Adjusting device and method for laser vibration meter in fuel oil shaking test

Abstract

The invention provides an adjusting device and method for a laser vibration meter in a fuel oil shaking test, and the method comprises the steps: enabling a tested oil tank to be fixed on a vibration table through a test clamp, and enabling the vibration table to be disposed between portal frames; the laser vibration meter is fixed to the mechanical arm, the mechanical arm is installed on the mechanical arm base, the mechanical arm base is connected to the guide rail and the linear driver, the guide rail and the linear driver are fixed to the guide rail base, and the guide rail base is installed at the top end of the portal frame. The CCD camera is fixed on the portal frame; and the industrial personal computer is connected with the vibration table and the CCD camera, controls the vibration table and receives image data acquired by the CCD camera. According to the invention, the test position, the test distance and the incident angle of the laser vibration meter can be adjusted in a large-range, multi-degree-of-freedom and high-efficiency manner in a fuel oil shaking test, so that a measurement signal with high quality as much as possible is obtained, and the equipment debugging speed and the test efficiency are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration testing, and in particular to an adjustment device and method for a laser vibrometer in a fuel sloshing test. Background Art

[0002] The sloshing of fuel in a fuel tank refers to the movement of the free surface of the liquid due to external disturbance or excitation. The sloshing problem of fuel is very common in the fields of aerospace, shipbuilding, and chemical industry. Fuel sloshing will not only produce impact loads on the tank wall, causing fatigue damage to the structure; but also for liquid-carrying systems with a large liquid-carrying ratio, such as aircraft, during the movement, the change in the center of gravity caused by the large sloshing of the liquid in a short period of time will also have an adverse effect on the movement trajectory or flight attitude of the aircraft. Therefore, the study of fuel sloshing characteristics is crucial to the structural strength and system design of aircraft. A common research method is to simulate the load on the fuel tank through a vibration table and collect the sloshing characteristics of the fuel surface through a laser vibrometer. However, on the one hand, most modern aircraft are integral fuel tanks, and the internal frame plate is used to divide the overall area into multiple compartments. Therefore, each compartment needs to be tested with a laser vibrometer, but there is only a small opening on the top of the tank for the laser vibrometer to test the liquid surface, and it is very difficult to adjust the incident position; on the other hand, the reflected light loss after the laser is reflected by the fuel is very serious, the signal strength is greatly reduced, and even the signal cannot be collected. The traditional test method is generally to install a laser vibrometer on the top of each compartment of the fuel tank during the test preparation stage, and manually adjust the test position and incident angle of the laser vibrometer so that the laser measurement point can pass through the small hole on the top of the fuel tank and be incident on the liquid surface, and further fine-tune the incident angle and position. In this process, the test is conducted after finding an installation state with acceptable reflection intensity. On the one hand, this test method requires the preparation of a large number of laser vibrometers, and requires frequent and careful manual adjustment of the test position and incident angle of the laser vibrometer to obtain a barely acceptable reflection intensity; on the other hand, once the laser vibrometer is disturbed by the vibration table excitation during the test, the installation state may be affected. At this time, the test needs to be terminated and the above adjustment steps need to be repeated, which not only greatly reduces the test efficiency, but also makes it difficult to obtain high-quality measurement signals. Therefore, a device and method are needed to adjust the test position, test distance and incident angle of the laser vibrometer in a large range, multiple degrees of freedom and high efficiency in the fuel slosh test.

[0003] Through prior art search, there are the following known technical solutions:

[0004] Prior art 1:

[0005] Application number: 202111271170.X. Application date: 2021.10.29. Publication (announcement) date: 2021.11.30. This prior art discloses an angle adjustment mechanism for an optical instrument, wherein two hollow plates are fixed to the top of the base away from the center of the base, a horizontal plate is fixed between the two hollow plates, a connecting rod is fixed to the top of the horizontal plate, a bearing plate is hinged to the top of the connecting rod, auxiliary fixing devices are respectively provided on the left and right sides of the bearing plate, an adjustment device is provided on the top of the base away from the center of the base, and a wheel device is provided at the bottom of the base.

