft flight control components. The binocular infrared vision measurement component can realize simultaneous multi-point measurement of multiple targets, including attitude measurement targets and hidden point measurement targets. Therefore, it can acquire parameters such as the measured attitude angle, which can improve the efficiency of attitude angle acquisition.

[0054] 4. The present invention discloses a vision-based attitude measurement device for aircraft flight control components. The high-altitude quick clamping assembly can control the clamping of the attitude measurement target at high altitude by manually releasing or clamping the hand-held locking block of the high-altitude quick clamping assembly. Therefore, it can avoid personnel working at high altitudes, improve safety and increase detection efficiency. Attached Figure Description

[0055] Figure 1 This is an overall structural diagram of the vision-based aircraft flight control component attitude measurement device of the present invention;

[0056] Figure 2 This is a structural diagram of the binocular infrared vision measurement component of the present invention;

[0057] Figure 3 This is a structural diagram of the empty quick-clamping assembly of the present invention;

[0058] Figure 4 This is a structural diagram of the attitude measurement target of the present invention;

[0059] Figure 5 This is a schematic diagram of the flat tail deviation measurement of the present invention;

[0060] Figure 6 This is a schematic diagram of the left-right symmetrical scissor difference measurement of the present invention;

[0061] Figure 7 This is a schematic diagram illustrating the relationship between the measurement coordinates and the horizontal measurement established by the infrared vision measurement component of this invention;

[0062] Among them: 1—Adjustable height and pitch attitude bracket, 2—Binocular infrared vision measurement component, 3—High-altitude quick clamping component, 4—Attitude measurement target, 5—Measured flap, 6—Measured horizontal stabilizer, 7—Measured rudder, 8—Measured left horizontal stabilizer, 9—Measured right horizontal stabilizer, 101—Adjustable height support tripod, 102—Pitch adjustment mechanism, 201—Camera bracket, 202—Quick mounting bracket, 203—Indicator laser mounting base, 204—Indicator laser, 205—Tilt sensor, 206—Mounting connector, 207—Vision measurement camera and mounting bracket, 301—Chuck connecting plate, 302—Chuck locking rod, 303—Pressure guide spring. 304—Lower clamping plate; 305—Upper clamping plate; 306—Clamping plate opening adjustment ball thread part; 307—Upper locking bent rod; 308—Rod connecting seat; 309—High-altitude clamping rod; 310—Upper pulley and mounting seat; 311—Locking and reset rope; 312—Lower pulley and mounting seat; 313—Handheld locking block; 401—Target point support frame; 402—Control panel; 403—Measurement target point; 404—Constant current circuit; 405—Power supply; 406—Interface cover; 1001—High-precision granite platform; 1002—Embedded pin hole seat; 1003—Target seat with pin; 1004—Infrared spherical target; 1005—Jack. Detailed Implementation

[0063] See appendix Figure 1 As shown, the vision-based attitude measurement device for aircraft flight control components disclosed in this embodiment mainly consists of five parts: first, an adjustable bracket 1 for altitude and pitch attitude; second, a binocular infrared vision measurement component 2; third, a high-altitude quick-clamping component 3; fourth, an attitude measurement target 4; and fifth, a hidden point measurement target 5.

[0064] The adjustable elevation and pitch bracket 1 is used to mount the binocular infrared vision measurement component 2, enabling adjustment of its elevation and pitch directions and providing stable support after adjustment. This ensures that the attitude measurement target 4 and the hidden point measurement target are within the visible measurement range. The binocular infrared vision measurement component 2, based on binocular vision principles, measures the attitude angles of the attitude measurement target 4 and the spatial coordinates of the hidden point measurement target, thereby achieving the goal of comprehensive on-site measurement of the attitude angle parameters of the flight control components. The high-altitude rapid clamping component 3 enables rapid installation and removal of the attitude measurement target 4 at high altitudes, reducing attitude angle measurement preparation time and improving measurement efficiency. The attitude measurement target 4 is used to mount multiple multi-directional target points, working with the binocular infrared vision measurement component 2 to measure and calculate the attitude angles of the flight control components within a wide range of attitude angles based on spatial coordinate values. The hidden point measurement target is used to mount multiple multi-directional target points and probes, working with the binocular infrared vision measurement component 2 to measure and calculate the attitude and position based on spatial coordinate values, thereby obtaining parameters such as the scissor difference from the hidden point.

