Machine vision self-sensing imaging device suitable for narrow closed structure of aircraft

Abstract

The invention belongs to the technical field of aircraft structure detection, and particularly relates to a machine vision self-sensing imaging device suitable for a narrow closed structure of an aircraft. The device comprises a clamping mechanism, a rotating mechanism, an electric zoom industrial lens and a laser range finder, one end of the clamping mechanism is fixed on a narrow closed structure of the aircraft, the other end of the clamping mechanism is rotatably connected with the rotating mechanism, and the tail end of the rotating mechanism is connected with the electric zoom industrial lens and the laser range finder. The electric zoom industrial lens comprises a distance acquisition module used for acquiring a to-be-imaged target distance fed back by a laser range finder; the focal length parameter acquisition module is used for looking up a table to determine a focal length parameter corresponding to the target distance; and the focal length adjusting module is used for adjusting the focal length of the electric zoom industrial lens according to the focal length parameter. According to the invention, the machine vision device can quickly acquire high-quality images at various shooting angles in a narrow and closed structure, and comprehensive and efficient monitoring of the structure is ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aircraft structure detection, and particularly relates to a machine vision self-sensing imaging device suitable for narrow and closed structures of an aircraft. BACKGROUND

[0002] The purpose of aircraft structure strength test is to find structural damage, expose weak parts of structural design, and support optimization and improvement of structural design. Therefore, having a timely and reliable damage detection capability becomes a core requirement of aircraft structure strength test. This ensures that problems that may affect the structural strength and integrity are identified and solved in a timely manner during the development of an aircraft, thereby promoting the continuous improvement of the safety and reliability of the aircraft.

[0003] Manual visual inspection is the main means to find structural damage, but small damage is usually only visible under high load or pressure. In particular, for narrow and closed structures inside the aircraft, such as the inside of the wing, the tail structure and the fuel tank, manual visual inspection is usually inaccessible or difficult to access due to their narrow, closed and complex characteristics, which leads to untimely damage detection.

[0004] Machine vision technology is an effective means to solve damage detection in closed and narrow spaces. Using small mechanical structures and imaging devices, machine vision can detect aircraft closed structures in real time without being affected by factors such as load state and closed and narrow space, which is a new direction for aircraft structure damage detection. However, the weight, volume and imaging quality under random vibration of the general mechanical slide rail structure are the core problems that restrict the application of machine vision technology. SUMMARY

[0005] To solve the above problems, the application provides a machine vision self-sensing imaging device suitable for narrow and closed structures of an aircraft, mainly including a clamping mechanism, a rotating mechanism, an electric zoom industrial lens and a laser range finder. One end of the clamping mechanism is fixed on the narrow and closed structure of the aircraft, and the other end is rotatably connected to the rotating mechanism. The end of the rotating mechanism is connected to the electric zoom industrial lens and the laser range finder. The electric zoom industrial lens comprises:

[0006] A distance acquisition module for acquiring the target distance to be imaged fed back by the laser range finder;

[0007] A focal length parameter acquisition module for determining the focal length parameter corresponding to the target distance by table lookup;

[0008] A focal length adjustment module for adjusting the focal length of the electric zoom industrial lens according to the focal length parameter.

[0009] Preferably, the clamping mechanism comprises two clamping rods, the end of each clamping rod comprises two clamping arms, the clamping arms have threaded holes, and fastening bolts are connected to the threaded holes, and the fastening bolts press the fixing member on the narrow and closed structure of the aircraft installed between the two clamping arms.

[0010] Preferably, the rotating mechanism comprises a horizontal rotating mechanism and a pitching rotating mechanism, the horizontal rotating mechanism is arranged on the horizontal plate surface of the clamping mechanism, the output shaft of the horizontal rotating mechanism passes through the horizontal plate surface and is connected to the L-shaped rotating plate, and the pitching rotating mechanism is arranged outside the vertical plate surface of the L-shaped rotating plate, the output shaft of the pitching rotating mechanism passes through the vertical plate surface and is connected to the motorized zoom industrial lens.

[0011] Preferably, the laser range finder is sleeved on the outer cylinder of the motorized zoom industrial lens.

[0012] Preferably, the rotating mechanism is configured to rotate to a plurality of monitoring points according to a preset path, so as to shoot the target to be imaged at a plurality of angles.

[0013] Preferably, the motorized zoom industrial lens further comprises:

[0014] The target detection module is configured to determine the position of the target to be imaged according to the shot picture.

