Method, apparatus, device and medium for monitoring gap between aircraft skin and structural member

Abstract

The application discloses a kind of method, device, equipment and medium of monitoring the gap between aircraft skin and structural member, related to the technical field of gap monitoring, method includes: obtaining reference image, and according to reference image, the theoretical height T0 of the protruding part of reference test boss is determined;According to the actual height T of preset theoretical height T0 and calculation gap amount calibration coefficient ε;Obtain the process digital model of aircraft skin and structural member in the state of fitting, and according to process digital model, the gap monitoring position between aircraft skin and structural member is obtained;When aircraft skin and structural member are in the state of fitting, the monitoring image of each gap monitoring position is obtained;According to monitoring image, the first gap amount δ0 of each gap monitoring position is determined respectively;According to gap amount calibration coefficient ε and first gap amount δ0, the second gap amount δ of each gap monitoring position is calculated respectively.The application has the effect of improving the accuracy of gap measurement.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of gap monitoring, in particular to a gap monitoring method, device, equipment and medium for an aircraft skin and a structural member. BACKGROUND

[0002] The aircraft skin is a core component directly contacted with the external environment of the aircraft, and is usually connected with the structural member constituting the aircraft framework by processing a dimple hole and adopting riveting. However, when there is a gap between the aircraft skin and the structural member, vibration may occur in the process of processing the dimple hole, so that the depth of the dimple hole is too deep or too shallow. If the depth of the dimple hole is too deep, the surface quality of riveting may be unqualified, and even the aircraft skin and the structural member may be scrapped. If the depth of the dimple hole is too shallow, the adjustment can be made by the artificial dimple correction, but the processing efficiency is affected.

[0003] Therefore, quickly and conveniently identifying the gap amount of the aircraft skin and the structural member in the lamination state can ensure the quality and processing efficiency of the dimple hole. At present, in the case that the aircraft skin and the structural member are laminated, the gap amount is mainly calculated by the displacement difference of the mechanical component, but the operation of this method is not convenient, the positioning of the mechanical component is difficult, there is a large error in the measurement process, and the obtained gap amount is not accurate enough. SUMMARY

[0004] In order to improve the accuracy of the gap amount measurement, the application provides a gap monitoring method, device, equipment and medium for an aircraft skin and a structural member.

[0005] In a first aspect, the application provides a gap monitoring method for an aircraft skin and a structural member, which adopts the following technical scheme:

[0006] The gap monitoring method for the aircraft skin and the structural member comprises the following steps:

[0007] obtaining a reference image; the reference image is an image collected by a first double-camera on the opposite side of a probe through a first parallel light source on one side of the probe when the probe and the base and the protruding part of the reference test boss are in contact; the projection of the probe on a first plane is a circle or a sector, and the first plane is a plane where the first double-camera is located and is perpendicular to the light emitted by the first parallel light source;

[0008] determining the theoretical height T0 of the protruding part of the reference test boss according to the reference image;

[0009] calculating a gap amount calibration coefficient ε according to the theoretical height T0 of the protruding part and a preset actual height T;

[0010] acquire a process digital model of the aircraft skin and the structural member in the state of fitting, and acquire each gap monitoring position between the aircraft skin and the structural member according to the process digital model;

[0011] acquire a monitoring image of each gap monitoring position when the aircraft skin and the structural member are in the state of fitting; the monitoring image is an image collected by a second parallel light source irradiating the probe on one side of the probe and a second binocular camera collecting on the opposite side of the probe when the probe is in contact with the aircraft skin and the structural member; a projection of the probe on a second plane is a circle or a sector, and the second plane is a plane where the second binocular camera is located and is perpendicular to the light emitted by the second parallel light source;

[0012] determine a first gap amount δ0 of each gap monitoring position according to the monitoring image;

[0013] calculate a second gap amount δ of each gap monitoring position according to the gap amount calibration coefficient ε and the first gap amount δ0.

