Folding rudder unfolding time testing system and method based on computer vision

Abstract

The invention discloses a folding rudder unfolding time testing system and method based on computer vision. The folding rudder unfolding time testing system comprises a workbench, a rudder surface mounting assembly, a limiting assembly, a camera support assembly and a data collecting and processing module. The data acquisition and processing module comprises a computer and a high-speed camera; the control surface mounting assembly and the limiting assembly are arranged on the workbench, the camera support assembly is arranged on one side of the workbench, and the high-speed camera is mounted on the camera support assembly and is in communication connection with the computer. According to the method, after the test is finished, an image sequence collected in the unfolding process of the folded rudder to be tested can be automatically stored, the motion angle of the movable rudder surface in each image is calculated, the unfolding time is calculated, and a time-motion angle chart is drawn.

Description

Technical Field

[0001] The present invention belongs to the technical field of folding rudder testing, and particularly relates to a folding rudder deployment time testing system and method based on computer vision. Background Art

[0002] Folding rudders are used to control the flight attitude of aircraft. They are in a folded state before the storage and launch of the aircraft, which can reduce the space occupied by the aircraft during storage. When the aircraft takes off or is launched, the folding rudders quickly deploy to provide control force. Using folding rudders in aircraft is beneficial for storage, transportation, and rapid deployment.

[0003] Testing the deployment time of folding rudders can detect whether their deployment performance meets the requirements, and it is a necessary test after the folding rudders are manufactured. Some current folding rudder testing devices have problems such as single data dimension, long preparation time, low testing efficiency, and poor versatility. Some methods can test the deployment time of folding rudders without contacting them, but only the time data experienced during the entire deployment process of the folding rudders can be obtained, lacking data during the deployment process. Some methods can continuously monitor the deployment process of folding rudders, but sensors need to be installed on the moving rudder surfaces or connected to the moving rudder surfaces in other ways, and the operation is relatively cumbersome.

[0004] For example, the Chinese patent with the publication number CN104443430B discloses a folding rudder surface deployment testing device, which includes a support mechanism, a photoelectric sensor measurement mechanism, a force application mechanism, and a control system. The support mechanism includes a support frame and a folding rudder surface support. The folding rudder surface support is fixed on the support frame and is used to install the folding rudder surface. The force application mechanism is connected to the folding rudder surface through an adapter and a connecting rod. The photoelectric sensor measurement mechanism is installed on the support frame and is used to test the deployment and folding time of the folding rudder surface. The control system is installed on the support frame and is used to automatically control the entire test measurement process. However, this patent cannot monitor the deployment process of the folding rudder and can only obtain the deployment time from before the folding rudder is deployed to the instant after deployment.

[0005] As disclosed in the Chinese patent with the publication number CN114234740B, a test device and method for the deployment time of folding fins of a rocket projectile are disclosed, belonging to the technical field of fin performance testing. It includes: a fin fixing table, a first proximity switch sensor, a second proximity switch sensor, a timer unit, and an electro-suction cup; when the fin leaves the electro-suction cup, the second proximity switch sensor senses the position change of the fin and outputs a start-timing electrical signal, and the timer unit receives the electrical signal and starts timing. When the fin is fully deployed within the sensing range of the first proximity switch sensor, the first proximity switch sensor outputs a stop-timing electrical signal, and the timer unit receives the electrical signal and stops timing to obtain the measured deployment time of the fin. However, similarly, when using proximity switch sensors for testing, the time and deployment angle during the deployment process cannot be obtained, and a motion angle-time graph cannot be generated. Only the deployment time from before the folding fin starts to deploy to the moment after deployment can be obtained. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides a folding fin deployment time test system and method based on computer vision, which can continuously and dynamically monitor the deployment process without contacting the folding fin to be tested, reduce the preparation time for the folding fin deployment test, and improve the test efficiency.

[0007] The present invention is achieved through the following technical solutions.

[0008] A folding fin deployment time test system based on computer vision provided by the present invention includes a workbench, a fin mounting assembly, a limiting assembly, a camera support assembly, and a data acquisition and processing module; the data acquisition and processing module includes a computer and a high-speed camera; the fin mounting assembly and the limiting assembly are arranged on the workbench, the camera support assembly is arranged on one side of the workbench, the high-speed camera is mounted on the camera support assembly, and the high-speed camera is communicatively connected to the computer.