[0015] The machine vision device can quickly acquire high-quality images at each shooting angle in the narrow and closed structure, and can ensure comprehensive and efficient monitoring of the structure. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic diagram of a preferred embodiment of the machine vision self-sensing imaging device suitable for the narrow and closed structure of the aircraft.

[0017] In the drawings, 1 is a clamping mechanism, 2 is a rotating mechanism, 3 is a motorized zoom industrial lens, 4 is a laser range finder, 11 is a clamping rod, 12 is a clamping arm, 13 is a fastening bolt, 21 is a horizontal rotating mechanism, and 22 is a pitching rotating mechanism. DETAILED DESCRIPTION

[0018] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. Identical or similar reference numerals in the drawings represent identical or similar elements or elements with identical or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0019] The present application provides a machine vision self-sensing imaging device suitable for narrow and closed structures of an aircraft, as shown in Figure 1 The present application provides a machine vision self-sensing imaging device suitable for narrow and closed structures of an aircraft, as shown in

[0020] The distance acquisition module is configured to acquire a target distance to be imaged fed back by the laser range finder.

[0021] The focal length parameter acquisition module is configured to determine a focal length parameter corresponding to the target distance by table lookup.

[0022] The focal length adjustment module is configured to adjust the focal length of the electric zoom industrial lens according to the focal length parameter.

[0023] The present application adopts a compact and lightweight small structure as a design concept, selects high-strength materials, and maximally reduces the size and weight of the device, replacing the traditional large-volume and heavy sliding rail system, and adopts a rotating mechanism to adjust the imaging angle. At the same time, the self-sensing clear imaging technology is used to replace the traditional manual zooming, that is, according to the target distance measured by the laser range finder, the focal length of the electric zoom industrial lens is automatically adjusted, and the problem that the lens cannot be quickly focused after the machine vision device changes the shooting angle in an unreachable or not easily reachable environment is solved. The machine vision device quickly acquires high-quality images at each shooting angle in a narrow and closed structure, and ensures comprehensive and efficient monitoring of the structure.

[0024] The embodiment adopts an electrically zoomable industrial lens, writes a control program for automatically adjusting the lens focal length according to the target distance feedback of the laser range finder into a processor, realizes automatic adjustment of the focal length, makes the lens flexible and adaptive at different distances, and ensures clear imaging effect in a complex environment. The processor can be installed in an upper computer or in a camera device where the electrically zoomable industrial lens is located.

[0025] The machine vision self-sensing clear imaging device of the application can realize efficient and comprehensive target monitoring and clear imaging in a complex and limited space, and provides an innovative and comprehensive technical solution for the safety and reliability of an aircraft structure.

[0026] In some optional embodiments, the clamping mechanism 1 includes two clamping rods 11, the end of each clamping rod 11 includes two clamping arms 12, the clamping arms 12 have threaded holes, and a fastening bolt 13 is connected to the threaded holes, so that a fixing member on the narrow and closed structure of the aircraft is clamped between the two clamping arms 12 by the fastening bolt 13.

[0027] In the embodiment, the clamping device has the characteristics of easy operation and firmness and reliability, and the entire system can be firmly fixed on the aircraft structure, so as to ensure stable work in the narrow and closed structure of the aircraft. It should be noted that when the imaging device is installed in the aircraft by the clamping mechanism, a suitable position in the aircraft is selected to ensure that the device does not collide with the aircraft structure during movement.

[0028] In some optional embodiments, the rotating mechanism 2 includes a horizontal rotating mechanism 21 and a pitch rotating mechanism 22, the horizontal rotating mechanism 21 is arranged on the horizontal plate surface of the clamping mechanism 1, the output shaft of the horizontal rotating mechanism 21 penetrates through the horizontal plate surface and is connected to an L-shaped rotating plate, and the pitch rotating mechanism 22 is arranged outside the vertical plate surface of the L-shaped rotating plate, the output shaft of the pitch rotating mechanism 22 penetrates through the vertical plate surface and is connected to the electrically zoomable industrial lens 3.

[0029] The embodiment adopts a miniaturized double-shaft motor to realize angle change, including horizontal 360° rotation and positive and negative 90° pitch, so that the device can flexibly adjust the imaging angle according to specific conditions and ensure comprehensive monitoring of the narrow and closed structure. The system cooperatively drives the two motors according to a preset program path, so that the industrial lens can automatically rotate and adjust the position to the next monitoring point, and the system can efficiently complete omnidirectional target monitoring in a complex and limited space.