[0014] By adopting the technical scheme, the reference image is acquired, then the theoretical height T0 of the protruding part of the reference test boss is determined according to the reference image, and the gap amount calibration coefficient ε is calculated according to the theoretical height T0 of the protruding part and the preset actual height T; then the process digital model of the aircraft skin and the structural member in the state of fitting is acquired, and each gap monitoring position between the aircraft skin and the structural member is acquired according to the process digital model; then the monitoring image of each gap monitoring position is acquired; then the first gap amount δ0 of each gap monitoring position is determined according to the monitoring image, and the second gap amount δ of each gap monitoring position is calculated according to the gap amount calibration coefficient ε and the first gap amount δ0. In the above method, the reference image when the probe is in contact with the reference test boss under the irradiation of the first parallel light source is collected by the first binocular camera, and the theoretical height T0 of the protruding part is calculated by using the image recognition technology, and then the gap amount calibration coefficient ε is obtained; and the monitoring image of each gap monitoring position when the probe is in contact with the aircraft skin and the structural member under the irradiation of the first parallel light source is collected by the first binocular camera, and the first gap amount δ0 of each gap monitoring position is calculated by using the image recognition technology, and then the second gap amount δ with smaller error is calculated by the gap amount calibration coefficient ε, so as to improve the accuracy of the gap amount measurement, and then the processing quality of the counterbore hole is improved; meanwhile, the whole process is relatively convenient to operate, and the gap amount between the aircraft skin and the structural member in the state of fitting can be quickly identified, and the processing efficiency of the counterbore hole is improved.

[0015] Optionally, the determining the theoretical height T0 of the protruding part of the reference test boss according to the reference image specifically comprises:

[0016] geometric feature recognition is performed on the reference image to obtain a first radius R1 of the probe and a first included angle β1 of a first line segment and a second line segment; the first line segment is a line segment with a spherical center O of the probe and a contact point M between the probe and the reference test boss as end points, and the second line segment is a line segment with the spherical center O of the probe and a contact point N between the probe and the reference test boss as end points;

[0017] a theoretical height T0 of the convex part of the reference test boss is calculated according to the first radius R1 and the first included angle β1.

[0018] By adopting the technical scheme, in order to obtain the theoretical height T0 of the convex part of the reference test boss, geometric feature recognition is first performed on the reference image to obtain the first radius R1 of the probe and the first included angle β1 of the first line segment and the second line segment, and then the theoretical height T0 of the convex part of the reference test boss is calculated according to the first radius R1 and the first included angle β1.

[0019] Optionally, the first gap δ0 of each gap monitoring position is determined according to the monitoring image, and specifically includes:

[0020] geometric feature recognition is performed on the monitoring image to obtain a second radius R2 of the probe, a thickness t of the skin, a chamfer distance b, a chamfer angle α, a second included angle β2 of a third line segment and a fourth line segment, and a distance μ from a contact point P between the probe and the skin to a side edge EF of the structural member; the third line segment is a line segment with the spherical center O of the probe and the contact point P between the probe and the skin as end points, and the fourth line segment is a line segment with the spherical center O of the probe and a contact point Q between the probe and the structural member as end points;

[0021] the first gap δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2 and the distance μ.

[0022] By adopting the technical scheme, in order to obtain the first gap δ0, geometric feature recognition is first performed on the monitoring image to obtain the second radius R2 of the probe, the thickness t of the skin, the chamfer distance b, the chamfer angle α, the second included angle β2 of the third line segment and the fourth line segment, and the distance μ from the contact point P between the probe and the skin to the side edge EF of the structural member, and then the first gap δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2 and the distance μ.

[0023] Optionally, the first gap δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2 and the distance μ, and specifically includes:

[0024] determining the size relationship between the chamfer angle α and the second included angle β2;

[0025] when α < β2, calculating the first gap amount δ0 according to a preset first calculation model δ0 = R2(1-cosβ2)-b;

[0026] when α > β2, calculating the first gap amount δ0 according to a preset second calculation model δ0 = R2(1-cosβ2)-t;

[0027] when α = β2, calculating the first gap amount δ0 according to a preset third calculation model δ0 = R2(1-cosβ2)-b-μsinβ2.

[0028] By adopting the above technical solution, different calculation models are selected to calculate the first gap amount δ0 according to the size relationship between the chamfer angle α and the second included angle β2; when α < β2, the preset first calculation model δ0 = R2(1-cosβ2)-b is selected to calculate the first gap amount δ0; when α > β2, the preset second calculation model δ0 = R2(1-cosβ2)-t is selected to calculate the first gap amount δ0; and when α = β2, the preset third calculation model δ0 = R2(1-cosβ2)-b-μsinβ2 is selected to calculate the first gap amount δ0.

[0029] Optionally, the gap amount calibration coefficient ε is calculated according to the theoretical height T0 of the convex part and a preset actual height T, and specifically includes:

[0030] a preset first formula is obtained, and the gap amount calibration coefficient ε is calculated according to the preset first formula, the theoretical height T0 of the convex part and a preset actual height T; the preset first formula is ε = T / T o .