[0006] This prior art uses a gear and a bidirectional toothed plate to cooperate. When the rotating rod drives the gear to rotate, the bidirectional toothed plate moves upward or downward, so that the bidirectional toothed plate adjusts the angle of the optical instrument, thereby avoiding the problem of a small upward and downward movement of the optical instrument and a slow adjustment speed, thereby improving the adjustment efficiency of the optical instrument. However, this method still relies on manual operation, cannot significantly improve the adjustment efficiency, and is not suitable for occasions that require frequent adjustment.

[0007] Prior art 2:

[0008] Application number: 201922087595.X. Application date: 2019.11.26. Publication (announcement) date: 2020.07.28. The prior art discloses a camera shooting angle adjustment device, including a camera gimbal, a six-degree-of-freedom mechanical arm and a camera rotating seat; wherein one end of the six-degree-of-freedom mechanical arm is connected to the camera gimbal, and the other end of the six-degree-of-freedom mechanical arm is connected to the camera rotating seat; the camera shooting angle adjustment device also includes: a shooting angle measurement sensor fixedly connected to the camera rotating seat; a first control chip electrically connected to the shooting angle measurement sensor; and a driving mechanism electrically connected to the first control chip and the six-degree-of-freedom mechanical arm respectively.

[0009] This prior art solution can solve the problem that the camera's shooting angle is limited and it is difficult to capture a full image, but it still relies on manual alignment, and if it is used in the process of adjusting the laser vibrometer's measuring point in a shake test, the efficiency is low. Summary of the invention

[0010] In view of the defects in the prior art, the object of the present invention is to provide an adjustment device and method for a laser vibrometer in a fuel slosh test.

[0011] The adjustment device of the laser vibrometer in the fuel sloshing test provided by the present invention comprises: a gantry, a guide rail base, a manipulator base, a manipulator, a guide rail, a linear drive, a laser vibrometer, a tested fuel tank, a test fixture, a vibration table, a CCD camera and an industrial computer;

[0012] The tested oil tank is fixed on a vibration table by a test fixture, and the vibration table is placed between the gantries;

[0013] The laser vibrometer is fixed on a manipulator, the manipulator is mounted on a manipulator base, the manipulator base is connected to a guide rail and a linear drive, the guide rail and the linear drive are fixed on a guide rail base, and the guide rail base is mounted on the top of the gantry;

[0014] The CCD camera is fixed on the gantry;

[0015] The industrial computer is connected to the vibration table and the CCD camera, and the industrial computer controls the vibration table and receives image data collected by the CCD camera.

[0016] Preferably, the manipulator comprises a column, an upper arm and a lower arm;

[0017] The column is mounted on the manipulator base;

[0018] The two ends of the big arm are respectively connected to the column and the small arm;

[0019] The end of the small arm is connected to a laser vibrometer.

[0020] Preferably, the manipulator includes four degrees of freedom of movement, namely, upper arm rotation, upper arm pitch, lower arm pitch and lower arm extension and retraction, and moves linearly on the guide rail through a linear drive.

[0021] Preferably, the telescopic distance of the small arm is greater than the cavity length of the laser vibrometer.

[0022] Preferably, the column is mounted on the manipulator base by means of bolts and anti-loosening nuts, and the end of the forearm is fixedly connected to the laser vibrometer by means of screws.

[0023] Preferably, the lowest installation position of the guide rail base on the gantry enables the distance between the laser vibrometer and the tested oil tank to be greater than twice the cavity length of the laser vibrometer.

[0024] Preferably, the length of the guide rail is such that the moving range of the laser vibrometer covers the length of the tested oil tank.

[0025] Preferably, the driving distance of the linear actuator enables the moving range of the laser vibrometer to cover the length of the tested oil tank.

[0026] Preferably, the CCD camera is fastened to the gantry via screws.