[0009] Preferably, the workbench includes a panel, a support column, and a base; the support column is connected to the panel, and the base is connected to the support column.

[0010] Preferably, a kidney-shaped hole of the workbench is provided on the panel, and a through hole is provided on the base.

[0011] Preferably, the limit assembly includes a connecting seat, a lower connecting plate, an upper connecting plate, a limit device housing, a spring, a limit block, a limit device cover plate and a countersunk half-threaded screw; the lower connecting plate is installed on the connecting seat through a fixing bolt, the upper connecting plate is installed on the lower connecting plate through a connecting plate bolt, the limit device housing is installed on the upper connecting plate through a housing mounting bolt, the spring is installed inside the limit device housing, the limit device cover plate is installed outside the limit device housing, the limit block passes through the limit device housing and the limit device cover plate, the spring is connected to the limit block, and the countersunk half-threaded screw passes through the spring, the limit block and the limit device cover plate and then connects to the limit device housing. The spring and the limit block are slidably connected to the countersunk half-threaded screw.

[0012] Preferably, a counterbore and a workbench connection hole are provided under the connecting seat, and a connecting plate waist-shaped hole is provided on the lower connecting plate; the fixing bolt passes through the counterbore and connects to the lower connecting plate, and the connecting seat is installed on the workbench through the workbench connection hole, and the connecting plate bolt passes through the connecting plate waist-shaped hole and connects to the upper connecting plate.

[0013] Preferably, the camera support assembly includes a support base, an open optical axis fixing seat, a vertical optical axis connecting piece, an optical axis vertical support, a short optical axis, a camera mounting plate and a long optical axis; the long optical axis is installed on the support base through the open optical axis fixing seat, the short optical axis is installed on the long optical axis through the vertical optical axis connecting piece, and the camera mounting plate is installed on the short optical axis through the optical axis vertical support.

[0014] Preferably, the data acquisition and processing module further includes a power supply, a cable and a lens. The power supply is electrically connected to a computer, the computer is connected to a high-speed camera through the cable, and the lens is installed on the high-speed camera.

[0015] A method for testing the deployment time of a folding rudder based on computer vision is realized by the above-mentioned folding rudder deployment time testing system, and includes the following steps:

[0016] S1. The rudder surface mounting assembly fixes the folding rudder under test on the workbench;

[0017] S2. According to the position of the folding rudder under test, adjust the position and height of the limit assembly;

[0018] S3. Set the camera support assembly behind the axis of rotation of the folding rudder under test, preview the acquisition screen of the high-speed camera, and adjust the position of the high-speed camera according to the acquisition screen;

[0019] S4. Obtain the test requirements, adjust the folding rudder under test to the test angle according to the test requirements, and restrict the movement of the folding rudder under test through the limit assembly;

[0020] S5. Set the data acquisition interval. The limit component releases the limit, and the data acquisition and processing module acquires the rudder surface motion data of the folding rudder to be tested according to the data acquisition interval;

[0021] S6. The data acquisition and processing module calculates the unfolding time of the folding rudder according to the rudder surface motion data and draws a motion angle-time broken line graph.

[0022] Preferably, step S6 where the data acquisition and processing module calculates the unfolding time of the folding rudder according to the rudder surface motion data and draws a motion angle-time broken line graph includes the following steps:

[0023] S61. Read the rudder surface motion data to obtain an image sequence;

[0024] S62. Extract the feature vectors and eigenvalues according to the image sequence;

[0025] S63. Calculate the motion angle data corresponding to the feature vectors, and obtain the search index value according to the sequence index of the motion angle data;

[0026] S64. Obtain the sequence index of the effective angle data according to the search index value and the sequence index of the motion angle;

[0027] S65. Obtain the effective angle data according to the sequence index of the effective angle data and the motion angle data;

[0028] S66. Calculate the unfolding time of the folding rudder according to the sequence index of the effective angle data and the data acquisition interval;

[0029] S67. Draw a motion angle-time broken line graph according to the effective angle data and the unfolding time of the folding rudder.