[0031] Optionally, the second gap amount δ of each gap monitoring position is calculated according to the gap amount calibration coefficient ε and the first gap amount δ0, respectively, and specifically includes:

[0032] a preset second formula is obtained, and the second gap amount δ of each gap monitoring position is calculated according to the preset second formula, the gap amount calibration coefficient ε and the first gap amount δ0; the preset second formula is δ = ε*δ0.

[0033] Optionally, the theoretical height T0 of the convex part of the reference test boss is calculated according to the first radius R1 and the first included angle β1, and specifically includes:

[0034] acquire a preset third formula, and calculate the theoretical height T0 of the convex part of the reference test boss according to the preset third formula, the first radius R1 and the first included angle β1; the preset third formula is T0=R1(1-cosβ1).

[0035] In a second aspect, the application further provides a gap monitoring device between an aircraft skin and a structural member, which adopts the following technical scheme:

[0036] The gap monitoring device between the aircraft skin and the structural member comprises:

[0037] A reference image acquisition module is configured to acquire a reference image; the reference image is an image acquired by a first parallel light source irradiating a probe on one side of the probe and a first binocular camera collecting on the opposite side of the probe when the probe and the base and the convex part of the reference test boss are in contact; a projection of the probe on a first plane is a circle or a sector, and the first plane is a plane where the first binocular camera is located and is perpendicular to light emitted by the first parallel light source;

[0038] A theoretical height generation module is configured to determine a theoretical height T0 of the convex part of the reference test boss according to the reference image;

[0039] A gap amount calibration coefficient generation module is configured to calculate a gap amount calibration coefficient ε according to the theoretical height T0 of the convex part and a preset actual height T;

[0040] A gap monitoring position acquisition module is configured to acquire a process digital model of the aircraft skin and the structural member in a bonded state, and acquire each gap monitoring position between the aircraft skin and the structural member according to the process digital model;

[0041] A monitoring image acquisition module is configured to acquire a monitoring image of each gap monitoring position when the aircraft skin and the structural member are in the bonded state; the monitoring image is an image acquired by a second parallel light source irradiating the probe on one side of the probe and a second binocular camera collecting on the opposite side of the probe when the probe and the aircraft skin and the structural member are in contact; a projection of the probe on a second plane is a circle or a sector, and the second plane is a plane where the second binocular camera is located and is perpendicular to light emitted by the second parallel light source;

[0042] A first gap amount generation module is configured to determine a first gap amount δ0 of each gap monitoring position according to the monitoring image;

[0043] A second gap amount generation module is configured to calculate a second gap amount δ of each gap monitoring position according to the gap amount calibration coefficient ε and the first gap amount δ0.

[0044] In a third aspect, the present application also provides a computer device, which adopts the technical scheme as follows:

[0045] The computer device comprises a memory and a processor, and the memory stores a computer program capable of running on the processor, and the processor implements the method in the first aspect when executing the computer program.

[0046] In a fourth aspect, the present application also provides a computer readable storage medium, which adopts the technical scheme as follows:

[0047] The computer readable storage medium stores a computer program capable of being loaded and executed by the processor to implement the method in the first aspect.

[0048] To sum up, the present application at least has the following beneficial technical effects: the reference image is acquired, then the theoretical height T0 of the protruding part of the reference test boss is determined according to the reference image, and the gap calibration coefficient ε is calculated according to the theoretical height T0 of the protruding part and the preset actual height T; then the process digital model of the skin and the structural part in the fitted state is acquired, and each gap monitoring position between the aircraft skin and the structural part is acquired according to the process digital model; then the monitoring image of each gap monitoring position is acquired; then the first gap δ0 of each gap monitoring position is determined according to the monitoring image, and the second gap δ of each gap monitoring position is calculated according to the gap calibration coefficient ε and the first gap δ0. In the above method, the reference image when the probe and the reference test boss are in contact under the irradiation of the first parallel light source is acquired by the first binocular camera, and the theoretical height T0 of the protruding part is calculated by using the image recognition technology, and then the gap calibration coefficient ε is obtained; and the monitoring image of each gap monitoring position when the probe, the aircraft skin and the structural part are in contact under the irradiation of the first parallel light source is acquired by the first binocular camera, and the first gap δ0 of each gap monitoring position is calculated by using the image recognition technology, and then the second gap δ with smaller error is calculated by the gap calibration coefficient ε, so as to improve the accuracy of the gap measurement, and thus the processing quality of the counterbore hole is improved; at the same time, the whole process is relatively convenient to operate, and the gap between the aircraft skin and the structural part in the fitted state can be quickly identified, and the processing efficiency of the counterbore hole is improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is the overall flowchart of the embodiment of the present application.

