Large complex structure stress-defect-profile integrated detection system and method

Abstract

The invention provides a stress-defect-profile multi-source integrated detection system for a large complex structure. The system comprises a scanning detection mechanism module, a global position information positioning module and a detection module, according to the method, a multi-source detection data three-dimensional fusion method based on an actual detection model is adopted, and registration of structural defects, stress and profile data and the three-dimensional model is realized by scanning the position relation between coordinates of a detection mechanism and coordinates of an actual detected structure; the problems that the relevance between traditional detection data and the actual detected structure state is weak, the global quality state cannot be visually standardized, and the relevance between the detection data is poor are effectively solved.

Description

Technical Field

[0001] This invention relates to an integrated multi-source detection system and method for stress-defect-shape of large and complex structures, belonging to the field of quality inspection. Background Technology

[0002] With the rapid increase in missions such as deep space exploration, manned spaceflight, new-generation remote sensing platforms, and new-generation communication satellite platforms, large-size and complex structures have been widely used in the satellite field. As future batch missions gradually increase, the demand for product development is growing, placing higher requirements on development quality, cycle time, and efficiency.

[0003] Existing traditional testing methods primarily employ multiple testing instruments for discrete, unit-based, and step-by-step testing of the test pieces. These testing stations are inconsistent, and due to the complexity of the structures, manual inspection is often used. This results in low overall testing efficiency for large structures, and issues such as the inability to inspect irregularly shaped areas. Furthermore, the correlation between different test results is limited, and frequent retesting of healthy areas can impact the testing cycle. To meet the future demand for comprehensive quality assessment of large-size, complex-configured, and batch-produced structures, existing testing methods cannot efficiently, accurately, and automatically meet the requirements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: The present invention provides a multi-source integrated detection system and method for stress-defect-shape of large and complex structures, which realizes integrated detection of stress state, internal defects and morphological accuracy of large structures, greatly improves product detection efficiency and capability, and realizes the coupling and correlation of multi-source detection data.

[0005] The technical solution adopted in this invention is: a multi-source integrated detection system for stress-defect-shape of large and complex structures, including a scanning and detection mechanism module, a global position information positioning module, and a detection module; The global position information positioning module includes a global positioning target, a marker target, a photogrammetric camera group, and a camera support. The global positioning target is used to obtain the spatial positional relationship between the detection module and the structure under test, and is also used to establish a spatial measurement benchmark. The marker target is used to confirm the location of the positioning stress measurement and to mark and confirm the location of the defect. Each photogrammetric camera in the photogrammetric camera group is mounted on a camera support to collect and measure the position information of the global positioning target and the marker target. The camera supports are distributed around the structure under test. The detection module includes an infrared excitation source, an infrared camera, a surface measurement optical camera group, an ultrasonic stress measuring head, and a dual-axis scanning gimbal. The infrared excitation source, infrared camera, and surface measurement optical camera group are mounted on the instrument mounting platform. The infrared excitation source is used to thermally excite the structure under test, and together with the infrared camera, it forms an infrared non-destructive testing system to collect the internal thermal response of the structure under test to achieve defect detection. The surface measurement optical camera group is used to collect the surface features of the structure under test. The ultrasonic stress measuring head is mounted on the lower moving slide rail and the lifting slide rail on the instrument mounting platform, respectively, via the dual-axis scanning gimbal. The ultrasonic stress measuring head moves vertically along the lifting slide rail and is used to obtain the internal stress distribution of the structure under test, achieving perpendicular detection with the end face of the structure under test in conjunction with the dual-axis scanning gimbal. The scanning and detection mechanism module enables the infrared excitation source, infrared camera, and surface measurement optical camera group to move horizontally, the ultrasonic stress measurement head and dual-axis scanning gimbal to move horizontally and vertically, and the measured structure to rotate.