[0030] Preferably, step S62 where the feature vectors and eigenvalues are extracted according to the image sequence includes the following steps:

[0031] S621. Perform grayscale calculation on the image sequence to obtain a grayscale image sequence;

[0032] S622. Perform binarization calculation on the grayscale image sequence to obtain a binarized image sequence;

[0033] S623. Perform logical operations on the binarized image sequence to obtain a mask sequence;

[0034] S624. Obtain a contour set according to the mask sequence, and obtain the contour with the largest area according to the contour set;

[0035] S625. Perform principal component analysis on the contour with the largest area to obtain the midpoint of the contour, feature vectors, and eigenvalues.

[0036] The beneficial effects of the present invention are as follows:

[0037] 1. The structure of the present invention is simple. The folding rudder can be quickly installed through the rudder surface installation component, and data is collected by a high-speed camera. The experimental preparation period is short, which can improve the efficiency of the folding rudder deployment test;

[0038] 2. After the test, the present invention can automatically save the image sequence collected during the deployment of the tested folding rudder, calculate the movement angle of the moving rudder surface in each image respectively, calculate the deployment time and draw a time-movement angle chart;

[0039] 3. The present invention collects data through a high-speed camera. With the camera support component and the rudder surface installation component, it can conduct deployment tests on folding rudders with different folding directions, external dimensions and folding angles without contacting the tested folding rudder, and dynamically monitor the movement of the folding rudder during the deployment process;

[0040] 4. The installation position of the high-speed camera is independent of the installation position of the tested folding rudder, which can not only avoid the influence of the vibration generated by the tested folding rudder on image acquisition during the test, but also freely adjust the placement position, height and angle of the camera, improving flexibility;

[0041] 5. The present invention can set parameters such as the shutter speed, sensitivity, sampling frequency, etc. of the high-speed camera as needed to achieve millisecond-level dynamic monitoring during the deployment of the folding rudder. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic structural diagram of a folding rudder deployment time test system provided by an embodiment of the present invention;

[0043] Figure 2 is a schematic structural diagram of a limit component provided by an embodiment of the present invention;

[0044] Figure 3 is a schematic structural diagram of a connecting seat provided by an embodiment of the present invention;

[0045] Figure 4 is a method flow chart provided by an embodiment of the present invention.

[0046] In the figure, 10 - workbench, 20 - rudder surface mounting assembly, 30 - limit assembly, 40 - camera support assembly, 50 - data acquisition and processing module, 60 - folding rudder under test, 101 - panel, 102 - strut, 103 - base, 301 - fixing bolt, 302 - connecting seat, 303 - lower connecting plate, 304 - connecting plate bolt, 305 - upper connecting plate, 306 - limiter housing, 307 - housing mounting bolt, 308 - spring, 309 - limit block, 310 - limiter cover plate, 311 - countersunk half-threaded screw, 401 - support base, 402 - open optical axis fixing seat, 403 - vertical optical axis connecting piece, 404 - optical axis vertical support, 405 - short optical axis, 406 - camera mounting plate, 407 - long optical axis, 501 - computer, 502 - power supply, 503 - cable, 504 - high-speed camera, 505 - lens, 601 - fixed rudder surface, 602 - movable rudder surface, 1011 - waist-shaped hole on the workbench, 1031 - through hole, 3021 - counterbore, 3022 - workbench connection hole, 3031 - waist-shaped hole on the connecting plate. Detailed implementation mode

[0047] The technical solution of the present invention will be further described below, but the scope of protection claimed is not limited thereto.

[0048] As Figure 1 shown, a folding rudder deployment time test system based on computer vision provided by the present invention includes a workbench 10, a rudder surface mounting assembly 20, a limit assembly 30, a camera support assembly 40 and a data acquisition and processing module 50; the data acquisition and processing module 50 includes a computer 501 and a high-speed camera 504; the rudder surface mounting assembly 20 and the limit assembly 30 are arranged on the workbench 10, the camera support assembly 40 is arranged on one side of the workbench 10, the high-speed camera 504 is installed on the camera support assembly 40, and the high-speed camera 504 is communicatively connected to the computer 501.

