Engine afterburner spray bar spray angle measurement method and system based on visual recognition

Abstract

The application provides a visual recognition-based engine afterburner lance injection angle measurement method and system, and relates to the technical field of fault pre-diagnosis and health management. A pressure sensor is used to monitor the thrust value at the inlet of the to-be-tested lance in real time, and the value is fed back to a proportional pressure reducing valve for PID closed-loop adjustment, so as to control the air load on the surface of fuel in the pressure control tank. The driving mode of pneumatic extrusion suppresses the fluid pulsation and pressure impact inherent in the related mechanical pump oil supply mode, thereby forming a stable laminar flow injection working condition at the to-be-tested lance. The to-be-tested lance is transported to the test position in a unified spatial posture by cooperating with a lance mounting and dismounting system, so that the physical reference of each test is consistent. The captured picture by pixel comparison of the injection angle test subsystem is no longer disturbed by shaking, and the injection angle can be objectively and quantitatively determined, so that the consistency of the measurement result is improved.

Description

Technical Field

[0001] This application relates to the field of fault prediagnosis and health management technology, and in particular to a method and system for measuring the injection angle of an engine afterburner boom based on visual recognition. Background Technology

[0002] The afterburner of an aircraft engine is a core component for improving maneuverability. The afterburner fuel injector, as the end effector of the fuel supply system, is responsible for atomizing high-pressure fuel and injecting it into the combustion chamber at a specific angle. The accuracy of the injector's angle directly determines the fuel distribution within the combustion chamber, thus affecting flame stability and combustion efficiency.

[0003] Currently, the relevant technology mainly uses a general-purpose hydraulic test bench for offline testing of the spray boom. Such test benches are typically equipped with basic mechanical clamps and a hydraulic oil supply system. During testing, the mechanical clamps fix the spray boom to be tested onto the oil supply interface using threads or snap-fit ​​structures. The oil supply system generally uses a motor-driven fixed-displacement hydraulic pump (such as a gear pump or plunger pump) to directly pump fuel into the pipeline, and adjusts the pipeline resistance through mechanical relief valves or throttle valves to set the test pressure. After the fuel is sprayed from the nozzle, it forms an atomized fuel jet. The test system typically uses a graduated backplate or ruler as a reference to qualitatively determine whether the injection angle meets the design requirements.

[0004] However, the direct fuel supply method of the related metering pump is affected by gear meshing or plunger reciprocating motion, which will output fuel flow with inherent fluid pulsation. In addition, the mechanical pressure regulating valve can only be set for static pressure. When the pipeline is depressurized at the moment of injection, the response lag of the purely mechanical structure cannot achieve millisecond-level dynamic pressure compensation. This causes the fluid pressure during the injection process to continuously deviate from the standard value and be accompanied by high-frequency fluctuations, which in turn causes the injection angle to drift, resulting in poor consistency of the final measurement results. Summary of the Invention

[0005] This application provides a method and system for measuring the injection angle of an engine afterburner boom based on visual recognition, in order to improve the consistency of measurement results.

[0006] In a first aspect, this application provides a method for measuring the injection angle of an engine afterburner injector based on visual recognition, comprising: a fuel supply subsystem, including a pressure-controlled fuel tank, a proportional pressure reducing valve, a injector to be tested, and a pressure sensor; the proportional pressure reducing valve is connected to the pressure-controlled fuel tank at one end with air, the injector to be tested is connected to the pressure-controlled fuel tank at one end with fuel, and a pressure sensor is connected between the injector to be tested and the pressure-controlled fuel tank; the proportional pressure reducing valve is used to adjust the air load in the pressure-controlled fuel tank, so that the extrusion thrust of the fuel in the pressure-controlled fuel tank drives the fuel to the injector to be tested, wherein the pressure sensor detects the thrust and provides feedback to adjust the proportional pressure reducing valve; an injector loading and unloading subsystem, including a customized material tray and a pneumatic gripper; the injector to be tested is placed on a preset position on the customized material tray, the customized material tray is used to transport the injector to be tested to a pick-up station, and the pneumatic gripper is used to send the injector to be tested from the pick-up station to the testing station; and an injection angle testing subsystem, used to capture the injection image and determine the injection angle by pixel comparison.