[0050] Figure 2 is the structure schematic diagram of the image acquisition device of the embodiment of the present application.

[0051] Figure 3 is the schematic diagram of the probe and the reference test boss in contact.

[0052] Figure 4 is a schematic diagram of the present embodiment for showing the geometric relationship when the reference test boss abuts against the probe.

[0053] Figure 5 is a schematic diagram of the present embodiment for showing the geometric relationship when the probe abuts against the aircraft skin and the structural member.

[0054] Figure 6 is a schematic diagram of the present embodiment for showing the geometric relationship when the probe abuts against the aircraft skin and the structural member, and α and β2 are not equal.

[0055] Figure 7 is a schematic diagram of the present embodiment for showing the geometric relationship when the probe abuts against the aircraft skin and the structural member, and α and β2 are equal.

[0056] Figure 8 is a schematic diagram of the structure of the system of the present application.

[0057] Figure 9 is a structural block diagram of the computer device of the present application.

[0058] BRIEF DESCRIPTION OF DRAWINGS: 2001, cylinder; 2002, first positioning nut; 2003, connecting piece; 2004, second positioning nut; 2005, fastening nut; 2006, probe; 2007, first fastening bolt; 2008, first connecting column; 2009, first parallel light source; 2010, second fastening bolt; 2013, aircraft skin; 2014, structural member; 3001, base body; 3002, protruding part. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Figures 1-9 and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0060] The present embodiment discloses a gap monitoring method between an aircraft skin and a structural member.

[0061] Referring to Figure 1 , the gap monitoring method between the aircraft skin and the structural member comprises the following steps:

[0062] Step S11, acquiring a reference image.

[0063] The reference image is an image collected by the first parallactic light source on one side of the probe and the first binocular camera on the opposite side of the probe when the probe is in contact with the base and the protruding part of the reference test boss.

[0064] It should be noted that the reference image is collected by the image acquisition device shown in Figure 2 The image acquisition device includes a column 2001, a first positioning nut 2002, a connecting piece 2003, a second positioning nut 2004, a fastening nut 2005 and a probe 2006 arranged in sequence below the column 2001, the connecting piece 2003 is located between the first positioning nut 2002 and the second positioning nut 2004, and the connecting piece 2003 is in a columnar shape; one end of the connecting piece 2003 is rotatably provided with a first connecting column 2008 through a first fastening bolt 2007, and the lower end of the first connecting column 2008 is fixedly provided with a first parallactic light source 2009; the other end of the connecting piece 2003 is rotatably provided with a second connecting column 2011 through a second fastening bolt 2010, and the lower end of the second connecting column is fixedly provided with a first binocular camera 2012; the probe 2006 is located between the first parallactic light source 2009 and the first binocular camera 2012, and the probe 2006 is fixed by the fastening nut 2005, the probe 2006 is in a spherical shape, and the shape of the probe 2006 can also be cylindrical, or incomplete spherical, or incomplete cylindrical, etc.

[0065] It should be further noted that the shape of the reference test boss is as shown in Figure 3 The reference test boss includes a base 3001 and a protruding part 3002, both of which are cuboids, and the reference test boss is processed from a standard size, wear-resistant metal, and the actual height T of the protruding part 3002 is known and unchanged by default. Figure 2 and Figure 3 When collecting the reference image, the probe 2006 is in contact with the base 3001 and the protruding part 3002 of the reference test boss, so that the probe 2006 is in contact with the base 3001 and the protruding part 3002 of the reference test boss; then the first connecting column 2008 and the second connecting column 2011 are rotated, so that the lower end of the first connecting column 2008 is attached to the reference test boss, and at the same time, the first parallactic light source 2009, the center of the probe 2006 and the first binocular camera 2012 are on the same straight line; then the corresponding image, i.e. the reference image, is collected by the first binocular camera 2012.

[0066] It can be understood that, with reference to Figure 4The reference image should be able to reflect the geometric characteristics of the probe and the reference test boss when they abut, such as the shape of the probe, the contact point N of the probe and the base of the reference test boss, the contact point M of the probe and the protruding part of the reference test boss, and the like.