[0049] Among them, the workbench 10 is used to install the folding rudder 60 under test and the rudder surface mounting assembly 20; the rudder surface mounting assembly 20 is used to fix the folding rudder 60 under test on the workbench 10, the fixed rudder surface 601 is installed on the rudder surface mounting assembly 20, the movable rudder surface 602 is a folding rudder surface, and testing the deployment time of the folding rudder is to test the deployment time of the movable rudder surface 602; the limit assembly 30 is used to restrict the movement of the movable rudder surface 602 of the folding rudder 60 under test and release the restriction at the start of the test; the camera support assembly 40 is used to install the high-speed camera 504, and the installation position, height and angle can be adjusted as required; the data acquisition and processing module 50 is used to collect images and perform analysis, continuously collect images during the deployment process of the folding rudder using the high-speed camera 504, and calculate the movement angle of the movable rudder surface 602 in each image through the principal component analysis method to obtain the time-movement angle curve of the entire movement process.

[0050] The computer 501 is used to set the image acquisition parameters of the camera, preview the image screen, control the start and end of continuous image acquisition by the high-speed camera 504, analyze and calculate the acquired image sequence, and display the results.

[0051] The workbench 10 includes a panel 101, a support column 102, and a base 103; the support column 102 is connected to the panel 101, and the base 103 is connected to the support column 102.

[0052] Among them, the support column 102 can use a telescopic tube, so as to realize the workbench 10 with adjustable height, which is convenient for adjusting the relative positions of the tested folding rudder 60 and the high-speed camera 504, facilitating test preparation and improving test efficiency.

[0053] A workbench kidney-shaped hole 1011 is provided on the panel 101, and a through hole 1031 is provided on the base 103.

[0054] Among them, the workbench kidney-shaped hole 1011 is used to cooperate with the installation of the limit component 30. By setting the kidney-shaped hole, the installation position of the limit component 30 can be adjusted, so as to adapt to folding rudders with different shapes and sizes for testing. The through hole 1031 is used to cooperate with bolts to fix the workbench 10 on a plane, thereby improving stability.

[0055] As Figure 2 shown, the limit component 30 includes a connecting seat 302, a lower connecting plate 303, an upper connecting plate 305, a limit device housing 306, a spring 308, a limit block 309, a limit device cover plate 310, and a countersunk head half-threaded screw 311; the lower connecting plate 303 is installed on the connecting seat 302 through a fixing bolt 301, the upper connecting plate 305 is installed on the lower connecting plate 303 through a connecting plate bolt 304, the limit device housing 306 is installed on the upper connecting plate 305 through a housing installation bolt 307, the spring 308 is installed in the limit device housing 306, the limit device cover plate 310 is installed outside the limit device housing 306, the limit block 309 passes through the limit device housing 306 and the limit device cover plate 310, the spring 308 is connected to the limit block 309, and the countersunk head half-threaded screw 311 passes through the spring 308, the limit block 309, and the limit device cover plate 310 and then connects to the limit device housing 306, and the spring 308 and the limit block 309 are slidably connected to the countersunk head half-threaded screw 311;

[0056] After installing the limit component 30 according to the size, shape, and tested angle of the tested folding rudder, fold the tested folding rudder 60 to the tested angle. The limit block 309 contacts the moving rudder surface 601 of the tested folding rudder 60, and the moving rudder surface 601 is blocked by the limit block 309 and cannot move, that is, the position of the tested folding rudder 60 is restricted.

[0057] Since the limit block 309 passes through the limit device housing 306, when the folding rudder deployment time test starts, simply pulling the limit block 309 exposed at one end of the limit device housing 306 can release the limit of the limit assembly 30.

[0058] After the limit on the tested folding rudder 60 by the limit block 309 is released, the spring 308 can automatically reset the limit block 309.