[0007] By employing the above technical solution, a pressure sensor monitors the thrust value at the inlet of the test injector in real time and feeds it back to the proportional pressure reducing valve for PID closed-loop regulation, controlling the air load covering the fuel surface in the pressure-controlled tank. This pneumatic extrusion drive method suppresses the fluid pulsation and pressure shock inherent in mechanical pump fuel supply methods, thereby forming a stable laminar injection condition at the test injector. The injector loading and unloading subsystem transports the test component to the test position in a uniform spatial orientation, ensuring consistent physical benchmarks for each test. The injection angle testing subsystem, through pixel comparison, captures images no longer affected by jitter, enabling objective and quantitative determination of the injection angle, thus improving the consistency of measurement results.

[0008] In conjunction with some embodiments of the first aspect, in some embodiments: the fuel supply subsystem further includes an air filter and a residual pressure relief valve; the input end of the air filter is connected to an external source of compressed air, and the output end is connected to the input end of the residual pressure relief valve, the output end of the residual pressure relief valve is connected to the input end of a proportional pressure reducing valve; the fuel supply subsystem is also used to pre-treat the external source of compressed air using the air filter to obtain filtered air, and to control the pressure of the filtered air within a preset range using the residual pressure relief valve.

[0009] By adopting the above technical solution, an air filter and a residual pressure relief valve are introduced at the front end of the fuel supply subsystem. The air filter physically purifies the external compressed air, removing particles and moisture to prevent impurities from interfering with the operation of the subsequent proportional pressure reducing valve. Subsequently, the residual pressure relief valve performs primary pressure stabilization and safety cut-off management on the filtered air, ensuring that the air source entering the system is within a controllable base pressure range. This prevents the air load in the pressure-controlled fuel tank from changing abruptly due to random fluctuations in the factory's air supply network, thereby avoiding background noise interference caused by fuel wave impacts on visual sampling.

[0010] In some embodiments, in conjunction with the first aspect, the fuel supply subsystem further includes a solenoid valve, a fuel collection trough, a fuel collection tank, a float level switch, and a pneumatic diaphragm pump; the solenoid valve is located between the pressure-controlled fuel tank and the test spray bar; the input end of the fuel collection trough is located at the output end of the test spray bar, and the output end is connected to the fuel collection tank; the float level switch is located at a preset position on the inner side of the fuel collection tank; the input end of the pneumatic diaphragm pump is connected to the position below the float level switch in the fuel collection tank, and the output end is connected to the pressure-controlled fuel tank; the fuel supply subsystem is also used to control the injection duration of the test spray bar using the solenoid valve; to collect the fuel injected by the test spray bar using the fuel collection trough, so that the fuel enters the fuel collection tank; and when the fuel level in the fuel collection tank touches the float level switch, to control the pneumatic diaphragm pump to start, sucking out the fuel and pressing it back into the pressure-controlled fuel tank.

[0011] By adopting the above technical solution, the injected fuel is physically intercepted by the fuel collection trough and guided to the collection tank under the action of gravity and flow velocity. Simultaneously, a float level switch monitors the fuel accumulation status in real time. Once the fuel level reaches the preset height, the pneumatic diaphragm pump immediately starts, using negative pressure suction to draw the waste fuel back to the pressure-controlled tank. This ensures continuous testing while establishing a closed-loop fuel circulation system. It achieves self-circulation and reuse of the test medium, reducing safety hazards and material operating costs in flammable testing environments.

[0012] In conjunction with some embodiments of the first aspect, in some embodiments: the spray bar loading and unloading subsystem further includes a synchronous belt and a stepper motor; a customized material tray is set on the synchronous belt, and the stepper motor is driven to connect to the synchronous belt; the spray bar loading and unloading subsystem is also used for the stepper motor to perform pulse-type stepping action to push the customized material tray to move a preset distance, so that the previous spray bar to be tested in the customized material tray moves from the pick-up station to the next spray bar to be tested moving to the pick-up station.

[0013] By employing the above technical solution, the electrical pulse signals received by the stepper motor are converted into axial angular displacement, which in turn drives the synchronous belt to produce a quantitative linear displacement. The customized material tray, driven by the synchronous belt, acts as a graduated conveyor. This intermittent pulse stepping motion, according to preset time and distance parameters, ensures that each robotic arm grasping action occurs at the same position, suppressing the risk of subsequent assembly jams or inconsistent measurement results caused by deviations in the material picking position.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments: the spray bar loading and unloading subsystem further includes an oil supply base, a sealing gasket, and a clamping cylinder; the oil supply base is located below the test station, and the sealing gasket is located in the bottom hole of the oil supply base; the spray bar loading and unloading subsystem is also used to press the bottom sealing surface of the spray bar to be tested onto the sealing gasket using the clamping cylinder, and retract the air gripper after pressing.