[0027] The method for adjusting the laser vibrometer in the fuel sloshing test provided by the present invention comprises the following steps:

[0028] Step 1: Install the guide rail and the linear actuator on the guide rail base, and ensure that the length of the guide rail and the driving distance of the linear actuator are greater than the length of the oil tank under test;

[0029] Step 2: Connect the robot base to the guide rail and the linear drive, and ensure that the linear drive drives the robot base to move linearly on the guide rail;

[0030] Step 3: Fix the bottom of the manipulator column to the manipulator base with bolts and lock nuts;

[0031] Step 4: Fix the laser vibrometer to the end of the robot's forearm with screws;

[0032] Step 5: Fix the gantry symmetrically on both sides of the vibration table, ensuring that the distance between them meets the installation distance requirements of the guide rail base and does not interfere with the tested oil tank;

[0033] Step 6: Fix the tested oil tank on the vibration table with the test fixture, make positioning marks, and ensure that each tested oil tank is installed in the same state;

[0034] Step 7: Fix the guide rail base on the top of the gantry, and ensure that the distance between the laser vibrometer and the tested oil tank is greater than twice the cavity length of the laser vibrometer;

[0035] Step 8: Fix the CCD camera on the gantry, determine the actual image coordinates corresponding to the coordinates of more than 5 calibration reference feature points by direct linear transformation method, and combine the coordinates after nonlinear distortion correction to determine the coordinate transformation relationship of the image plane;

[0036] Step 9: Turn on the laser vibrometer, re-collect the image, and solve the coordinates and arrival path of the laser measuring point and the first compartment opening of the tested oil tank according to the coordinate conversion relationship;

[0037] Step 10: According to the path, the position of the base of the manipulator is adjusted by the industrial computer through the linear drive, and the rotation angle, pitch angle and pitch angle of the manipulator's upper arm are adjusted accordingly. The reflection intensity of the laser vibrometer is observed through the industrial computer to ensure that the laser is vertically incident on the fuel liquid level in the top opening of the first compartment of the tested fuel tank;

[0038] Step 11: Adjust the telescopic distance of the manipulator's forearm to ensure that the test distance of the laser vibrometer is equal to a multiple of its cavity length;

[0039] Step 12: Use the industrial computer to control the vibration table to apply the required excitation to the tested fuel tank, and use the laser vibrometer to collect the sloshing characteristics of the fuel liquid surface in the first compartment of the tested fuel tank;

[0040] Step 13: Repeat step 9 to solve the coordinates of the laser measuring point and the path to the opening of the second compartment of the tested fuel tank at this time, adjust the position of the base of the linear drive mobile manipulator according to the path, so that the laser measuring point of the laser vibrometer moves to the fuel liquid level in the opening of the second compartment of the tested fuel tank, and repeat steps 11 and 12 to complete the collection of the sloshing characteristics of the fuel liquid level in the second compartment of the tested fuel tank, and complete the collection of the sloshing characteristics of the fuel liquid level in all compartments of the tested fuel tank in turn;

[0041] Step 14: Remove the first tested fuel tank and replace it with the second tested fuel tank, and repeat steps 9 to 13 until the fuel slosh test of all tested fuel tanks is completed.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The present invention can adjust the test position, test distance and incident angle of the laser vibrometer in a large range, with multiple degrees of freedom and with high efficiency in the fuel sloshing test, so as to obtain the highest possible quality measurement signal, thereby greatly improving the equipment debugging speed and test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0045] Figure 1 Schematic diagram of a laser vibrometer adjustment device for a fuel slosh test in an embodiment of the present invention;

[0046] Figure 2 Schematic diagram of a manipulator in an embodiment of the present invention.