[0006] Furthermore, the scanning and detection mechanism module includes a scanning structure support, an upper motion slide rail, a motion slider, an instrument mounting platform, a lifting slide rail, a lower motion slide rail, and a precision rotary table. The upper motion slide rail is installed on the upper beam of the scanning structure support, providing a motion track for the motion slider. The instrument mounting platform is installed on the motion slider to achieve lateral scanning. The lifting slide rail is connected to the instrument mounting platform. The lower motion slide rail is installed at the bottom of the scanning structure support and works with the lifting slide rail to scan and detect the outer side of the structure under test. The precision rotary table is placed on the same plane as the scanning structure support to drive the structure under test to rotate.

[0007] Furthermore, the scanning structure support is a C-shaped frame structure.

[0008] Furthermore, the detection module also includes a feature calibration board, which is used to calibrate and confirm the infrared non-destructive testing system and the shape and surface measurement optical camera group.

[0009] Furthermore, the detection module also includes a data processing and analysis module, which receives internal structural defects, stress, and surface conditions, and, in conjunction with the collected spatial coordinate information at each location, performs data processing.

[0010] A multi-source integrated detection method for stress, defects, and surface features of large and complex structures using the above-mentioned detection system includes: S1: Place the structure to be tested on the precision rotary table, and adjust the positional relationship between the precision rotary table and the scanning structure support to ensure that all areas of the structure to be tested can be scanned and inspected; Global positioning targets are installed on the scanning result support to establish spatial position benchmarks; global positioning targets are installed on the structure under test to obtain positional relationship information of the structure under test; the photogrammetric camera group is adjusted to ensure that the photogrammetric camera group obtains all global positioning target information; S2: Use the feature calibration plate to calibrate and confirm the infrared non-destructive testing system and the surface measurement optical camera group. Use the feature stripe pattern information set by the feature calibration plate to calculate the measurement intrinsic parameter data of the surface measurement optical camera group and collect the three-dimensional features of the surface of the structure under test. S3: Drive the scanning and inspection mechanism module, adjust the position of the moving slider so that the center of the image acquired by the surface measurement fiber optic camera group coincides with the center of the global positioning target on the measured structure, and record the measurement coordinates A in the coordinate system of the scanning and inspection mechanism and the global positioning target coordinates B acquired by the photogrammetric camera group in the current state; based on the recorded correspondence between the measurement coordinate group of the scanning and inspection mechanism and the global positioning target coordinate group, establish the coordinate transformation equation K to unify the coordinate system of the scanning and inspection mechanism module with the coordinate system of the photogrammetric system; S4: Start the scanning and inspection mechanism module to drive the structure under test to perform a global scanning and inspection. During the inspection process, record the detection coordinate information under the coordinate system of the scanning and inspection mechanism at each inspection, and simultaneously record the acquired defect detection images and the three-dimensional results of morphology measurement. S5: The detection coordinate information in the coordinate system of the scanning and detection mechanism obtained during each detection is transformed using the transformation equation K to unify the three-dimensional morphology results, defect detection image structure and the spatial position benchmark constructed by the global positioning target; S6: Based on the obtained 3D surface detection results and the positional relationship of the defects, associate them with the actual measured structural features through global positioning coordinate information; distribute and paste marker targets around the defect location of the actual measured structure. S7: Collect the position information of the marked target through the photogrammetric camera group, and obtain the coordinates of the marked target in the photogrammetric camera group coordinate system; By using the coordinate information of the marked target, the scanning and detection mechanism module is guided to drive the slider positions of the upper and lower moving slide rails. The lifting slide rail and the dual-axis scanning gimbal are adjusted to maintain the perpendicular relationship between the ultrasonic stress detection probe and the end face of the structure under test, and stress data information at the corresponding marked target position is obtained. S8: Associate the obtained stress measurement results with the coordinate information of the corresponding marked target, and index the stress measurement results on the obtained three-dimensional surface model by the coordinates of the marked target, so as to realize the display of stress data, defect data and three-dimensional surface model under the same three-dimensional model.

[0011] Furthermore, the global positioning targets are distributed in a non-coplanar space, and the number of global positioning targets is not less than 4.