[0059] As Figure 3 shown, a counterbore 3021 and a workbench connection hole 3022 are provided under the connection seat 302, and a connecting plate waist-shaped hole 3031 is provided on the lower connecting plate 303; the fixing bolt 301 passes through the counterbore 3021 and is connected to the lower connecting plate 303, and the connection seat 302 is installed on the workbench 10 through the workbench connection hole 3022, and the connecting plate bolt 304 passes through the connecting plate waist-shaped hole 3031 and is connected to the upper connecting plate 305.

[0060] Through the counterbore 3021, the bolt head of the fixing bolt 301 can also be placed inside the connection seat 302 without exposing the head, making the lower surface of the connection seat 302 a flat surface, which is convenient for installing the connection seat 302 on the workbench.

[0061] The connecting plate waist-shaped hole 3031 cooperates with the connecting plate bolt 304 to make the working height of the limit assembly 30 adjustable, so as to adapt to the tested folding rudders 60 with different folding angles.

[0062] The camera support assembly 40 includes a support base 401, an open optical axis fixing seat 402, a vertical optical axis connecting piece 403, an optical axis vertical bracket 404, a short optical axis 405, a camera mounting plate 406, and a long optical axis 407; the long optical axis 407 is installed on the support base 401 through the open optical axis fixing seat 402, the short optical axis 405 is installed on the long optical axis 407 through the vertical optical axis connecting piece 403, and the camera mounting plate 406 is installed on the short optical axis 405 through the optical axis vertical bracket 404.

[0063] The support base 401 is independent of the workbench 10 to avoid the impact of the vibration generated during the deployment of the tested folding rudder 60 on the image acquisition of the high-speed camera 504. The support base is used to install the rest of the camera support assembly and can be placed at different positions around the workbench as needed;

[0064] By adjusting the position of the vertical optical axis connecting piece 403 on the long optical axis 407, the height of the high-speed camera 504 can be adjusted; by adjusting the position of the optical axis vertical bracket 404 on the short optical axis 405, the horizontal position of the high-speed camera 504 can be adjusted.

[0065] The camera mounting plate 406 is used to adapt to the mechanical interface of the high-speed camera 504 so as to mount the high-speed camera 504 on the short optical axis.

[0066] The data acquisition and processing module 50 further includes a power supply 502, a cable 503 and a lens 505. The power supply 502 is electrically connected to the computer 501. The computer 501 is connected to the high-speed camera 504 through the cable 503. The lens 505 is mounted on the high-speed camera 504.

[0067] The cable 503 is located between the high-speed camera 504, the power supply 502 and the computer 501. The cable 503 connects the power supply 502 and the high-speed camera 504 for power supply, and connects the high-speed camera 504 and the computer 501 for data transmission.

[0068] The data acquisition and processing module can set parameters such as the shutter speed, sensitivity, sampling frequency, etc. of the high-speed camera 504 in the software of the computer 501, and can store the acquired image sequence to a specified path.

[0069] As Figure 4 shown, a method for testing the unfolding time of a folding rudder based on computer vision is implemented by the above-mentioned folding rudder unfolding time testing system, and includes the following steps:

[0070] S1. The rudder surface mounting assembly 20 fixes the folding rudder 60 to be tested on the workbench 10;

[0071] Before the test, it is necessary to correctly install and connect each component in the test system.

[0072] S2. According to the position of the folding rudder 60 to be tested, adjust the position and height of the limit component 30;

[0073] The position and height of the limit component 30 are adjusted according to the folding rudders of different sizes and folding angles. Specifically, fold the installed folding rudder 60 to be tested, and respectively adjust the position of the limit component 30 on the panel of the workbench 10 and the height of the limit block 309, so that the limit block 309 in the limit component 30 can contact the folding rudder 60 to be tested in the folded state to limit the movement of the folding rudder 60 to be tested. After finding a suitable installation position, the folding of the folding rudder 60 to be tested can be released, and the limit component 30 is fixed to the panel of the workbench 10 through bolts and the height of the limit block 309 is locked;

[0074] S3. Set the camera support assembly 40 behind the axis of rotation of the folding rudder 60 to be tested, preview the acquisition screen of the high-speed camera 504, and adjust the position of the high-speed camera 504 according to the acquisition screen;

[0075] S4. Obtain the test requirements, adjust the tested folding rudder 60 to the tested angle according to the test requirements, and restrict the movement of the tested folding rudder 60 through the limit component 30;

[0076] S5. Set the data acquisition interval, release the limit of the limit component 30, and the data acquisition and processing module 50 acquires the rudder surface movement data of the tested folding rudder 60 according to the data acquisition interval;

[0077] After setting the image acquisition parameters as needed in the software of the computer 501, click the start acquisition button, and release the restraint of the limit component 30 on the moving rudder surface. When the folding rudder is fully deployed, click the stop acquisition button in the software, and the software automatically saves the image sequence.