[0015] By employing the above technical solution, once the spray bar under test arrives at the testing station, a constant downward load is applied using a clamping cylinder to forcibly press the bottom of the spray bar against the sealing gasket of the fuel supply base. The elastic deformation of the sealing gasket fills the microscopic gaps between the metal contact surfaces, creating a high-pressure-resistant, zero-leakage sealed cavity. The axial locking force counteracts the reverse fluid recoil force generated during high-pressure fuel injection, ensuring the spray bar remains stationary at the moment of testing. After this mechanical fixation is completed, the pneumatic gripper is released and removed from the testing area, removing physical obstructions around the spray bar and providing an unobstructed field of view for the industrial camera, thus ensuring the integrity of the visually acquired images.

[0016] In conjunction with some embodiments of the first aspect, in some embodiments: the injection angle testing subsystem further includes a back plate, which is disposed at the end of the injection trajectory, and the back plate has preset holes corresponding to the qualified injection angle path; the injection angle testing subsystem is also used to take an image of the back plate as an original template before the injector bar under test injects fuel; when the fuel is injected, take an image of the back plate as a real-time photo; and use the pixel difference between the original template and the real-time photo to determine whether it is qualified.

[0017] By adopting the above technical solution, a backplate with pre-set holes is introduced at the end of the injection trajectory, transforming the three-dimensional fluid angle measurement problem into a two-dimensional physical occlusion detection problem. If the injection angle is qualified, the fuel jet will pass through the pre-set holes, and the pixel features of the real-time image and the original template in the hole area and backplate area will be consistent. Conversely, if the angle deviates, the oil will impact and cover the backplate surface, resulting in significant pixel differences. This method can quickly filter out interference from diffused oil mist in the air, judging only the main fuel jet path with physical impact force. This reduces the complexity and computational power consumption of the image processing algorithm while ensuring the accuracy of qualified product judgment.

[0018] In conjunction with some embodiments of the first aspect, in some embodiments: determining whether a test is qualified by using the pixel difference between the original template and the real-time photo specifically includes: defining several grid detection areas in the real-time photo, and defining the same grid detection areas in the original template as in the real-time photo; extracting the pixel grayscale and grayscale gradient information of the corresponding grid detection areas in the real-time photo and the original template respectively; calculating the normalized cross-correlation value of the grid detection area at the corresponding coordinates based on the pixel grayscale and grayscale gradient information; comparing each calculated normalized cross-correlation value with a pre-set qualification threshold; if the normalized cross-correlation value of any grid detection area is less than the qualification threshold, then outputting a test failure command; if the normalized cross-correlation value of all grid detection areas is not less than the qualification threshold, then outputting a test qualification command.

[0019] By employing the above technical solution, a grid detection logic was constructed at the image processing level. Pixel grayscale and gradient information at the same grid coordinates were extracted from real-time photos and the original template, and a normalized cross-correlation value was introduced for comparison. The normalized cross-correlation algorithm exhibits good insensitivity to changes in illumination, accurately capturing subtle changes in texture structure caused by oil coverage, rather than simple brightness variations. It can distinguish between normal oil mist scattering and genuine angular deviation (impact on the backplate), thus meeting the quality inspection standards for key engine components.

[0020] In a second aspect, this application provides a vision-based engine afterburner boom injection angle measurement system, which includes: one or more processors and a memory; the memory is coupled to one or more processors, and the memory is used to store computer program code, which includes computer instructions; the one or more processors invoke the computer instructions to cause the vision-based engine afterburner boom injection angle measurement system to perform the method described in the first aspect and any possible implementation thereof.

[0021] Thirdly, this application provides a computer program product containing instructions that, when the computer program product is run on a vision-based engine afterburner boom injection angle measurement system, cause the vision-based engine afterburner boom injection angle measurement system to perform the method described in the first aspect and any possible implementation thereof.

[0022] Fourthly, this application provides a computer-readable storage medium including instructions that, when executed on a vision-based engine afterburner boom injection angle measurement system, cause the vision-based engine afterburner boom injection angle measurement system to perform the method described in the first aspect and any possible implementation thereof.

[0023] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0024] 1. A pressure sensor monitors the thrust value at the inlet of the test injector in real time and feeds it back to the proportional pressure reducing valve for PID closed-loop regulation, controlling the air load covering the fuel surface in the pressure-controlled tank. This pneumatic compression drive method suppresses the fluid pulsation and pressure shock inherent in mechanical pump fuel supply methods, thus forming a stable laminar injection condition at the test injector. The injector loading and unloading subsystem transports the test piece to the test position in a uniform spatial orientation, ensuring consistent physical benchmarks for each test. The injection angle testing subsystem captures images through pixel comparison, free from jitter interference, enabling objective and quantitative determination of the injection angle, thereby improving the consistency of measurement results.