[0012] Furthermore, in step S2, during the calibration process, an infrared camera and a shape measurement optical camera group simultaneously acquire image information of the feature calibration board. Based on the pre-set feature parameters of the feature calibration board, the pixel coordinates of the same features in the infrared image are established. The relationship between the shape and its three-dimensional spatial coordinates (x, y, z) is as follows: , The positional relationship between the infrared non-destructive measurement system and the surface measurement optical camera group is calculated in reverse, and the correlation coupling transformation matrix Z between the infrared detection image and the positional information of the three-dimensional surface features is obtained.

[0013] Furthermore, in step S3, the position of the motion slider is repeatedly adjusted by replacing the global positioning target at at least four different positions so that the center of the image acquired by the surface measurement fiber optic camera group coincides with the center of the global positioning target on the structure under test. The measurement coordinates A in the coordinate system of the scanning and detection mechanism and the global positioning target coordinates B acquired by the photogrammetric camera group are recorded in the current state at different positions.

[0014] Furthermore, in step S5, an image stitching algorithm or a point cloud fusion algorithm is used to fuse the defect detection structure and surface measurement results, constructing a full-size defect detection data model and a three-dimensional surface measurement model of the measured structure; the transformation matrix Z is used to achieve three-dimensional registration of the defect detection structure and surface measurement results, enabling the display of defect detection data information in the three-dimensional surface results.

[0015] The advantages of this invention compared to the prior art are: 1. This invention is a fully automatic detection method that integrates multiple detection functions such as defect status, surface accuracy, and stress parameters. It can solve the problems of existing detection methods, such as the inability to synchronize the detection of various parameters, the discrete detection stations, reliance on manual labor, and low detection efficiency. It can provide a detection approach for efficient and rapid assessment of the quality status of batch large-size structures.

[0016] 2. This invention adopts a three-dimensional fusion method of multi-source detection data based on actual detection models. By utilizing the coordinate relationship between the scanning detection mechanism and the actual measured structure, the registration of structural defects, stress and surface data with the three-dimensional model is achieved. This effectively solves the problems of weak correlation between traditional detection data and the actual measured structure state, inability to intuitively standardize the global quality state, and poor correlation between various detection data.

[0017] 3. This invention adopts a global network of photogrammetric cameras to acquire the spatial relationship between various detection devices, effectively transforming and decoupling the coordinate relationship of the detection data. It also uses a defect detection structure to guide the stress measurement position, which effectively improves the detection efficiency of the traditional uniform distribution stress measurement mode and avoids the redundancy of frequent health differentiation detection. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the integrated multi-source detection system for stress-defect-shape of large and complex structures used in this invention; The following are the labels in the diagram: 1-Scanning structure support, 2-Motion slider, 3-Instrument mounting platform, 4-Infrared excitation source, 5-Infrared camera, 6-Surface measurement optical camera group, 7-Lower motion slide rail, 8-Ultrasonic stress measurement head, 9-Lifting slide rail, 10-Dual-axis scanning gimbal, 11-Structure under test, 12-Precision rotary table, 13-Upper motion slide rail, 14-Photogrammetric camera group, 15-Camera support, 16-Marking target, 17-Global positioning target, 18-Data processing and analysis module, 19-Feature calibration plate.

[0019] Figure 2 This is a flowchart of the multi-source integrated detection method for stress-defect-shape of large and complex structures used in this invention. Detailed Implementation

[0020] The present invention will be described in conjunction with the accompanying drawings.

[0021] This invention aims to address the problems of low efficiency, poor adaptability, and lack of effective detection methods for large and complex spacecraft structures, such as antenna reflectors and structural plates, by providing a multi-source integrated detection method for stress, defects, and morphology of large and complex structures. This method achieves integrated detection of stress state, internal defects, and morphological accuracy of large structures, significantly improving the detection efficiency and capability of large and complex structures, and realizing the coupling and correlation of multi-source detection data.

[0022] like Figure 1 As shown in this embodiment, a multi-source integrated detection system for stress-defect-shape of large and complex structures includes a scanning and detection mechanism module, a global location information positioning module, and a detection module.