[0078] S6. The data acquisition and processing module 50 calculates the unfolding time of the folding rudder according to the rudder surface movement data, and draws a movement angle-time broken line graph.

[0079] The step S6 where the data acquisition and processing module 50 calculates the unfolding time of the folding rudder according to the rudder surface movement data and draws a movement angle-time broken line graph includes the following steps:

[0080] S61. Read the rudder surface movement data and obtain the image sequence;

[0081] In this embodiment, the image sequence is denoted as I[1, 2, 3,..., n], where 1, 2, 3,..., n are the indexes of the image sequence.

[0082] S62. Extract the feature vectors and eigenvalues according to the image sequence;

[0083] The step S62 where the feature vectors and eigenvalues are extracted according to the image sequence includes the following steps:

[0084] S621. Perform grayscale calculation on the image sequence to obtain a grayscale image sequence;

[0085] The grayscale image sequence I g [1, 2, 3,..., n].

[0086] S622. Perform binarization calculation on the grayscale image sequence to obtain a binarized image sequence;

[0087] The binarized image sequence Image sequence I b [1, 2, 3,..., n].

[0088] S623. Perform logical operations on the binarized image sequence to obtain a mask sequence;

[0089] Specifically, the other images in the binarized sequence I b [1, 2, 3,..., n] are respectively compared with I b[1] Perform logical operations to obtain the mask sequence M[1, 2, 3, ..., n] of the regions with relative motion in each image.

[0090] S624. Obtain the contour set according to the mask sequence, and obtain the contour with the largest area according to the contour set;

[0091] Search for the contour sets C M [1, 2, 3, ..., n] of each image in the image sequence M[1, 2, 3, ..., n]. Each image may contain multiple contours, so the found contours are multiple point sets, and each point set corresponds to a contour in the image. Then the number of contours corresponding to the contour set C M [1, 2, 3, ..., n] is Nc[nc1, nc2, nc3, …, ncn]; Search for the contour C M with the largest area in each subset of the contour set C MB [1, 2, 3, ..., n], that is, the contour with the largest area. The contour with the largest area in each image corresponds to the moving rudder surface region in the image.

[0092] S625. Perform principal component analysis on the contour with the largest area to obtain the midpoint, eigenvector, and eigenvalue of the contour.

[0093] Perform principal component analysis calculations on the point sets in the largest contour C MB [1, 2, 3, ..., n] respectively, to obtain the midpoint P m [1, 2, 3, ..., n], the main direction eigenvector E vec [1, 2, 3, ..., n] and the eigenvalue E val [1, 2, 3, ..., n].

[0094] S63. Calculate the motion angle data corresponding to the eigenvector, and obtain the search index value according to the sequence index of the motion angle data;

[0095] Calculate the motion angle data A vec corresponding to the eigenvector E E [1, 2, 3, ..., n]. The angle corresponding to the image I[1] collected under the folded state of the measured folding rudder is A E [1], and the angle corresponding to the image I[n] collected under the unfolded state of the measured folding rudder is A E [n].

[0096] The search index value is the index corresponding to the angle value collected when the measured folding rudder is unfolded to half in the motion angle data A E [1, 2, 3, ..., n], that is, the motion angle is (A E [n] - AE The index value i corresponding to when it is [1]) / 2.

[0097] S64. Obtain the sequence index of the effective angle data according to the search index value and the sequence index of the motion angle;

[0098] Search in the motion angle data A E [1, 2, 3,..., n]. Starting from A E [i], the index i decreases. When for the first time A E [i] ≤ A E [1], stop the search and record the index value at this time as i s ; Search in the motion angle data sequence A E [1, 2, 3,..., n]. Starting from A E [i], the index i increases. When for the first time A E [i] ≥ A E [n], stop the search and record the index value at this time as i e . Then the sequence index of the effective angle data is i s ~i e .