[0065] The height and pitch adjustable bracket 1 mainly consists of two parts: an adjustable height support tripod 101 and a pitch adjustment mechanism 102. The adjustable height support tripod 101 adopts a commercially available tripod, and the pitch adjustment mechanism 102 adopts a single-pin rotation and an arc-shaped waist groove locking structure, which can realize the stable support and connection between the support tripod and the binocular infrared vision measurement component 2, and at the same time realize the adjustment and locking of the pitch angle of the binocular infrared vision measurement component 2, so as to facilitate measurement.

[0066] See appendix Figure 2As shown, the binocular infrared vision measurement assembly 2 mainly consists of components such as a camera bracket 201, a quick-mount bracket 202, an indicator laser mounting base 203, an indicator laser 204, a tilt sensor 205, a mounting connector 206, a vision measurement camera, and a mounting bracket 207. The camera bracket 201 is mounted on both sides of the mounting connector 206 to support the vision measurement camera, ensuring dimensional stability after the camera's angle is adjusted. The quick-mount bracket 202 is mounted at the bottom of the mounting connector 206, and its C-shaped structure connects the binocular infrared vision measurement assembly 2 to the pitch adjustment mechanism 102 on the height and pitch attitude adjustable bracket 1. The indicator laser 204 is mounted to the mounting connector 206 via the indicator laser mounting base 203, and emits a laser to indicate the center position of the binocular infrared vision measurement assembly 2. The tilt sensor 205 is mounted on the mounting connector 206 to establish a connection between coordinate measurement and horizontal measurement, enabling the measurement of the neutral position of some aircraft flight control components. Mounting connector 206 is installed between two camera support brackets to connect the visual measurement camera to the tilt sensor 205 and the indicator laser 204. The visual measurement camera and mounting bracket 207 are used to mount the two cameras to measure the spatial position of the target point 403.

[0067] See appendix Figure 3As shown, the high-altitude rapid clamping assembly 3 mainly consists of a chuck connecting plate 301, a chuck locking rod 302, a clamping guide spring 303, a lower clamping plate 304, an upper clamping plate 305, a clamping plate opening adjustment ball thread part 306, an upper locking bent rod 307, a rod connecting seat 308, a high-altitude clamping rod 309, an upper pulley and mounting seat 310, a locking reset rope 311, a lower pulley and mounting seat 312, and a handheld locking block 313. The chuck connecting plate 301 is installed on the upper clamping plate 305 and is used for rapid connection with the pin on the rod connecting seat 308. The chuck locking rod 302 is fixedly installed on the lower clamping plate 304. Its L-shaped structure allows the lower clamping plate 304 to rotate around the connecting shaft of the upper and lower clamping plates 304, thereby opening and closing the clamping opening and thus installing it with the workpiece being measured. One end of the clamping guide spring 303 is mounted on the upper clamping plate 305, and the other end is mounted on the lower clamping plate 304. It uses a pin-hole guide to ensure that the spring force is axial while simultaneously enabling the lower clamping plate 304 to return to its original position around the connecting shaft of the upper and lower clamping plates 304, generating a thrust on the lower clamping plate 304. This ensures that the high-altitude quick-clamping assembly 3 can be stably clamped onto the workpiece. The clamping plate opening adjustment ball-head threaded part 306 is mounted on the upper and lower clamping plates 304. Adjustment allows for adjustment of the clamping opening to accommodate measurements of workpieces of different thicknesses. The upper locking bent rod 307 is mounted on the rod connecting seat 308. Adjustment of the tension and slack of the locking reset rope 311 allows for rotation of the chuck locking rod 302, thereby opening and closing the clamping opening. The high-altitude clamping rod 309 is used to install components such as the upper pulley and mounting base 310, the lower pulley and mounting base 312, the locking and reset rope 311, and the handheld locking block 313, enabling the high-altitude quick clamping assembly 3 to be supported, clamped, and disassembled at high altitudes. The upper pulley and mounting base 310 and the lower pulley and mounting base 312 are connected to the high-altitude clamping rod 309 through a central hole and are also equipped with bearings to allow for the direction of force application on the locking and reset rope 311. The handheld locking block 313 is mounted on the high-altitude clamping rod 309 via a shaft, and the locking and reset rope 311 can be tightened or loosened by rotating the handheld block around the shaft.