[0023] The scanning and detection mechanism module comprises a scanning structure support 1, an upper motion slide rail 13, a motion slider 2, an instrument mounting platform 3, a lifting slide rail 9, a lower motion slide rail 7, and a precision rotary table 12. The scanning structure support 1 is a C-shaped frame structure, primarily used to provide support and fix the position of the detection system. The upper motion slide rail 13 is installed at the upper end of the scanning structure support 1, primarily providing a motion track for the motion slider 2. The instrument mounting platform 3 is installed on the motion slider 2 to achieve lateral scanning. The lifting slide rail 9 is connected to the instrument mounting platform 3, primarily used to move the ultrasonic stress measuring head 8 in the vertical direction, adaptable to depth scanning. The lower motion slide rail 7 is installed at the lower end of the scanning structure support 1, working in conjunction with the lifting slide rail 9 to scan and detect the outer side of the structure under test. The precision rotary table 12 is placed on the same plane as the scanning structure support 1 to drive the rotation of the structure under test, working in conjunction with other scanning components to achieve global structural detection.

[0024] The global positioning information localization module mainly comprises a global positioning target 17, a marker target 16, a photogrammetric camera group 14, and a camera bracket 15. The global positioning target 17 is mainly used to obtain the spatial positional relationship between the testing instrument and the structure under test, and also to establish a spatial measurement benchmark. The marker target 16 is used to confirm the location of the positioning stress measurement and to mark and confirm the location of defects. The photogrammetric camera group 14 is mounted on the camera bracket 15 and is used to collect and measure the position information of the global positioning target 17 and the marker target 16.

[0025] The detection module mainly consists of an infrared excitation source 4, an infrared camera 5, a surface measurement optical camera group 6, an ultrasonic stress measuring head 8, a dual-axis scanning gimbal 10, a feature calibration plate 19, and a data processing and analysis module 18. The infrared excitation source 4 is used to thermally excite the structure under test 11. Together with the infrared camera 5, it forms an infrared non-destructive testing system that can acquire the internal thermal response of the structure under test 11 to detect defects. The infrared excitation source 4, infrared camera 5, and surface measurement optical camera group 6 are mounted on the instrument mounting platform 3. The surface measurement optical camera group 6 is mainly used to acquire the surface features of the structure under test, typically through structured light detection or visual measurement. The ultrasonic stress measuring head 8 is mounted on the lifting rail 9, which is mounted on the lower motion slide rail 7 and the instrument mounting platform 3, respectively, via the dual-axis scanning gimbal 10. The ultrasonic stress measuring head 8 is used to obtain the internal stress distribution of the structure under test 11 using traditional ultrasonic testing methods. Together with the dual-axis scanning gimbal, it can achieve vertical adaptability testing of the end face of the structure under test 11. The data processing and analysis module 18 is mainly used to receive internal structural defects, stress and surface conditions, and to achieve data fusion processing in conjunction with the collected spatial coordinate information of each location.

[0026] like Figure 2 As shown, a multi-source integrated detection method for stress, defects, and surface features of large and complex structures is characterized by the following steps: Step 1: Install and set up the detection system according to the installation plan and composition of the stress-defect-shape multi-source integrated detection system, connect all systems, and place the structure under test 11 on the precision turntable 12. Adjust the positional relationship between the turntable 12 and the scanning structure support 1 to ensure that all areas of the structure under test 11 can be scanned and detected.

[0027] Global positioning targets 17 are installed on the scanning result support 1 to establish a spatial position reference. The global positioning targets 17 should be distributed in non-coplanar space, and the number of global positioning targets 17 should not be less than 4. Global positioning targets 17 are also installed on the test piece 11 to realize the positional relationship information of the test piece 11. The photogrammetric camera group 14 is adjusted to ensure that the camera group 14 can acquire all target information.

[0028] Debug the infrared non-destructive testing system, the surface measurement system, and the stress measurement system to ensure that the measurement system can perform normal and stable testing.

[0029] Step 2: Use the feature calibration plate 19 to calibrate and confirm the infrared non-destructive testing system and the surface measurement optical camera group 6. Use the feature stripe pattern information set on the calibration plate 19 to calculate the measurement intrinsic parameter data of the surface measurement optical camera group 6, so as to achieve accurate acquisition of the three-dimensional features of the surface of the structure 11 under test.