[0047] In the figure: 1-gantry, 2-guide rail base, 3-manipulator base, 4-manipulator, 5-guide rail, 6-linear drive, 7-laser vibrometer, 8-test oil tank, 9-test fixture, 10-vibration table, 11-CCD camera, 12-industrial computer, 41-column, 42-upper arm, 43-lower arm. DETAILED DESCRIPTION

[0048] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0049] Example

[0050] like Figure 1As shown, an embodiment of the present invention provides an adjustment device for a laser vibrometer in a fuel slosh test, comprising a gantry 1, a guide rail base 2, a manipulator base 3, a manipulator 4, a guide rail 5, a linear drive 6, a laser vibrometer 7, a test oil tank 8, a test fixture 9, a vibration table 10, a CCD camera 11, and an industrial computer 12; the test oil tank 8 is fixed on the vibration table 10 through the test fixture 9, the vibration table 10 is placed between the gantry 1, the laser vibrometer 7 is fixed on the manipulator 4, the manipulator 4 is mounted on the manipulator base 3, the manipulator base 3 is connected to the guide rail 5 and the linear drive 6, the guide rail 5 and the linear drive 6 are fixed on the guide rail base 2, the guide rail base 2 is mounted on the top of the gantry 1, the CCD camera 11 is fixed on the gantry 1, and the industrial computer 12 is connected to the vibration table 10 and the CCD camera 11, and controls the vibration table 10 and receives image data collected by the CCD camera 11.

[0051] like Figure 2 As shown, the manipulator 4 includes a column 41, an upper arm 42 and a lower arm 43; the column 41 is mounted on the manipulator base 3; the two ends of the upper arm 42 are respectively connected to the column 41 and the lower arm 43; the end of the lower arm 43 is connected to the laser vibrometer 7. The manipulator 4 includes four degrees of freedom of movement, namely, rotation of the upper arm 42, pitch of the upper arm 42, pitch of the lower arm 43 and extension and retraction of the lower arm 43, and moves linearly on the guide rail 5 through the linear drive 6.

[0052] The telescopic distance of the small arm 43 is greater than the cavity length of the laser vibrometer 7. The column 41 is mounted on the manipulator base 3 by bolts and anti-loosening nuts, and the end of the small arm 43 is fixedly connected to the laser vibrometer 7 by screws.

[0053] The lowest installation position of the guide rail base 2 on the gantry 1 makes the distance between the laser vibrometer 7 and the tested oil tank 8 greater than twice the cavity length of the laser vibrometer 7 .

[0054] The length of the guide rail 5 enables the moving range of the laser vibrometer 7 to cover the length of the tested oil tank 8. The driving distance of the linear drive 6 enables the moving range of the laser vibrometer 7 to cover the length of the tested oil tank 8.

[0055] The CCD camera 11 is fastened to the gantry 1 by screws.

[0056] The embodiment of the present invention provides a method for adjusting a laser vibrometer in a fuel slosh test, and the specific process is as follows:

[0057] Step 1: Install the guide rail 5 and the linear actuator 6 on the guide rail base 2, and ensure that the length of the guide rail 5 and the driving distance of the linear actuator 6 are greater than the length of the tested oil tank 8;

[0058] Step 2: Connect the manipulator base 3 to the guide rail 5 and the linear drive 6, and ensure that the linear drive 6 can drive the manipulator base 3 to move linearly on the guide rail 5;

[0059] Step 3: Fix the bottom of the column 41 of the manipulator 4 to the manipulator base 3 by bolts and anti-loosening nuts;

[0060] Step 4: Fix the laser vibrometer 7 to the end of the small arm 43 of the manipulator 4 by screws;

[0061] Step 5: Fix the gantry 1 symmetrically on both sides of the vibration table 10, ensuring that the distance between them not only meets the installation distance requirements of the guide rail base 2, but also does not interfere with the tested oil tank 8;

[0062] Step 6: Fix the tested oil tank 8 on the vibration table 10 through the test fixture 9, make positioning marks, and ensure that the installation status of each tested oil tank 8 is basically the same;

[0063] Step 7: Fix the guide rail base 2 on the top of the gantry 1, and the height should ensure that the distance between the laser vibrometer 7 and the tested oil tank 8 is greater than 2 times the cavity length of the laser vibrometer 7;

[0064] Step 8: Fix the CCD camera 11 on the gantry 1, and determine the coordinates (X i ,Y i ,Z i ) corresponds to the actual image coordinates (x i ,y i ), the coordinates after nonlinear distortion correction are (x i ′ ,y i ′ ), thereby determining the coordinate transformation relationship of the image plane;