[0068] See appendix Figure 4 As shown, the attitude measurement target 4 mainly consists of a target point support frame 401, a control panel 402, a measurement target point 403, a constant current circuit 404, a power supply 405, and an interface cover 406. The target point support frame 401 is used to install the control panel 402, measurement target point 403, constant current circuit 404, power supply 405, and interface cover 406, ensuring the stability of the measurement target point 403 after installation. The control panel 402 is used for switching the measurement target point 403 on and off; the constant current circuit 404 is used for current control of the measurement target point 403; the power supply 405 provides power to the hidden point measurement target; and the interface cover 406 is used for installing the charging interface and communication interface.

[0069] The hidden point measurement target is mainly the same as the attitude measurement target 4 in structure. The difference is that one side of the target point support frame 401 is extended and a detachable probe is installed. Therefore, it is used in conjunction with the binocular infrared vision measurement component 2 to measure and calculate the attitude and position based on spatial coordinate values, thereby obtaining the hidden point and realizing the measurement of parameters such as scissor difference.

[0070] See appendix Figure 1 As shown in the figure, the working method of the vision-based attitude measurement device for aircraft flight control components disclosed in this embodiment is as follows: First, an adjustable support 1 for altitude and pitch attitude is erected, and the binocular infrared vision measurement component 2 is installed on the adjustable support 1 to ensure stable and reliable support. Then, the attitude measurement target 4 is installed on the high-altitude quick-clamping component 3, and the opening of the clamping disc of the handheld high-altitude quick-clamping component 3 is adjusted to a suitable position to ensure that the opening is greater than the thickness of the measured component. Using the handheld high-altitude quick-clamping assembly 3, the high-altitude clamping rod 309 is used to set up the attitude measurement target 4 near the workpiece. Then, the hand is pressed on the handheld locking block 313 of the handheld high-altitude quick-clamping assembly 3, causing the handheld locking block 313 to rotate around the axis mounted on the high-altitude clamping rod 309. This opens the upper opening of the handheld locking block 313, causing the reset rope to tighten using a steel wire rope. Through the rotational action of the upper pulley and mounting base 310, the lower pulley and mounting base 312, and the upper-mounted bearing, the upper locking bent rod 307 is rotated around the axis mounted on the high-altitude clamping rod 309, causing the lower opening to retract. The upper opening shrinks simultaneously, thereby pressing the L-shaped chuck locking rod 302 and causing the lower clamping plate 304 to rotate clockwise around the connecting shaft of the upper and lower clamping plates 304, thus opening the clamping opening. At this time, align the clamping opening with the workpiece to be measured, place the workpiece into the clamping opening, and release the hand-held locking block 313 of the high-altitude quick clamping assembly 3. At this time, the lower clamping plate 304 rotates counterclockwise around the connecting shaft of the upper and lower clamping plates 304 under the action of the pressure guide spring 303, thus tightening the clamping opening. After clamping, remove the parts below the upper locking bend rod 307. Open the binocular infrared vision measurement assembly 2, and adjust the horizontal and pitch directions according to the laser emitted by the indicator laser 204 so that the attitude measurement target 4 enters the middle position of the measurement field of view. The binocular infrared vision measurement component 2 starts measuring, records the current position, operates the aircraft control stick to different measurement conditions, and measures the spatial coordinates of the measurement target point 403 in the attitude measurement target 4 at different positions, since the relative spatial coordinates of the measurement target point 403 in the attitude measurement target 4 are known.