[0025] 2. The fuel supply subsystem incorporates an air filter and a residual pressure relief valve at the front end of the air path. The air filter physically purifies the external compressed air, removing particles and moisture to prevent impurities from interfering with the operation of the subsequent proportional pressure reducing valve. Subsequently, the residual pressure relief valve performs primary pressure stabilization and safety shut-off management on the filtered air, ensuring that the air source entering the system is within a controllable base pressure range. This prevents sudden changes in the air load in the pressure-controlled fuel tank due to random fluctuations in the factory's air supply network, thereby avoiding background noise interference caused by fuel wave impacts on visual sampling.

[0026] 3. The injected fuel is physically intercepted by the fuel collection trough and guided to the collection tank under the influence of gravity and flow velocity. Simultaneously, a float level switch monitors the fuel accumulation status in real time. Once the fuel level reaches the preset height, the pneumatic diaphragm pump immediately starts, using negative pressure suction to draw the waste fuel back to the pressure-controlled tank. This ensures continuous testing while establishing a closed-loop fuel circulation system. It achieves self-circulation and reuse of the test medium, reducing safety hazards and material operating costs in flammable testing environments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a module for measuring the injection angle of an engine afterburner boom based on visual recognition.

[0028] Figure 2 This is a system schematic diagram of the fuel supply subsystem in the engine afterburner boom injection angle measurement method based on vision recognition;

[0029] Figure 3 This is a schematic diagram of the injection angle testing subsystem in the engine afterburner boom injection angle measurement method based on vision recognition;

[0030] Figure 4 This is a schematic diagram of an exemplary hardware structure for a vision-based engine afterburner boom injection angle measurement system.

[0031] In the diagram: 1. Manual ball valve; 2. Pressure control tank; 3. Temperature sensor; 4. Liquid level sensor; 5. Suction filter; 6. Manual ball valve; 7. Air filter; 8. Filter; 9. Pneumatic diaphragm pump; 10. Float level switch; 11. Manual ball valve; 12. Solenoid valve; 13. Pressure test connector; 14. Needle valve; 15. Pressure sensor; 16. Manual ball valve; 17. Air filter; 18. Residual pressure relief valve; 19. Pressure switch; 20. Proportional pressure reducing valve; 21. Three-way solenoid valve; 22. Two-position five-way directional valve. Detailed Implementation

[0032] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0033] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0034] A method for measuring the injection angle of an engine afterburner boom based on vision recognition, comprising: a fuel supply subsystem, a boom loading and unloading subsystem, and an injection angle testing subsystem;

[0035] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a module for measuring the injection angle of an engine afterburner boom based on visual recognition. Figure 2 This is a system schematic diagram of the fuel supply subsystem in the engine afterburner injector angle measurement method based on vision recognition.

[0036] The fuel supply subsystem includes: a manual ball valve 1; a pressure-controlled fuel tank 2; a temperature sensor 3; a level sensor 4; a suction filter 5; a manual ball valve 6; an air filter 7; a filter 8; a pneumatic diaphragm pump 9; a float level switch 10; a manual ball valve 11; a solenoid valve 12; a pressure test connector 13; a needle valve 14; a pressure sensor 15; a manual ball valve 16; an air filter 17; a residual pressure relief valve 18; a pressure switch 19; a proportional pressure reducing valve 20; a three-way solenoid valve 21; and a two-position five-way directional valve 22.

[0037] Sewage branch:

[0038] Manual ball valve 1 is connected to the lowest drain port of the pressure control oil tank 2. Its physical installation position is designed to be the lowest point of the entire oil storage container, and lower than the manual ball valve 6 connected to the oil outlet. Manual ball valve 1 is used as a maintenance drain and venting switch for the subsystem. When the equipment is undergoing regular maintenance, the test medium is being replaced, or the pressure control oil tank 2 needs to be cleaned, this valve is opened to allow gravity to drain the residual oil, stratified condensate, and precipitated solid impurities that have accumulated at the bottom of the tank over a long period of time.

[0039] The pressure-controlled tank 2, as the core pressure vessel of the fuel supply subsystem, is typically made of high-pressure resistant stainless steel and is placed vertically. Its internal volume is designed to store the amount of fuel required for one or more test cycles. In actual use, a compressed air area is reserved at the top of the pressure-controlled tank 2 (not fully storing fuel). During operation, it acts as a gas-liquid energy conversion unit, smoothly converting the input stable air pressure energy into hydraulic energy to propel the flow of the lower fuel layer, thereby achieving stable fuel supply.