[0030] In some optional embodiments, the laser range finder 4 is arranged on the outer cylinder of the electrically zoomable industrial lens 3.

[0031] In this embodiment, the motorized zoom industrial lens 3 can rotate with the laser range finder 4, and based on the coordinate system conversion matrix calibrated in advance, the target position measured by the laser range finder 4 can be conveniently converted to the camera coordinate system, thereby meeting the rapid zoom of the motorized zoom industrial lens.

[0032] In some optional embodiments, the motorized zoom industrial lens 3 further comprises:

[0033] A target detection module is configured to determine the position of the target to be imaged according to the captured image.

[0034] In this embodiment, the target detection module is, for example, a target detection program based on the YOLO algorithm, which can identify places prone to cracking and improve monitoring efficiency. Further, based on the identified target, the system can take multiple angle photos around the target to generate clear image data, providing basic support for comprehensive target monitoring and clear imaging.

[0035] In some optional embodiments, the rotating mechanism 2 is configured to rotate to a plurality of monitoring points according to a preset path to capture the target to be imaged at multiple angles.

[0036] In this embodiment, the machine vision self-aware clear imaging device is clamped at a position in a closed space, and through rotation and pitching, combined with the target detection module, the typical configuration of the target, i.e., the place prone to cracking, is found. Then, the laser range finder is used to obtain the target distance, and the motorized zoom is controlled by the program to ensure that clear imaging can be completed at different distances. This process is repeated at each position until all positions are monitored comprehensively.

[0037] On the other hand, the present application evaluates the image content in real time, and uses a quality evaluation function to determine whether the lens focal length is sufficient to ensure clear imaging. According to the feedback result, the lens focal length is fine-tuned to ensure that clear images are captured. In addition, the depth of field of the motorized zoom industrial lens can reach 10 mm, effectively avoiding the influence of slight shaking of the machine body on the image clarity during the test.

[0038] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A machine vision self-sensing imaging device suitable for the small, enclosed structure of aircraft, characterized in that, The system includes a clamping mechanism (1), a rotating mechanism (2), an electrically adjustable zoom industrial lens (3), and a laser rangefinder (4). One end of the clamping mechanism (1) is fixed to the confined structure of the aircraft, and the other end is rotatably connected to the rotating mechanism (2). The end of the rotating mechanism (2) is connected to the electrically adjustable zoom industrial lens (3) and the laser rangefinder (4). The electrically adjustable zoom industrial lens (3) includes: The distance acquisition module is used to acquire the distance to the target to be imaged, as fed back by the laser rangefinder. The focal length parameter acquisition module is used to look up a table to determine the focal length parameter corresponding to the target distance; A focal length adjustment module is used to adjust the focal length of the motorized zoom industrial lens according to focal length parameters.

2. The machine vision self-sensing imaging device suitable for the small, enclosed structure of aircraft as described in claim 1, characterized in that, The clamping mechanism (1) includes two clamping rods (11), and the end of each clamping rod (11) includes two clamping arms (12). The clamping arms (12) have threaded holes and are fitted with fastening bolts (13). The fastening bolts (13) are used to press the fasteners installed on the narrow and enclosed structure of the aircraft between the two clamping arms (12).

3. The machine vision self-sensing imaging device suitable for the small, enclosed structure of aircraft as described in claim 1, characterized in that, The rotating mechanism (2) includes a horizontal rotating mechanism (21) and a pitch rotating mechanism (22). The horizontal rotating mechanism (21) is set on the horizontal plate of the clamping mechanism (1), and its output shaft passes through the horizontal plate and is connected to the L-shaped rotating plate. The pitch rotating mechanism (22) is set on the outside of the vertical plate of the L-shaped rotating plate, and its output shaft passes through the vertical plate and is connected to the electric zoom industrial lens (3).

4. The machine vision self-sensing imaging device suitable for the small, enclosed structure of aircraft as described in claim 1, characterized in that, The laser rangefinder (4) is mounted on the outer cylinder of the electric zoom industrial lens (3).

5. The machine vision self-sensing imaging device suitable for the small, enclosed structure of aircraft as described in claim 1, characterized in that, The rotating mechanism (2) is configured to rotate to multiple monitoring points according to a preset path to capture images of the target at multiple angles.

6. The machine vision self-sensing imaging device suitable for the small, enclosed structure of an aircraft as described in claim 1, characterized in that, The electrically adjustable zoom industrial lens (3) also includes: The target detection module is used to determine the location of the target to be imaged based on the captured image.

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