[0071] For N measurement target points at position 403, the optimization objective function is established based on the least squares approach as follows:

[0072]

[0073] Where X = (u0, v0, w0, x0, y0, z0) is the true value of the probe ball center coordinates to be determined. Since there are 6 unknowns, at least 6 images are needed for parameter solving. To improve calibration accuracy, hundreds of images are generally used for least squares solution to obtain more accurate probe ball center coordinates.

[0074] During the actual measurement process, the coordinates X of all measurement target points 403 on the hidden point measurement target or attitude measurement target 4 in the i-th measurement state are measured by the binocular vision measurement system. i

[0075] N represents the number of 403 target points to be measured.

[0076] The coordinates of these measured target points 403 are compared with the coordinates of the hidden point measurement target or attitude measurement target 4 that have been calibrated. s (x s ,y s ,z s Alignment,

[0077] N represents the number of 403 target points to be measured.

[0078] Solve the following equation:

[0079] X i T =R i X s T +T i

[0080] Let F i (R i ,T i ) = R i X s T +T i -X i T By using the least squares method, i.e., solving

[0081] E(R i ,T i )=min||F i T F i ||

[0082] The attitude of the hidden point measurement target or attitude measurement target in its "current state" can be obtained [R]. i |T iThe transformation relationship relative to the "standard state". Similarly, if the hidden point measurement target or attitude measurement target 4 is set to a certain measurement state as the "initial measurement state", and the coordinates of all measurement target points 403 are X0, the attitude [R0|T0] under this "initial measurement state" can be obtained by the following formula:

[0083] X0 T =R0X s T +T0

[0084] Similarly, [R0|T0] can be obtained using least squares. Combining the above two equations, we get:

[0085]

[0086]

[0087] Right now After deformation, we obtain:

[0088]

[0089] Therefore, the pose of the i-th measurement state relative to the "initial state of the 0th measurement" is [R]. 0→i |T 0→i ],in

[0090]

[0091] Rotation matrix R 0→i The rotation angle around the coordinate axis is:

[0092]

[0093] in

[0094] Then, the angles of the attitude measurement target 4 under different working conditions are obtained.

[0095] See appendix Figure 5 As shown, taking the tail slack deviation as an example, this paper introduces the calculation method of the hidden point measurement target. This method can directly use the hidden point measurement target for measurement. Since the hidden point measurement target can directly measure the coordinates of the probe, it is only necessary to align the probe with the measurement point of the tail slack 6 to perform the measurement. Measure the measurement points on the tail slack 6 respectively. When measuring, first push the control stick forward to the limit, and then return the control stick to the neutral position at a certain speed until the control stick stops. Measure the deviation J1 of the tail slack 6 at this time. Then measure the deviation J2 of the tail slack 6 in the same way in the opposite direction. Calculate the "average deviation" according to J_average = (J1 + J2) / 2.

[0096] See appendix Figure 6As shown, symmetrical scissor differences mainly include horizontal stabilizer scissor differences. The measurement scheme employs a binocular infrared vision measurement component 2 placed in the center. The control stick is adjusted to a neutral position. Hidden point measurement targets are used to measure symmetrical measurement points on the left horizontal stabilizer 8 and the right horizontal stabilizer 9. Then, hidden point measurement targets are used to measure horizontal measurement points. After obtaining the aircraft's horizontal coordinate system, the measurement points are projected onto the vertical plane to obtain data such as the horizontal stabilizer scissor difference. Attitude measurement target 4 is placed in the center for intermediate transition, serving as a stopover when both left and right fields of view cannot be simultaneously assessed. When measuring the rudder 7, attitude measurement target 4 is mounted onto the rudder 7 using a high-altitude rapid clamping component 3. The attitude angle of the rudder 7 is measured by measuring the attitude angles at the center position and the two extreme left and right positions.