[0040] Pressure-controlled oil tank detection branch;

[0041] Temperature sensor 3 is installed inside the pressure-controlled oil tank 2 or attached to its side wall, with its sensing point positioned below the normal oil level to ensure direct contact with the medium. Its function is to monitor the physical temperature of the fuel in real time and feed the collected temperature signal back to the PLC control subsystem. Since the kinematic viscosity of fuel changes significantly with temperature, thus affecting the diffusion characteristics of the injection angle, this monitoring is necessary to ensure that the test is always conducted within the standard temperature range.

[0042] The level sensor 4 is installed inside the pressure-controlled oil tank 2. Its measurement range covers the main working range of the oil, and its installation height is set above the temperature sensor 3. It is used to continuously monitor the fuel level in the main oil tank in real time, providing accurate level data. When the oil level is detected to be lower than the set safety threshold, it will send a low level alarm signal to the PLC or directly trigger a shutdown interlock to prevent the subsystem from being damaged by cavitation, which would not only invalidate the test data but also cause the downstream pump to run dry.

[0043] Fuel supply branch:

[0044] The suction filter 5 is connected in series between the output end of the manual ball valve 6 and the input end of the solenoid valve 12. It serves as a coarse filter, with its internal filter screen designed to intercept large particles of impurities such as welding slag and iron filings that may be present in the fuel. This effectively prevents impurities from entering the flow channel, avoiding the subsequent failure of the solenoid valve 12 due to foreign objects blocking the valve core, and also preventing physical blockage of the tiny nozzles of the test spray bar.

[0045] The manual ball valve 6 is connected between the oil outlet at the lower side of the pressure-controlled oil tank 2 and the input end of the suction filter 5. As a shut-off valve for the oil circuit, it remains normally open. When it is necessary to replace the filter element of the suction filter 5, repair the downstream pipeline, or replace the solenoid valve 12, maintenance personnel can manually close the manual ball valve 6 to cut off the fuel flow without emptying the pressure-controlled oil tank 2, facilitating online maintenance operations.

[0046] Solenoid valve 12 is connected in series between the suction filter 5 and the mounting base of the injector bar under test. As the actuator for injection, it receives control commands from the PLC and controls the opening and closing of the fuel passage by energizing its internal coil. This allows the subsystem to control the injection duration (i.e., injection time) according to the test specifications.

[0047] The pressure test connector 13 is installed on the metal rigid tube at the rear end of the solenoid valve 12. Its main function is to provide a standard pressure tapping test point and lead out a bypass pipe perpendicular to the main oil flow through an internal channel. This bypass connects to the needle valve 14 and the pressure sensor 15, thereby introducing static pressure in the pipe in real time for monitoring without interfering with the main oil flow pattern.

[0048] Needle valve 14 is connected between the bypass outlet of pressure test connector 13 and pressure sensor 15. Needle valve 14 acts as a fluid damper. Through the opening of its slender conical valve core, the valve can form appropriate fluid resistance, effectively filtering out high-frequency pressure pulsations or water hammer shock waves generated by valve operation in the fluid, allowing only smooth static pressure to pass through, thereby protecting pressure sensor 15 from shock damage.

[0049] Pressure sensor 15 is connected to the rear end of needle valve 14. As a feedback element of the closed-loop control subsystem, pressure sensor 15 is responsible for acquiring the actual fuel pressure value at the inlet of the injector bar in real time and at high frequency, and converting it into a standard analog electrical signal to be sent to the PLC. This signal serves as the process variable (PV) in the PID algorithm, and is compared with the setpoint (SP) to guide the adjustment of the front-end air pressure.

[0050] Return oil branch;

[0051] Air filter 7 is installed at the top opening of the fuel collection tank. Air filter 7 acts as a "breather," maintaining pressure balance inside and outside the fuel collection tank. When waste fuel flows in rapidly or is pumped out, it allows clean air to freely enter and exit, preventing positive pressure buildup or negative pressure flattening within the tank. Simultaneously, its filter element effectively prevents dust particles from the external environment from falling into the tank, maintaining the initial cleanliness of the recovered fuel.

[0052] A float level switch 10 is installed inside the collection tank at a preset high liquid level. Its function is to act as a trigger for the automatic recovery logic. When the level of waste oil accumulated in the collection tank rises and lifts the float to touch the switch contact, the float level switch 10 closes and outputs an electrical signal. Upon receiving this signal, the PLC immediately initiates the circulation logic, controlling the pneumatic diaphragm pump 9 to start pumping and recovering oil, preventing waste oil overflow.