[0065] Step nine: Turn on the laser vibrometer 7, re-collect the image, and then solve the coordinates and arrival path of the laser measuring point and the first compartment opening of the tested oil tank 8 according to the coordinate conversion relationship;

[0066] Step 10: According to the path, the position of the manipulator base 3 is adjusted by adjusting the linear drive 6 through the industrial computer 12, and the rotation angle φ of the upper arm 42, the pitch angle θ1 of the upper arm 42 and the pitch angle θ2 of the lower arm 43 of the manipulator 4 are adjusted accordingly, and the reflection intensity of the laser vibrometer 7 is observed through the industrial computer 12 to ensure that the laser is substantially vertically incident on the fuel liquid level in the top opening of the first compartment of the tested fuel tank 8;

[0067] Step 11: Adjust the telescopic distance X of the arm 43 of the manipulator 4 to ensure that the test distance of the laser vibrometer 7 is substantially equal to a multiple of its cavity length. At this time, the reflection intensity displayed by the corresponding controller of the laser vibrometer 7 is the best, and the measurement resolution and sensitivity are the highest;

[0068] Step 12: Control the vibration table 10 to apply the required excitation to the tested fuel tank 8 through the industrial computer 12, and collect the sloshing characteristics of the fuel liquid level in the first compartment of the tested fuel tank 8 through the laser vibrometer 7;

[0069] Step 13: Repeat step 9 to solve the coordinates of the laser measuring point and the path to the opening of the second compartment of the tested fuel tank 8 at this time, adjust the position of the linear drive 6 to move the manipulator base 3 according to the path, so that the laser measuring point of the laser vibrometer 7 moves to the fuel liquid level in the opening of the second compartment of the tested fuel tank 8, and repeat steps 11 and 12 to complete the collection of the sloshing characteristics of the fuel liquid level in the second compartment of the tested fuel tank 8, and complete the collection of the sloshing characteristics of the fuel liquid level in all compartments of the tested fuel tank 8 in turn;

[0070] Step 14: remove the first tested fuel tank 8 and replace it with the second tested fuel tank 8, and repeat steps 9 to 13 (wherein parameters such as φ, θ1, θ2, X, etc. can basically follow the parameters corresponding to the first tested fuel tank 8) until the fuel slosh test of all tested fuel tanks 8 is completed.

[0071] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0073] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An adjustment device for a laser vibrometer in a fuel sloshing test, characterized in that: include: Gantry (1), guide rail base (2), manipulator base (3), manipulator (4), guide rail (5), linear drive (6), laser vibrometer (7), test oil tank (8), test fixture (9), vibration table (10), CCD camera (11) and industrial computer (12); The oil tank (8) under test is fixed on a vibration table (10) via a test fixture (9), and the vibration table (10) is placed between the gantries (1); The laser vibrometer (7) is fixed on a manipulator (4), the manipulator (4) is mounted on a manipulator base (3), the manipulator base (3) is connected to a guide rail (5) and a linear drive (6), the guide rail (5) and the linear drive (6) are fixed on a guide rail base (2), and the guide rail base (2) is mounted on the top of the gantry (1); The CCD camera (11) is fixed on the gantry (1); The industrial control computer (12) is connected to the vibration table (10) and the CCD camera (11), and the industrial control computer (12) controls the vibration table (10) and receives image data collected by the CCD camera (11).

2. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 1, characterized in that: The manipulator (4) comprises a column (41), a large arm (42) and a small arm (43); The column (41) is mounted on the manipulator base (3); The two ends of the upper arm (42) are respectively connected to the column (41) and the lower arm (43); The end of the small arm (43) is connected to a laser vibrometer (7).

3. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 2, characterized in that: The manipulator (4) comprises four degrees of freedom of movement, namely, rotation of the upper arm (42), pitching of the upper arm (42), pitching of the lower arm (43) and extension and retraction of the lower arm (43), and moves linearly on the guide rail (5) via a linear drive (6).

4. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 2, characterized in that: The telescopic distance of the small arm (43) is greater than the cavity length of the laser vibrometer (7).

5. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 2, characterized in that: The upright column (41) is mounted on the manipulator base (3) via bolts and anti-loosening nuts, and the end of the small arm (43) is fixedly connected to the laser vibrometer (7) via screws.

6. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 1, characterized in that: The lowest installation position of the guide rail base (2) on the gantry (1) enables the distance between the laser vibrometer (7) and the tested oil tank (8) to be greater than twice the cavity length of the laser vibrometer (7).

7. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 1, characterized in that: The length of the guide rail (5) enables the moving range of the laser vibrometer (7) to cover the length of the tested oil tank (8).

8. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 1, characterized in that: The driving distance of the linear drive (6) enables the moving range of the laser vibrometer (7) to cover the length of the tested oil tank (8).

9. The adjustment device for the laser vibrometer in the fuel sloshing test according to claim 1, characterized in that: The CCD camera (11) is fixedly connected to the gantry (1) via screws.

10. A method for adjusting a laser vibrometer in a fuel sloshing test, characterized in that: The adjustment device of the laser vibrometer in the fuel sloshing test according to any one of claims 1 to 9 comprises the following steps: Step 1: Install the guide rail and the linear actuator on the guide rail base, and ensure that the length of the guide rail and the driving distance of the linear actuator are greater than the length of the oil tank under test; Step 2: Connect the robot base to the guide rail and the linear drive, and ensure that the linear drive drives the robot base to move linearly on the guide rail; Step 3: Fix the bottom of the manipulator column to the manipulator base with bolts and lock nuts; Step 4: Fix the laser vibrometer to the end of the robot's forearm with screws; Step 5: Fix the gantry symmetrically on both sides of the vibration table, ensuring that the distance between them meets the installation distance requirements of the guide rail base and does not interfere with the tested oil tank; Step 6: Fix the tested oil tank on the vibration table with the test fixture, make positioning marks, and ensure that each tested oil tank is installed in the same state; Step 7: Fix the guide rail base on the top of the gantry, and ensure that the distance between the laser vibrometer and the tested oil tank is greater than twice the cavity length of the laser vibrometer; Step 8: Fix the CCD camera on the gantry, determine the actual image coordinates corresponding to the coordinates of more than 5 calibration reference feature points by direct linear transformation method, and combine the coordinates after nonlinear distortion correction to determine the coordinate transformation relationship of the image plane; Step 9: Turn on the laser vibrometer, re-collect the image, and solve the coordinates and arrival path of the laser measuring point and the first compartment opening of the tested oil tank according to the coordinate conversion relationship; Step 10: According to the path, the position of the base of the manipulator is adjusted by the industrial computer through the linear drive, and the rotation angle, pitch angle and pitch angle of the manipulator's upper arm are adjusted accordingly. The reflection intensity of the laser vibrometer is observed through the industrial computer to ensure that the laser is vertically incident on the fuel liquid level in the top opening of the first compartment of the tested fuel tank; Step 11: Adjust the telescopic distance of the manipulator's forearm to ensure that the test distance of the laser vibrometer is equal to a multiple of its cavity length; Step 12: Use the industrial computer to control the vibration table to apply the required excitation to the tested fuel tank, and use the laser vibrometer to collect the sloshing characteristics of the fuel liquid surface in the first compartment of the tested fuel tank; Step 13: Repeat step 9 to solve the coordinates of the laser measuring point and the path to the opening of the second compartment of the tested fuel tank at this time, adjust the position of the base of the linear drive mobile manipulator according to the path, so that the laser measuring point of the laser vibrometer moves to the fuel liquid level in the opening of the second compartment of the tested fuel tank, and repeat steps 11 and 12 to complete the collection of the sloshing characteristics of the fuel liquid level in the second compartment of the tested fuel tank, and complete the collection of the sloshing characteristics of the fuel liquid level in all compartments of the tested fuel tank in turn; Step 14: Remove the first tested fuel tank and replace it with the second tested fuel tank, and repeat steps 9 to 13 until the fuel slosh test of all tested fuel tanks is completed.

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