[0097] See appendix Figure 7As shown, the method for establishing the connection between coordinate measurement and level measurement using the binocular infrared vision measurement component 2 is as follows: Pin-hole seats 1002 are embedded below the granite surface on a high-precision granite platform 1001. The pin-hole seats are arranged in a straight line, with more than two columns. Two columns of pin-hole seats are also arranged on the granite end face, and pin-target seats 1003 are installed on all pin-hole seats. A high-precision electronic level is placed on the top surface of the high-precision granite to measure the levelness of the granite plane. The levelness of the granite platform is ensured by adjusting the jacks 1005 supporting the granite. The pin-target seats 1003 are used to install infrared spherical targets 1004, and they have the same design height. The height difference of the pin-target seats 1003 must be controlled within ±0.01mm. After the pin-target seats 1003 are installed on the top and end faces of the granite, they rely on the flatness of the granite itself to provide a plane reference. The pin-target seats 1003 use a magnetic attraction method to hold the infrared spherical targets 1004, ensuring positional repeatability during repeated installations. After all the pin-mounted target seats 1003 are installed on the top and end faces of the granite platform, the flatness is checked using a laser tracker in conjunction with a laser-tracked target ball of the same diameter as the infrared spherical target 1004. After the inspection is passed, all the pin-mounted target seats 1003 are installed on the infrared spherical target 1004. Then, the binocular infrared vision measurement component 2 is set up on the height and pitch adjustable bracket 1 and placed at one end of the high-precision granite end face. After preliminary leveling, it is ensured that the binocular infrared vision measurement component 2 can simultaneously measure the infrared spherical target 1004 on the end face and the top face. The binocular infrared vision measurement component 2 simultaneously measures the infrared spherical target 1004 on both the end face and the top face to obtain the corresponding spatial coordinates. Simultaneously, it reads the tilt angle values ​​in two directions from the tilt sensor 205 on the binocular infrared vision measurement component 2. Then, it obtains a normal vector direction by fitting the center point of the infrared spherical target 1004 on the top face, and another normal vector direction by fitting the center point of the infrared spherical target 1004 on the end face. According to the right-hand rule, a coordinate system is established with the center of one of the infrared spherical targets 1004 on the top face as the origin. The tilt angle values ​​in the two directions are used as the vector directions of the tilt sensor 205. The relationship between the coordinate measurement and the horizontal measurement of the binocular infrared vision measurement component 2 can be determined by the relationship between the tilt sensor 205 vector and the measured end face vector.

[0098] The above detailed description further illustrates the purpose, technical solution, and beneficial effects of the invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vision-based attitude measurement device for aircraft flight control components, characterized in that: It consists of five parts: an adjustable support for elevation and pitch, a binocular infrared vision measurement component, a high-altitude quick-clamping component, an attitude measurement target, and a hidden point measurement target. The adjustable elevation and pitch bracket is used to mount the binocular infrared vision measurement component, enabling adjustment of the elevation and pitch directions of the component and providing stable support after adjustment, ensuring that the attitude measurement target and the hidden point measurement target are within the visible measurement range. The binocular infrared vision measurement component is used to measure the attitude angle of the attitude measurement target and the spatial coordinates of the hidden point measurement target based on the principle of binocular vision, realizing comprehensive on-site measurement of the attitude angle parameters of the flight control components. The high-altitude rapid clamping component enables rapid installation and removal of the attitude measurement target at high altitudes, reducing attitude angle measurement preparation time and improving efficiency. Measurement efficiency; the attitude measurement target is used to install multiple multi-directional target points, which, together with the binocular infrared vision measurement component, enable the flight control component to measure and calculate attitude angles based on spatial coordinate values ​​within a wide range of attitude angles; the hidden point measurement target is used to install multiple multi-directional target points and probes, which, together with the binocular infrared vision measurement component, enable the measurement and calculation of attitude and position based on spatial coordinate values, thereby obtaining hidden points to measure the attitude parameters of the flight control component; the attitude parameters of the flight control component include the actuation surface attitude angles and elevator scissor difference; the actuation surface attitude angles include the horizontal stabilizer, rudder, flaps, ailerons, and canards; The height and pitch adjustable bracket consists of two parts: an adjustable height support tripod and a pitch adjustment mechanism. The binocular infrared vision measurement assembly consists of a camera bracket, a quick-mount frame, an indicator laser mount, an indicator laser, an tilt sensor, a mounting connector, a vision measurement camera, and a mounting frame. The high-altitude rapid clamping assembly consists of a chuck connecting plate, a chuck locking rod, a clamping guide spring, a lower clamping plate, an upper clamping plate, a clamping plate opening adjustment ball thread component, an upper locking bent rod, a rod connecting seat, a high-altitude clamping rod, an upper pulley and mounting seat, a locking reset rope, a lower pulley and mounting seat, and a handheld locking block. The attitude measurement target consists of a target point support frame, a control panel, a measurement target point, a constant current circuit, a power supply, and an interface cover.