[0053] The manual ball valve 11 is connected to the lowest point at the bottom of the collection tank. Its function is to act as a drain switch for the auxiliary oil tank. Since the collection tank collects all the sprayed waste oil, it is prone to the sedimentation of heavy impurities or cleaning fluid. By periodically opening the manual ball valve 11, the oil sludge, water, and other impurities accumulated at the bottom of the tank can be discharged, maintaining the cleanliness of the recovery subsystem.

[0054] A pneumatic diaphragm pump 9 is connected between the bottom outlet of the collection tank and the filter 8, and its air source drive port is connected to a two-position five-way directional valve 22. As the power source for the recovery subsystem, the pneumatic diaphragm pump 9 features strong self-priming capability, allows idling, and is explosion-proof. It uses compressed air to drive the internal diaphragm to reciprocate, thereby generating a volume change, efficiently extracting waste oil from the collection tank, and overcoming friction resistance to pump it back to the elevated pressure-controlled tank 2.

[0055] Filter 8 is connected between the pressurization outlet of the pneumatic diaphragm pump 9 and the return port of the pressure-controlled fuel tank 2. As a fine processing unit in the circulation loop, filter 8 is equipped with a high-precision filter element. Its function is to ensure that the fuel recovered from the collection subsystem is purified before being reinjected into the main fuel tank, filtering out fine impurities mixed in during the testing process, preventing the spread of contaminants to the entire circulation subsystem, and ensuring fuel quality.

[0056] A two-position five-way directional valve 22 is connected between the air source branch and the drive air port of the pneumatic diaphragm pump 9. Its function is to control the switch for oil to return to the pressure control tank 2.

[0057] Gas source branch:

[0058] The manual ball valve 16 is installed between the external factory compressed air source and the air inlet of the air filter 17. Its function is to act as the main air supply switch for the entire testing equipment. In the event of long-term shutdown, maintenance, or a serious air leak, the operator can manually close the manual ball valve 16 to physically cut off all compressed air supply to the test bench, ensuring that the subsystem is in a state of no energy.

[0059] Air filter 17 is connected between manual ball valve 16 and residual pressure relief valve 18. It contains a specialized filter element to purify the incoming coarse compressed air, effectively removing condensate droplets, oil mist, and solid particles such as rust dust. This protects the downstream precision proportional pressure reducing valve 20 and solenoid valve from malfunction due to blockage or corrosion.

[0060] The residual pressure relief valve 18 is connected between the air filter 17 and the pressure switch 19. Its core function is to ensure the pneumatic safety of the subsystem. When the emergency stop button of the subsystem is pressed or an unexpected power failure occurs, the residual pressure relief valve 18 will automatically reset, not only cutting off the upstream air intake, but also quickly opening the exhaust passage to release the high-pressure gas sealed in the downstream pipeline and container into the atmosphere, preventing the cylinder or oil tank with residual pressure from causing unexpected actions and safety accidents.

[0061] Pressure switch 19 is installed on the main air line between residual pressure relief valve 18 and proportional pressure reducing valve 20. Its function is to monitor and protect the air source pressure from low pressure. A minimum working pressure threshold is preset. Pressure switch 19 will only output a start-up signal when the inlet pressure is higher than this value. If the air source pressure is insufficient, it will promptly alarm and prohibit the subsystem from operating to avoid test data deviations caused by insufficient driving force.

[0062] The proportional pressure reducing valve 20 is connected between the pressure switch 19 and the three-way solenoid valve 21. It integrates a pressure sensor and control circuit and is the key to controlling oil pressure. Based on the continuous analog control signal output by the PLC, the proportional pressure reducing valve 20 can linearly and dynamically adjust the air pressure at its output port, thereby controlling the pneumatic load applied in the fuel tank and realizing stepless regulation of fuel pressure.

[0063] The three-way solenoid valve 21 is connected between the proportional pressure reducing valve 20 and the top air inlet of the pressure control tank 2. It has three ports: air inlet, air outlet, and air exhaust, and its function is to realize the logical switching between air filling and air exhaust. During the test, the valve actuates to connect the proportional pressure reducing valve 20 and the pressure control tank 2 to build up pressure; when the test ends or the machine stops, the valve resets to cut off the air inlet and connects the pressure control tank 2 to the atmospheric exhaust port to quickly release the air pressure inside the tank.