[0067] In step S12, the theoretical height T0 of the protruding part of the reference test boss is determined according to the reference image.

[0068] It should be noted that the present application identifies the reference image through an image recognition tool, thereby determining the theoretical height T0 of the protruding part of the reference test boss.

[0069] In step S13, the gap amount calibration coefficient ε is calculated according to the theoretical height T0 of the protruding part and the preset actual height T.

[0070] Specifically, a preset first formula is obtained, and the gap amount calibration coefficient ε is calculated according to the preset first formula, the theoretical height T0 of the protruding part and the preset actual height T; the preset first formula is ε = T / T o .

[0071] It should be noted that the preset actual height T is the height of the protruding part set in advance, i.e., the actual height T of the protruding part mentioned above.

[0072] In step S14, a process digital model of the aircraft skin and the structural part in the bonded state is obtained, and each gap monitoring position between the aircraft skin and the structural part is obtained according to the process digital model.

[0073] Each gap monitoring position can be represented by coordinates, codes and the like.

[0074] In step S15, when the aircraft skin and the structural part are in the bonded state, a monitoring image of each gap monitoring position is obtained.

[0075] The monitoring image is an image obtained by irradiating the probe on one side of the probe through the second parallel light source and collecting the image on the opposite side of the probe through the second binocular camera when the probe and the aircraft skin and the structural part abut; the projection of the probe on the second plane is circular or fan-shaped, and the second plane is the plane where the second binocular camera is located and is perpendicular to the light emitted by the second parallel light source.

[0076] It should be noted that reference Figure 2 and Figure 5When the monitoring image is collected, the image collection device is moved so that the probe 2006 abuts against the aircraft skin 2013 and the structural member 2014, then the first connecting column 2008 and the second connecting column 2011 are rotated so that the lower end of the first connecting column 2008 abuts against the aircraft skin 2013 and the structural member 2014, and the first parallel light source 2009, the spherical center of the probe 2006 and the first binocular camera 2012 are on the same straight line, then the corresponding image, i.e. the monitoring image, is collected by the first binocular camera 2012.

[0077] It can be understood that, with reference to Figure 6 , the monitoring image should be able to reflect the geometric characteristics when the probe abuts against the aircraft skin and the structural member, such as the shape of the probe, the contact point P of the probe and the structural member, the contact point Q of the probe and the aircraft skin, etc.

[0078] In step S16, the first gap amount δ0 of each gap monitoring position is determined according to the monitoring image.

[0079] It should be noted that the image recognition tool is used to recognize the monitoring image in the present application, so as to obtain the first gap amount δ0 of each gap monitoring position.

[0080] In step S17, the second gap amount δ of each gap monitoring position is calculated according to the preset second formula, the gap amount calibration coefficient ε and the first gap amount δ0.

[0081] Specifically, the preset second formula is obtained, and the second gap amount δ of each gap monitoring position is calculated according to the preset second formula, the gap amount calibration coefficient ε and the first gap amount δ0; the preset second formula is δ = ε * δ0.

[0082] In the above embodiment, the reference image is acquired, and then the theoretical height T0 of the protruding part of the reference test boss is determined according to the reference image, and the gap amount calibration coefficient ε is calculated according to the theoretical height T0 of the protruding part and the preset actual height T; then the process digital model of the skin and the structural part in the fitted state is acquired, and each gap monitoring position between the aircraft skin and the structural part is acquired according to the process digital model; then the monitoring image of each gap monitoring position is acquired; then the first gap amount δ0 of each gap monitoring position is determined according to the monitoring image, and the second gap amount δ of each gap monitoring position is calculated according to the gap amount calibration coefficient ε and the first gap amount δ0. In the above method, the reference image when the probe and the reference test boss are in contact under the irradiation of the first parallel light source is collected by the first binocular camera, and the theoretical height T0 of the protruding part is calculated by using image recognition technology, and then the gap amount calibration coefficient ε is obtained; and the monitoring image of each gap monitoring position when the probe, the aircraft skin and the structural part are in contact under the irradiation of the first parallel light source is collected by the first binocular camera, and the first gap amount δ0 of each gap monitoring position is calculated by using image recognition technology, and then the second gap amount δ with smaller error is calculated by the gap amount calibration coefficient ε, so as to improve the accuracy of the gap amount measurement, and thus the processing quality of the counterbore hole is improved; at the same time, the whole process is relatively convenient to operate, and the gap amount between the aircraft skin and the structural part in the fitted state can be quickly identified, and the processing efficiency of the counterbore hole is improved.