2. The vision-based attitude measurement device for aircraft flight control components as described in claim 1, characterized in that: The adjustable height support tripod adopts a tripod, and the pitch adjustment mechanism adopts a single pin shaft and arc-shaped waist groove locking structure to achieve stable support and connection between the support tripod and the binocular infrared vision measurement component, while realizing the adjustment and locking of the pitch angle of the binocular infrared vision measurement component. Camera brackets are installed on both sides of the mounting connector to support the vision measurement camera, ensuring dimensional stability after the camera is adjusted to the correct angle. A quick-mount bracket is installed at the bottom of the mounting connector; its C-shaped structure connects the binocular infrared vision measurement component to the pitch adjustment mechanism on the adjustable height and pitch attitude bracket. An indicator laser is mounted on the mounting connector via an indicator laser mount; it emits laser light to indicate the center position of the binocular infrared vision measurement component. A tilt sensor is mounted on the mounting connector to establish a connection between coordinate and horizontal measurements, enabling the measurement of the neutral position of some aircraft flight control components. The mounting connector is installed between the two camera support brackets, connecting the vision measurement camera to the tilt sensor and the indicator laser. The vision measurement camera and mounting bracket are used to mount the two cameras to measure the spatial position of the target point. The chuck connecting plate is mounted on the upper clamping plate for quick connection with the pin on the connecting seat of the rod. The chuck locking rod is fixedly mounted on the lower clamping plate. Its L-shaped structure allows the lower clamping plate to rotate around the connecting shaft of the upper and lower clamping plates, thereby opening and closing the clamping jaws and facilitating the mounting of the workpiece. The clamping guide spring is mounted on the upper clamping plate at one end and on the lower clamping plate at the other end. It uses a pin hole guide to ensure that the spring force is axial while simultaneously enabling the lower clamping plate to return to its original position around the connecting shaft of the upper and lower clamping plates, generating a thrust on the lower clamping plate. This ensures that the high-altitude quick clamping assembly can stably clamp the workpiece. The clamping jaw opening adjustment ball thread is mounted on the upper and lower clamping plates. Adjustment of the ball thread allows for adjustment of the clamping jaws. The adjustment is made to adapt to the measurement needs of test pieces of different thicknesses; the upper locking rod is installed on the rod connecting seat, and the rotation of the chuck locking rod is realized by adjusting the tension and relaxation of the locking reset rope, thereby realizing the opening and closing of the clamping mouth; the high-altitude clamping rod is used to install the upper pulley and mounting seat, the lower pulley and mounting seat, the locking reset rope, and the hand-held locking block, etc., to realize the high-altitude quick clamping assembly for high-altitude support, clamping, and disassembly; the upper pulley and mounting seat, and the lower pulley and mounting seat are connected to the high-altitude clamping rod through the middle hole, and the upper pulley and lower pulley are also equipped with bearings. The upper pulley and lower pulley are used to realize the direction of the force applied by the locking reset rope; the hand-held locking block is installed on the high-altitude clamping rod through the shaft, and the locking reset rope is tightened or relaxed by rotating the hand around the shaft; The target point support frame is used to install the control panel, measurement target point, constant current circuit, power supply, and interface cover to ensure the stability of the measurement target point after installation. The control panel is used to switch the measurement target point on and off, the constant current circuit is used to control the current of the measurement target point, the power supply is used to power the hidden point measurement target, and the interface cover is used to install the charging interface and communication interface. The structure of the hidden point measurement target is the same as that of the attitude measurement target. The difference is that one side of the target point support frame is extended and equipped with a detachable probe. Therefore, in conjunction with the binocular infrared vision measurement component, attitude and position are measured and calculated based on spatial coordinate values, thereby obtaining the hidden point and realizing the measurement of the attitude parameters of the flight control component. The attitude parameters of the flight control component include the actuation surface attitude angle and the elevator scissor difference. The method for establishing the connection between coordinate measurement and level measurement using the binocular infrared vision measurement component is as follows: Pin holes are embedded below the granite surface on a high-precision granite platform. The pin holes are arranged in a straight line, with more than two columns. Two columns of pin holes are also arranged on the granite end face. Pin-attached targets are installed on all pin holes. A high-precision electronic level is placed on the top surface of the high-precision granite to measure the levelness of the granite plane. The levelness of the granite platform is ensured by adjusting the jacks supporting the granite. The pin-attached targets are used to install infrared spherical targets and have the same design height. The height difference of the pin-attached targets must be controlled within ±0.01mm. After the pin-attached targets are installed on the top and end faces of the granite, the flatness of the granite itself provides a plane reference. The pin-attached targets use a magnetic attraction method to hold the infrared spherical targets, ensuring position repeatability during repeated installations. After all pin-attached targets are installed on the top and end faces of the granite platform, a laser tracker is used in conjunction with a laser-tracked target ball of the same diameter as the infrared spherical target to check the flatness. After passing the inspection, the target is... Infrared spherical targets are installed on all pin-mounted target holders. Then, a binocular infrared vision measurement component is mounted on the height and pitch adjustable bracket and placed at one end of the high-precision granite end face. After initial leveling, it is ensured that the binocular infrared vision measurement component can simultaneously measure the infrared spherical targets on both the end face and the top face. The binocular infrared vision measurement component is used to simultaneously measure the infrared spherical targets on both the end face and the top face to obtain the corresponding spatial coordinates. Simultaneously, the tilt angle values ​​in two directions from the tilt sensor on the binocular infrared vision measurement component are read. Then, a normal vector direction is obtained by fitting the center point of the infrared spherical target on the top face, and another normal vector direction is obtained by fitting the center point of the infrared spherical target on the end face. According to the right-hand rule, a coordinate system is established with the center of one infrared spherical target on the top face as the origin. The tilt angle values ​​in the two directions are used as the vector directions of the tilt sensor. The relationship between the tilt sensor vector and the measured end face vector is used to determine the relationship between the coordinate measurement and the horizontal measurement of the binocular infrared vision measurement component.