[0030] Furthermore, during the calibration process, the infrared camera 5 and the shape measurement optical camera group 6 simultaneously acquire image information of the feature calibration plate 19. Based on the pre-set feature parameters of the calibration plate 19, the pixel coordinates of the same features in the infrared image are established. The relationship between the shape and its three-dimensional spatial coordinates (x, y, z) is as follows:

[0031] The positional relationship between the infrared non-destructive measurement system and the surface measurement optical camera group 6 is calculated in reverse, and the correlation coupling transformation matrix Z between the infrared detection image and the positional information of the three-dimensional surface features is obtained.

[0032] Step 3: Drive the scanning and inspection mechanism module, adjust the position of slider 2 so that the center of the image acquired by the surface measurement fiber optic camera group 6 coincides with the center of the global positioning target 17 on the structure under test 11. Record the measurement coordinates A in the coordinate system of the scanning and inspection mechanism and the coordinates B of the global positioning target acquired by the photogrammetric camera group 14 in the current state. Repeat the above operation by changing the global positioning target 17 to at least 4 different positions. Based on the recorded correspondence between the measurement coordinates A group of the scanning and inspection mechanism and the coordinates of the global positioning target, establish the coordinate transformation equation K to unify the coordinate system of the scanning and inspection mechanism with the coordinate system of the photogrammetric system.

[0033] Step 4: Start the scanning and inspection mechanism module to drive the structure under test 11 to perform a global scanning and inspection. During the inspection process, record the detection coordinate information in the scanning and inspection mechanism coordinate system at each inspection. Simultaneously record the acquired defect detection images and the three-dimensional morphology measurement results.

[0034] Step 5: Transform the detection coordinate information in the coordinate system of the scanning and detection mechanism obtained during each detection using the transformation equation K to unify the three-dimensional morphology results, defect detection image structure and the spatial position benchmark constructed by the global positioning target.

[0035] Image stitching or point cloud fusion algorithms are used to independently fuse the defect detection structure and surface measurement results, constructing a full-size defect detection data model and a 3D surface measurement model of the measured structure. The transformation matrix Z is used to achieve 3D registration of the two detection results. Finally, defect detection data information is displayed in the 3D surface results.

[0036] Step 6: Based on the relationship between the obtained 3D surface detection results and the defect location, associate the global positioning coordinate information with the actual measured structural features. Furthermore, considering that stress concentration, abrupt changes, and other abnormalities are prone to occur at the defect location, mark targets 16 are distributed and pasted around the defect location on the actual measured structure.

[0037] Step 7: Collect the position information of the marker target 16 through the photogrammetric camera group 14, and obtain the coordinates of the marker target in the photogrammetric camera group coordinate system.

[0038] By using the target coordinate information to guide the scanning and detection mechanism module to drive the slider positions of the upper slide rail 13 and the lower slide rail 7, the lifting slide rail 9 and the dual-axis scanning gimbal 10 are adjusted to ensure that the ultrasonic stress detection probe 8 and the end face of the structure under test 11 are always perpendicular, and stress data information at the corresponding target position is obtained.

[0039] Step 8: Associate the obtained stress measurement results with the coordinate information of the corresponding marked target 16, and index the stress measurement results on the obtained three-dimensional surface model through the coordinates of the marked target, so as to realize the centralized collaborative display of stress data, defect data and three-dimensional surface model under the same three-dimensional model.

[0040] The parts of this invention not described in detail are well-known to those skilled in the art.