[0083] Reference Figure 3 and 4 As a further embodiment of the gap monitoring method, the theoretical height T0 of the protruding part of the reference test boss is determined according to the reference image, specifically including the following steps:

[0084] Step S21, geometric feature recognition is performed on the reference image to obtain the first radius R1 of the probe and the first included angle β1 of the first line segment and the second line segment.

[0085] Wherein, the first line segment is a line segment with the ball center O of the probe and one of the contact points M between the probe and the reference test boss as end points, and the second line segment is a line segment with the ball center O of the probe and the other contact point N between the probe and the reference test boss as end points.

[0086] It can be understood that the first line segment is OM and the second line segment is ON.

[0087] Step S22, the theoretical height T0 of the protruding part of the reference test boss is calculated according to the first radius R1 and the first included angle β1.

[0088] Specifically, a third preset formula is obtained, and a theoretical height T0 of the convex part of the reference test boss is calculated according to the third preset formula, the first radius R1 and the first included angle β1. The third preset formula is T0 = R1 (1-cosβ1).

[0089] In the above embodiment, in order to obtain the theoretical height T0 of the convex part of the reference test boss, the first radius R1 of the probe and the first included angle β1 between the first line segment and the second line segment are obtained by performing geometric feature recognition on the reference image, and then the theoretical height T0 of the convex part of the reference test boss is calculated according to the first radius R1 and the first included angle β1.

[0090] Reference Figure 5 , Figure 6 and Figure 7 As a further embodiment of the gap monitoring method, the first gap amount δ0 of each gap monitoring position is determined according to the monitoring image, specifically including the following steps:

[0091] Step S31, geometric feature recognition is performed on the monitoring image to obtain the second radius R2 of the probe, the thickness t of the skin, the chamfer distance b, the chamfer angle α, the second included angle β2 between the third line segment and the fourth line segment, and the distance μ from the contact point P of the probe and the skin to the side edge EF of the structural part.

[0092] Among them, the third line segment is a line segment with the ball center O of the probe and the contact point P of the probe and the skin as the end points, and the fourth line segment is a line segment with the ball center O of the probe and the contact point Q of the probe and the structural part as the end points.

[0093] It should be noted that in Figure 6 and Figure 7 , the skin is 2013, and the structural part is 2014.

[0094] Step S32, the first gap amount δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2 and the distance μ.

[0095] In the above embodiment, in order to obtain the first gap amount δ0, the second radius R2 of the probe, the thickness t of the skin, the chamfer distance b, the chamfer angle α, the second included angle β2 between the third line segment and the fourth line segment, and the distance μ from the contact point P of the probe and the skin to the side edge EF of the structural part are obtained by performing geometric feature recognition on the monitoring image, and then the first gap amount δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2 and the distance μ.

[0096] Reference Figure 6 and Figure 7As a further implementation of the gap monitoring method, the first gap amount δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2, and the distance μ, and specifically includes the following steps:

[0097] determining the size relationship between the chamfer angle α and the second included angle β2;

[0098] when α < β2, the first gap amount δ0 is calculated according to a preset first calculation model δ0 = R2(1-cosβ2)-b;

[0099] when α > β2, the first gap amount δ0 is calculated according to a preset second calculation model δ0 = R2(1-cosβ2)-t;

[0100] when α = β2, the first gap amount δ0 is calculated according to a preset third calculation model δ0 = R2(1-cosβ2)-b-μsinβ2.

[0101] In the above implementation, different calculation models are selected to calculate the first gap amount δ0 according to the size relationship between the chamfer angle α and the second included angle β2; when α < β2, the first gap amount δ0 is calculated according to the preset first calculation model δ0 = R2(1-cosβ2)-b; when α > β2, the first gap amount δ0 is calculated according to the preset second calculation model δ0 = R2(1-cosβ2)-t; and when α = β2, the first gap amount δ0 is calculated according to the preset third calculation model δ0 = R2(1-cosβ2)-b-μsinβ2.

[0102] The application further discloses a gap monitoring device between an aircraft skin and a structural member.