[0064] As can be seen, the thrust value at the inlet of the test injector is monitored in real time by a pressure sensor and fed back to the proportional pressure reducing valve for PID closed-loop regulation, controlling the air load covering the fuel surface in the pressure-controlled fuel tank. This pneumatic extrusion drive method suppresses the fluid pulsation and pressure shock inherent in mechanical pump fuel supply methods, thereby forming a stable laminar injection condition at the test injector. The injector loading and unloading subsystem transports the test piece to the test position in a uniform spatial orientation, ensuring consistent physical benchmarks for each test. The injection angle testing subsystem, through pixel comparison, captures images no longer affected by jitter, enabling objective and quantitative determination of the injection angle, thus improving the consistency of measurement results.

[0065] As can be seen, the fuel supply subsystem incorporates an air filter and a residual pressure relief valve at the front end of the air path. The air filter physically purifies the external compressed air, removing particles and moisture to prevent impurities from interfering with the operation of the subsequent proportional pressure reducing valve. Subsequently, the residual pressure relief valve performs primary pressure stabilization and safety cut-off management on the filtered air, ensuring that the air source entering the subsystem is within a controllable base pressure range. This prevents the air load in the pressure-controlled fuel tank from abruptly changing due to random fluctuations in the factory's air supply network, thereby avoiding background noise interference caused by fuel wave impacts on visual sampling.

[0066] As can be seen, the injected fuel is physically intercepted by the fuel collection trough and guided to the collection tank under the influence of gravity and flow velocity. Simultaneously, a float level switch monitors the fuel accumulation status in real time. Once the fuel level reaches the preset height, the pneumatic diaphragm pump immediately starts, using negative pressure suction to draw the waste fuel back to the pressure-controlled tank. This ensures continuous testing while establishing a closed-loop fuel circulation system. It achieves self-circulation and reuse of the test medium, reducing safety hazards and material operating costs in flammable testing environments.

[0067] The spray bar loading and unloading subsystem includes: a custom material tray, grippers, a timing belt, a stepper motor, positioning pins, a telescopic moving cylinder, a clamping cylinder, an oil supply base, a sealing gasket, and a center point.

[0068] Conveying assembly: Customized trays are fixedly connected to the surface of the synchronous belt by positioning pins; the synchronous belt is mounted on the conveyor support, and its drive shaft is connected to the stepper motor.

[0069] Handling component: The pneumatic gripper is installed at the output end of the telescopic moving cylinder; the stroke of the telescopic moving cylinder covers the horizontal or spatial distance between the picking station and the testing station.

[0070] Positioning and clamping assembly: The oil supply base is fixedly installed below the test station, with a bottom hole in its center, and the sealing gasket is installed in the bottom hole of the oil supply base; the clamping cylinder is installed directly above the test station, with a pressure head connected to the end of its piston rod, and a center tip fixedly installed at the center of the pressure head; the actuation axis of the clamping cylinder coincides with the center line of the bottom hole of the oil supply base.

[0071] Customized material tray: Set on the synchronous belt. Serving as the carrier for the spray bar to be tested, it has a limiting groove that matches the shape of the spray bar, used to support and initially position the spray bar to be tested, arranging it in a uniform posture.

[0072] Synchronous belt: Connects the stepper motor and the customized material tray. As a precision conveying medium, it drives the customized material tray to make linear intermittent motion under the drive of the motor, conveying the spray bar to be tested from the loading area to the picking station.

[0073] Stepper motor: Driven by a synchronous belt. As the power source for transmission, it executes pulse commands from the PLC to control the synchronous belt's stepping, ensuring that after each movement, the spray bar under test stops at the preset coordinate point grasped by the robotic arm.

[0074] Positioning pin: Connects the custom material tray to the timing belt. As a rigid connector, it ensures that the custom material tray does not slip or shift position during frequent starts and stops of the timing belt.

[0075] Pneumatic gripper: Installed at the end of a telescopic cylinder. As an end effector, it closes at the pick-up station to firmly grip the spray bar to be tested, and opens and releases after being clamped at the test station, thus removing it from the photography area.

[0076] Telescopic moving cylinder: Connected between the frame and the gripper. As a transport drive device, it drives the gripper and the spray bar under test to move back and forth between the "picking station" and the "testing station".

[0077] Fuel supply base: Fixed below the test station. Serving as the test base and fuel inlet, it has internal flow channels that communicate with the fuel supply subsystem, used to receive the bottom of the spray bar and introduce high-pressure fuel.

[0078] Sealing gasket: Installed inside the bottom hole of the fuel supply base. As a sealing element, it undergoes elastic deformation under compression to fill the microscopic gap between the injector and the base, preventing high-pressure fuel leakage.