[0099] S65. Obtain the effective angle data according to the sequence index of the effective angle data and the motion angle data;

[0100] Intercept the effective angle data A E [i s ,..., i e from the motion angle data according to the sequence index of the effective angle data.

[0101] S66. Calculate the folding rudder deployment time according to the sequence index of the effective angle data and the data acquisition interval;

[0102] Calculate the folding rudder deployment time T u =S×(i e -i s ), where S is the data acquisition interval.

[0103] S67. Draw a motion angle - time line graph according to the effective angle data and the folding rudder deployment time.

[0104] Combined with the effective angle data A E [i s ,..., i e , the motion angle - time curve during the folding rudder deployment process can be obtained, where A E [i s is the angle of the measured folding rudder in the folded state, and A E[i e is the angle after the deployment of the folding rudder under test is completed.

[0105] Up to this point, steps S4 to S6 can be repeated to conduct multiple repeated tests, and multiple sets of data are used to verify the test accuracy.

[0106] The structure of the present invention is simple, and the experimental preparation period is short, which can improve the efficiency of the folding rudder deployment test; the present invention can automatically save the image sequence collected during the deployment of the folding rudder under test after the test, calculate the movement angle of the moving rudder surface in each image respectively, calculate the deployment time and draw a time-movement angle chart; the present invention can conduct the deployment test on folding rudders with different folding directions, external dimensions and folding angles without contacting the folding rudder under test, and dynamically monitor the movement during the deployment process of the folding rudder; the installation position of the high-speed camera is independent of the installation position of the folding rudder under test, which can not only avoid the influence of the vibration generated by the folding rudder under test on image acquisition during the test, but also freely adjust the placement position, height and angle of the camera to improve flexibility; the present invention can set parameters such as the shutter speed, sensitivity, sampling frequency, etc. of the high-speed camera as required to achieve millisecond-level dynamic monitoring during the deployment process of the folding rudder.

Claims

1. A folding rudder deployment time test system based on computer vision, characterized in that: The invention comprises a workbench (10), a rudder surface mounting assembly (20), a position limiting assembly (30), a camera support assembly (40) and a data acquisition processing module (50); the data acquisition processing module (50) comprises a computer (501) and a high-speed camera (504); the rudder surface mounting assembly (20) and the position limiting assembly (30) are arranged on the workbench (10), the camera support assembly (40) is arranged on one side of the workbench (10), the high-speed camera (504) is installed on the camera support assembly (40), and the high-speed camera (504) and the computer (501) are communicatively connected.

2. The folding rudder deployment time test system according to claim 1, characterized in that: The workbench (10) comprises a panel (101), a support column (102) and a base (103); the support column (102) and the panel (101) are connected, and the base (103) and the support column (102) are connected.

3. The folding rudder deployment time test system according to claim 2, characterized in that: The panel (101) is provided with a workbench waist-shaped hole (1011), and the base (103) is provided with a through hole (1031).

4. The folding rudder deployment time test system according to claim 1, characterized in that: The limiter assembly (30) comprises a connecting seat (302), a lower connecting plate (303), an upper connecting plate (305), a limiter housing (306), a spring (308), a limiter block (309), a limiter cover plate (310) and a countersunk half-thread screw (311); the lower connecting plate (303) is mounted on the connecting seat (302) by means of a fixing bolt (301), the upper connecting plate (305) is mounted on the lower connecting plate (303) by means of a connecting plate bolt (304), and the limiter housing (306) is mounted on the upper connecting plate (306) by means of a housing mounting bolt (307). 5), the spring (308) is installed in the limiter housing (306), the limiter cover (310) is installed outside the limiter housing (306), the limiter block (309) passes through the limiter housing (306) and the limiter cover (310), the spring (308) is connected to the limiter block (309), the countersunk half-tooth screw (311) passes through the spring (308), the limiter block (309) and the limiter cover (310) and then connects to the limiter housing (306), and the spring (308) and the limiter block (309) are slidably connected to the countersunk half-tooth screw (311).