[0103] Reference Figure 8 The gap monitoring device between the aircraft skin and the structural member comprises:

[0104] a reference image acquisition module configured to acquire a reference image; the reference image is an image acquired by a first double-camera through a first parallel light source on one side of a probe and the first double-camera on the opposite side of the probe when the probe and the base and the protruding part of the reference test boss are in contact; a projection of the probe on a first plane is a circle or a sector, and the first plane is a plane on which the first double-camera is located and is perpendicular to the light emitted by the first parallel light source;

[0105] a theoretical height generation module configured to determine a theoretical height T0 of the protruding part of the reference test boss according to the reference image;

[0106] a gap amount calibration coefficient generation module configured to calculate a gap amount calibration coefficient ε according to the theoretical height T0 of the protruding part and a preset actual height T;

[0107] The gap monitoring position acquisition module is configured to acquire a process digital model of the aircraft skin and the structural member in the fitted state, and acquire each gap monitoring position between the aircraft skin and the structural member according to the process digital model.

[0108] The monitoring image acquisition module is configured to acquire a monitoring image of each gap monitoring position when the aircraft skin and the structural member are in the fitted state; the monitoring image is an image acquired by irradiating the probe on one side of the probe through the second parallel light source and acquiring the image on the opposite side of the probe through the second binocular camera when the probe and the aircraft skin and the structural member are in contact; the projection of the probe on the second plane is a circle or a sector, and the second plane is a plane where the second binocular camera is located and is perpendicular to the light emitted by the second parallel light source.

[0109] The first gap amount generation module is configured to determine a first gap amount δ0 of each gap monitoring position according to the monitoring image.

[0110] The second gap amount generation module is configured to calculate a second gap amount δ of each gap monitoring position according to the gap amount calibration coefficient ε and the first gap amount δ0.

[0111] The gap monitoring device between the aircraft skin and the structural member can implement any one of the gap monitoring methods between the aircraft skin and the structural member, and the specific working process of the gap monitoring device between the aircraft skin and the structural member can refer to the corresponding process in the above-mentioned gap monitoring method between the aircraft skin and the structural member.

[0112] The application further discloses a computer device.

[0113] Reference Figure 9 A computer device includes a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements any one of the gap monitoring methods between the aircraft skin and the structural member when executing the computer program.

[0114] The application further discloses a computer readable storage medium.

[0115] A computer readable storage medium stores a computer program capable of being loaded by a processor and executing any one of the above-mentioned gap monitoring methods between the aircraft skin and the structural member.

[0116] The computer readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, device or apparatus; the program code contained on the computer readable medium can be transmitted by any appropriate medium, including but not limited to wireless, wire, optical cable, RF, etc., or any appropriate combination of the above.

[0117] The above are only preferred embodiments of the present application, not intended to limit the protection scope of the present application, any feature disclosed in the specification (including the abstract and the drawings) can be replaced by other equivalent or similar features, unless specifically stated otherwise. That is, each feature is only an example of a series of equivalent or similar features, unless specifically stated otherwise.

Claims

1. A method of monitoring the gap between an aircraft skin and a structural member, characterised in that, The method comprises the following steps: acquiring a reference image; the reference image is an image acquired by a first parallel light source irradiating a probe on one side of the probe and a first binocular camera collecting on the opposite side of the probe when the probe is in contact with a base and a protrusion of a reference test boss; a projection of the probe on a first plane is a circle or a sector, and the first plane is a plane where the first binocular camera is located and is perpendicular to a light ray emitted by the first parallel light source; determining a theoretical height T0 of the protrusion of the reference test boss according to the reference image; calculating a gap amount calibration coefficient ε according to the theoretical height T0 of the protrusion and a preset actual height T; acquiring a process digital model of the aircraft skin and the structural member in a fitting state, and acquiring each gap monitoring position between the aircraft skin and the structural member according to the process digital model; acquiring a monitoring image of each gap monitoring position when the aircraft skin and the structural member are in the fitting state; the monitoring image is an image acquired by a second parallel light source irradiating the probe on one side of the probe and a second binocular camera collecting on the opposite side of the probe when the probe is in contact with the aircraft skin and the structural member; a projection of the probe on a second plane is a circle or a sector, and the second plane is a plane where the second binocular camera is located and is perpendicular to a light ray emitted by the second parallel light source; determining a first gap amount δ0 of each gap monitoring position according to the monitoring image; calculating a second gap amount δ of each gap monitoring position according to the gap amount calibration coefficient ε and the first gap amount δ0.