Claims

1. A multi-source integrated detection system for stress, defects, and surface profiles of large and complex structures, characterized in that, It includes a scanning and detection module, a global location information positioning module, and a detection module; The global positioning information positioning module includes a global positioning target (17), a marker target (16), a photogrammetric camera group (14), and a camera bracket (15). The global positioning target (17) is used to obtain the spatial positional relationship between the detection module and the structure under test, and is also used to establish a spatial measurement benchmark. The marker target (16) is used to confirm the positioning stress measurement position and mark the confirmed defect position. Each photogrammetric camera in the photogrammetric camera group (14) is installed on the camera bracket (15) to collect and measure the position information of the global positioning target (17) and the marker target (16). Each camera bracket (15) is distributed around the structure under test (11). The detection module includes an infrared excitation source (4), an infrared camera (5), a surface measurement optical camera group (6), an ultrasonic stress measuring head (8), and a dual-axis scanning gimbal (10); the infrared excitation source (4), the infrared camera (5), and the surface measurement optical camera group (6) are mounted on the instrument mounting platform (3); the infrared excitation source (4) is used to thermally excite the structure under test (11), and together with the infrared camera (5) forms an infrared non-destructive testing system to collect the internal thermal response of the structure under test (11) to achieve defect detection; the surface measurement... The optical camera group (6) is used to collect the surface features of the structure under test (11); the ultrasonic stress measuring head (8) is installed on the lifting slide rail (9) on the lower end motion slide rail (7) and the instrument mounting platform (3) respectively through the dual-axis scanning gimbal (10). The ultrasonic stress measuring head (8) moves vertically along the lifting slide rail (9). The ultrasonic stress measuring head (8) is used to obtain the internal stress distribution of the structure under test (11) and cooperate with the dual-axis scanning gimbal (10) to realize the vertical detection of the end face of the structure under test (11); The scanning and detection mechanism module enables the infrared excitation source (4), infrared camera (5), and surface measurement optical camera group (6) to move in the horizontal direction, and enables the ultrasonic stress measurement head (8) and dual-axis scanning gimbal (10) to move in the horizontal and vertical directions, and enables the measured structure (11) to rotate.

2. The integrated multi-source detection system for stress-defect-shape of large and complex structures according to claim 1, characterized in that, The scanning and testing mechanism module includes a scanning structure support (1), an upper motion slide rail (13), a motion slider (2), an instrument mounting platform (3), a lifting slide rail (9), a lower motion slide rail (7), and a precision rotary table (12). The upper motion slide rail (13) is installed on the upper beam of the scanning structure support (1) to provide a motion track for the motion slider (2). The instrument mounting platform (3) is installed on the motion slider (2) to realize horizontal scanning. The lifting slide rail (9) is connected to the instrument mounting platform (3). The lower motion slide rail (7) is installed at the bottom of the scanning structure support (1) and works with the lifting slide rail (9) to scan and test the outside of the structure under test. The precision rotary table (12) is placed on the same plane as the scanning structure support (1) to drive the structure under test (11) to rotate.

3. The integrated multi-source detection system for stress-defect-shape of large and complex structures according to claim 2, characterized in that, The scanning structure support (1) is a C-shaped frame structure.

4. The integrated multi-source detection system for stress-defect-shape of large and complex structures according to claim 3, characterized in that, The detection module also includes a feature calibration board (19), which is used to calibrate and confirm the infrared non-destructive testing system and the shape measurement optical camera group (6).

5. The integrated multi-source detection system for stress-defect-shape of large and complex structures according to claim 4, characterized in that, The detection module also includes a data processing and analysis module (18). The data processing and analysis module (18) receives internal defects, stress and surface conditions of the structure, and performs data processing in conjunction with the collected spatial coordinate information of each location.