5. The folding rudder deployment time test system according to claim 4, characterized in that: A countersunk hole (3021) and a workbench connecting hole (3022) are provided under the connecting seat (302), and a connecting plate waist-shaped hole (3031) is provided on the lower connecting plate (303); the fixing bolt (301) passes through the countersunk hole (3021) and is connected to the lower connecting plate (303), the connecting seat (302) is installed on the workbench (10) through the workbench connecting hole (3022), and the connecting plate bolt (304) passes through the connecting plate waist-shaped hole (3031) and is connected to the upper connecting plate (305).

6. The folding rudder deployment time test system according to claim 1, characterized in that: The camera support assembly (40) comprises a support base (401), an open optical axis fixing seat (402), a vertical optical axis connecting piece (403), an optical axis vertical support (404), a short optical axis (405), a camera mounting plate (406) and a long optical axis (407); the long optical axis (407) is mounted on the support base (401) via the open optical axis fixing seat (402), the short optical axis (405) is mounted on the long optical axis (407) via the vertical optical axis connecting piece (403), and the camera mounting plate (406) is mounted on the short optical axis (405) via the optical axis vertical support (404).

7. The folding rudder deployment time test system according to claim 1, characterized in that: The data acquisition and processing module (50) further comprises a power supply (502), a cable (503) and a lens (505), wherein the power supply (502) is electrically connected to the computer (501), the computer (501) is connected to the high-speed camera (504) via the cable (503), and the lens (505) is mounted on the high-speed camera (504).

8. A method for testing the deployment time of a folding rudder based on computer vision, characterized in that: The method is implemented by a folding rudder deployment time test system as described in any one of claims 1 to 7, comprising the following steps: S1, the rudder surface mounting assembly (20) fixes the folding rudder to be tested on the workbench (10); S2, adjusting the position and height of the limit assembly (30) according to the position of the folding rudder under test; S3, arranging the camera support assembly (40) at the rear side of the axis of the rotating shaft of the folding rudder to be tested, previewing the acquisition picture of the high-speed camera (504), and adjusting the position of the high-speed camera (504) according to the acquisition picture; S4, obtaining test requirements, adjusting the tested folding rudder to a tested angle according to the test requirements, and constraining the movement of the tested folding rudder by a limiter assembly (30); S5, setting a data collection interval, releasing the limit of the limit assembly (30), and collecting the rudder surface motion data of the tested folding rudder according to the data collection interval; S6. The data acquisition and processing module (50) calculates the unfolding time of the folding rudder according to the rudder surface motion data and draws a motion angle-time line graph.

9. The folding rudder deployment time test method according to claim 8, characterized in that: The step S6, data acquisition and processing module (50) calculating the unfolding time of the folding rudder according to the rudder surface motion data and drawing a motion angle-time line graph comprises the following steps: S61, reading the control surface motion data and obtaining an image sequence; S62, extracting feature vectors and feature values ​​according to the image sequence; S63, calculating the motion angle data corresponding to the feature vector, and obtaining a search index value according to the sequence index of the motion angle data; S64, acquiring a sequence index of valid angle data according to the search index value and the sequence index of the motion angle; S65, acquiring effective angle data according to the sequence index of effective angle data and the motion angle data; S66, calculating the folding rudder deployment time according to the sequence index of the effective angle data and the data collection interval; S67, drawing a motion angle-time line graph according to the effective angle data and the folding rudder deployment time.

10. The folding rudder deployment time test method according to claim 9, characterized in that: The step S62 of extracting feature vectors and feature values ​​according to the image sequence comprises the following steps: S621, performing grayscale calculation on the image sequence to obtain a grayscale image sequence; S622, performing binarization calculation on the grayscale image sequence to obtain a binarized image sequence; S623, performing a logical operation on the binary image sequence to obtain a mask sequence; S624, obtaining a contour set according to the mask sequence, and obtaining a contour with a maximum area according to the contour set; S625. Perform principal component analysis on the contour with the largest area to obtain the contour midpoint, eigenvector and eigenvalue.

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