2. The method of monitoring the gap between the aircraft skin and the structure of claim 1, wherein, The method further comprises the following steps: performing geometric feature recognition on the reference image to obtain a first radius R1 of the probe and a first included angle β1 of a first line segment and a second line segment; the first line segment is a line segment with a ball center O of the probe and a contact point M of the probe and the reference test boss as end points, and the second line segment is a line segment with the ball center O of the probe and a contact point N of the probe and the reference test boss as end points; calculating the theoretical height T0 of the protrusion of the reference test boss according to the first radius R1 and the first included angle β1.

3. The method of monitoring the gap between the aircraft skin and the structural member of claim 1, wherein, The method further comprises the following steps: performing geometric feature recognition on the monitoring image to obtain a second radius R2 of the probe, a thickness t of the skin, a chamfer distance b, a chamfer angle α, a second included angle β2 of a third line segment and a fourth line segment, and a distance μ from a contact point P of the probe and the skin to a side edge EF of the structural member; the third line segment is a line segment with the ball center O of the probe and the contact point P of the probe and the skin as end points, and the fourth line segment is a line segment with the ball center O of the probe and a contact point Q of the probe and the structural member as end points. The first gap amount δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2, and the distance μ.

4. The method of monitoring the gap between the aircraft skin and the structural member of claim 3, wherein, The first gap amount δ0 is determined according to the second radius R2, the thickness t, the chamfer distance b, the chamfer angle α, the second included angle β2, and the distance μ, specifically comprising: The size relationship between the chamfer angle α and the second included angle β2 is determined. when a < β2, according to a preset first calculation model calculating a first gap amount δ0; when a > b2, according to a preset second calculation model calculating a first gap amount d0; When α = β2, according to a preset third calculation model A first gap amount δ0 is calculated.

5. The method of monitoring the gap between the aircraft skin and the structural member of claim 1, wherein, The gap amount calibration coefficient ε is calculated according to the theoretical height T0 of the protruding part and a preset actual height T. The preset first formula is acquired, and a gap amount calibration coefficient ε is calculated according to the preset first formula, the theoretical height T0 of the convex part, and a preset actual height T. The preset first formula is .

6. The method of monitoring the gap between the aircraft skin and the structural member of claim 1, wherein, The second gap amount δ of each gap monitoring position is calculated according to the gap amount calibration coefficient ε and the first gap amount δ0, respectively. obtaining a preset second formula, and calculating a second gap amount δ of each gap monitoring position according to the preset second formula, the gap amount calibration coefficient ε and the first gap amount δ0, respectively; the preset second formula is .

7. The method of monitoring the gap between the aircraft skin and the structural member of claim 2, wherein, The theoretical height T0 of the protruding part of the reference test boss is calculated according to the first radius R1 and the first included angle β1. acquire a preset third formula, and calculate the theoretical height T0 of the convex part of the reference test boss according to the preset third formula, the first radius R1 and the first included angle degree β1; the preset third formula is .

8. A device for monitoring the gap between an aircraft skin and a structural member, characterised in that, Comprise: The reference image acquisition module is used to acquire a reference image. The reference image is an image acquired by a first parallel light source irradiating the probe on one side of the probe and a first binocular camera acquiring on the opposite side of the probe when the probe and the base and the protruding part of the reference test boss are in contact. The theoretical height generation module is used to determine the theoretical height T0 of the protruding part of the reference test boss according to the reference image. The gap amount calibration coefficient generation module is used to calculate the gap amount calibration coefficient ε according to the theoretical height T0 of the protruding part and a preset actual height T. The gap monitoring position acquisition module is used to acquire a process digital model of the aircraft skin and the structural part in the fitted state, and to acquire each gap monitoring position between the aircraft skin and the structural part according to the process digital model. The monitoring image acquisition module is used to acquire a monitoring image of each gap monitoring position when the aircraft skin and the structural part are in the fitted state; the monitoring image is an image acquired by a second parallel light source irradiating the probe on one side of the probe and a second binocular camera acquiring on the opposite side of the probe when the probe and the aircraft skin and the structural part are in contact. The first gap amount generation module is used to determine the first gap amount δ0 of each gap monitoring position according to the monitoring image, respectively. The second gap amount generation module is used to calculate the second gap amount δ of each gap monitoring position according to the gap amount calibration coefficient ε and the first gap amount δ0, respectively.

9. A computer device, comprising: The memory and the processor, the memory has a computer program capable of running on the processor and stored on the memory, and the processor realizes the method of any one of claims 1-7 when executing the computer program. The memory and the processor, the memory has a computer program capable of running on the processor and stored on the memory, and the processor realizes the method of any one of claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, A computer program is stored, which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

Images