6. A multi-source integrated detection method for stress-defect-shape of large and complex structures using the detection system described in any one of claims 2 to 5, characterized in that, include: S1: Place the structure to be tested (11) on the precision rotary table (12), adjust the positional relationship between the precision rotary table (12) and the scanning structure support (1) to ensure that all areas of the structure to be tested (11) can be scanned and detected; Install global positioning targets (17) on the scanning result support (1) to establish a spatial position reference; install global positioning targets (17) on the structure under test (11) to obtain the positional relationship information of the structure under test (11); adjust the photogrammetric camera group (14) to ensure that the photogrammetric camera group (14) obtains all global positioning target (17) information; S2: Use the feature calibration plate (19) to calibrate and confirm the infrared non-destructive testing system and the shape measurement optical camera group (6), use the feature stripe pattern information set by the feature calibration plate (19) to calculate the measurement intrinsic parameter data of the shape measurement optical camera group (6), and collect the three-dimensional features of the surface of the structure under test (11). S3: Drive the scanning and inspection mechanism module, adjust the position of the motion slider (2) so that the center of the image acquired by the surface measurement fiber optic camera group (6) coincides with the center of the global positioning target (17) on the structure under test (11), and record the measurement coordinates A in the coordinate system of the scanning and inspection mechanism and the coordinates B of the global positioning target acquired by the photogrammetry camera group (14) in the current state; according to the correspondence between the recorded measurement coordinate group of the scanning and inspection mechanism and the coordinate group of the global positioning target, establish the coordinate transformation equation K to unify the coordinate system of the scanning and inspection mechanism module with the coordinate system of the photogrammetry system; S4: Start the scanning and inspection mechanism module to drive the structure under test (11) to perform global scanning and inspection. During the inspection process, record the detection coordinate information under the scanning and inspection mechanism coordinate system at each inspection, and simultaneously record the acquired defect detection image and the three-dimensional result of morphology measurement. S5: The detection coordinate information in the coordinate system of the scanning and detection mechanism obtained during each detection is transformed using the transformation equation K to unify the three-dimensional morphology results, defect detection image structure and the spatial position benchmark constructed by the global positioning target; S6: Based on the obtained three-dimensional surface detection results and the positional relationship of the defects, the global positioning coordinate information is correlated with the actual measured structural features; Marking targets were distributed and pasted around the defect location of the actual tested structure (16). S7: The position information of the marker target (16) is collected by the photogrammetric camera group (14) to obtain the coordinates of the marker target in the photogrammetric camera group coordinate system; By using the target coordinate information to guide the scanning and detection mechanism module to drive the slider positions of the upper motion slide rail (13) and the lower motion slide rail (7), the lifting slide rail (9) and the dual-axis scanning gimbal (10) are adjusted to maintain the constant perpendicular relationship between the ultrasonic stress detection probe (8) and the end face of the structure under test (11), and stress data information at the corresponding target position is obtained. S8: Associate the obtained stress measurement results with the coordinate information of the corresponding marker target (16), and index the stress measurement results on the obtained three-dimensional surface model through the marker target coordinates, so as to realize the display of stress data, defect data and three-dimensional surface model under the same three-dimensional model.

7. The integrated multi-source detection method for stress-defect-shape of large and complex structures according to claim 6, characterized in that, The global positioning targets (17) are distributed in a non-coplanar space, and the number of global positioning targets (17) is not less than 4.

8. The integrated multi-source detection method for stress-defect-shape of large and complex structures according to claim 7, characterized in that, In S2, during the calibration process, the infrared camera (5) and the surface measurement optical camera group (6) simultaneously acquire image information of the feature calibration plate (19). Based on the pre-set feature parameters of the feature calibration plate (19), the pixel coordinates of the same feature in the infrared image are established. The relationship between the shape and its three-dimensional spatial coordinates (x, y, z) is as follows: ， The positional relationship between the infrared non-destructive measurement system and the surface measurement optical camera group (6) is calculated in reverse, and the correlation coupling transformation matrix Z between the infrared detection image and the three-dimensional surface feature position information is obtained.

9. The integrated multi-source detection method for stress-defect-shape of large and complex structures according to claim 8, characterized in that, In S3, the position of the motion slider (2) is repeatedly adjusted by changing at least 4 different global positioning targets (17) so that the center of the image acquired by the surface measurement fiber optic camera group (6) coincides with the center of the global positioning target (17) on the structure under test (11). The measurement coordinates A under the coordinate system of the scanning and detection mechanism and the global positioning target coordinates B acquired by the photogrammetry camera group (14) are recorded in the current state at different positions.

10. The integrated multi-source detection method for stress-defect-shape of large and complex structures according to claim 9, characterized in that, In step S5, an image stitching algorithm or a point cloud fusion algorithm is used to fuse the defect detection structure and surface measurement results, and a full-size defect detection data model and a three-dimensional surface measurement model of the measured structure are constructed. The transformation matrix Z is used to achieve three-dimensional registration of the defect detection structure and surface measurement results, and the defect detection data information is displayed in the three-dimensional surface results.

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