3. The vision-based attitude measurement device for aircraft flight control components as described in claim 1, characterized in that: The vision measurement camera in the binocular infrared vision measurement assembly is an infrared camera; The camera bracket in the binocular infrared vision measurement component is made of carbon fiber, which reduces thermal expansion deformation of the vision-based aircraft flight control component attitude measurement device during field use by taking advantage of its low coefficient of thermal expansion. The indicator laser in the binocular infrared vision measurement component is a cross-shaped laser.

4. The vision-based attitude measurement device for aircraft flight control components as described in claim 1, characterized in that: The tilt sensor is a two-dimensional tilt sensor to facilitate the horizontal alignment of the target point measured by the binocular infrared vision measurement component with the ground in two directions.

5. The vision-based attitude measurement device for aircraft flight control components as described in claim 1, characterized in that: The high-altitude clamping rod in the high-altitude rapid clamping assembly is made of carbon fiber.

6. The vision-based attitude measurement device for aircraft flight control components as described in claim 1, characterized in that: The locking and reset rope is made of steel wire rope; the upper and lower pulleys and the mounting seat bearings in the high-altitude quick clamping assembly are V-groove bearings.

7. The vision-based attitude measurement device for aircraft flight control components as described in claim 1, characterized in that: The measurement target points in the attitude measurement target are infrared target points.

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