[0079] Clamping cylinder: Installed above the test station. As a locking actuator, it extends downward during testing, providing vertical pressure to force the spray bar under test onto the sealing gasket and overcome the backflow recoil force during spraying.

[0080] Center tip: Installed at the center of the pressure head of the clamping cylinder. As a precision positioning element, it wedges into the center hole at the top of the spray bar during the pressing process. It uses the conical surface to forcibly correct the verticality deviation of the spray bar, achieving self-alignment between the spray bar axis and the center of the oil supply port, ensuring the consistency of the visual measurement benchmark.

[0081] As can be seen, the electrical pulse signals received by the stepper motor are converted into axial angular displacement, which in turn drives the synchronous belt to produce a quantitative linear displacement. The customized material tray, driven by the synchronous belt, acts as a graduated conveyor. This intermittent pulse stepping motion, according to preset time and distance parameters, ensures that each robotic gripping action occurs at the same position, suppressing the risk of subsequent assembly jams or inconsistent measurement results caused by deviations in the material picking position.

[0082] As can be seen, after the spray bar under test arrives at the test station, a constant downward load is applied using a clamping cylinder to force the bottom of the spray bar against the sealing gasket of the fuel supply base. The elastic deformation of the sealing gasket fills the microscopic gaps between the metal contact surfaces, creating a high-pressure-resistant, zero-leakage sealed cavity. The axial locking force counteracts the reverse fluid recoil force generated during high-pressure fuel injection, ensuring that the spray bar remains stationary at the moment of testing. After this mechanical fixation is completed, the pneumatic gripper can be released and removed from the test area, removing the physical obstructions around the spray bar and providing an unobstructed clear field of view for the industrial camera, thus ensuring the integrity of the visually acquired images.

[0083] Please see Figure 1 and Figure 3 , Figure 1 This is a schematic diagram of a module for measuring the injection angle of an engine afterburner boom based on vision recognition. Figure 3 This is a schematic diagram of the injection angle testing subsystem in the engine afterburner boom injection angle measurement method based on vision recognition.

[0084] The spray angle testing subsystem is used to capture spray images and determine the spray angle by comparing pixels.

[0085] Capturing the injection moment refers to using camera equipment to capture still images or continuous video streams of the instant fuel injection occurs. Pixel comparison is a technique in image processing algorithms that extracts information by comparing the numerical differences of corresponding pixels in different images.

[0086] Specifically, when the spray boom is in place and oil spraying begins, the industrial camera in the spray angle testing subsystem is triggered to take a picture. The image data acquired by the camera is transmitted to the image processing computer in the background. The computer software first preprocesses the image, and then compares this picture containing the real-time oil jet with a pre-stored "standard template" picture. The comparison is usually based on the grayscale values ​​of the pixels. If the spray angle is correct, the oil jet should appear in a specific area, while other areas should remain clear. By analyzing which areas of pixels have darkened and which areas have remained unchanged, the algorithm can calculate the actual spray trajectory and angle, and give a pass or fail judgment accordingly.

[0087] In some preferred embodiments, the spray angle testing subsystem further includes a back plate, which is disposed at the end of the spray trajectory and has preset holes corresponding to the qualified spray angle path.

[0088] The backplate refers to a flat plate that stands vertically in front of the spray bar in the direction of the spray. Its color is typically a matte finish that contrasts sharply with the fuel color. Pre-set holes are through-holes on the backplate designed to cover areas that a qualified spray bar should pass through under standard pressure, based on theoretical calculations.

[0089] Specifically, this step introduces a physical reference point. The backplate is installed at a certain distance from the nozzle of the spray boom. Based on fluid dynamics calculations or standard sample tests, the range of acceptable spray boom landing points at this distance is determined. Within this range, the backplate is hollowed out to create a clearance channel. If the spray is not acceptable, the oil will hit the plate; if it is acceptable, the oil will pass through the holes and into the oil collection tank behind it. This design transforms complex angle measurements into a binary judgment of whether the oil hits the plate.

[0090] The injection angle testing subsystem is also used to capture an image of the backplate as a raw template before the injector boom under test injects fuel.

[0091] The original template refers to the clean background image used as the comparison benchmark.

[0092] Specifically, during the time window between the completion of the clamping cylinder's action and the opening of the solenoid valve, the camera takes a photograph of the backplate. At this point, the image should only show a static image of the backplate (and the holes), without any flowing liquid. Alternatively, if there is an oil collection trough behind the holes on the backplate, the inner wall of the oil collection trough can be seen through the holes. This image records the current no-load state, including the current lighting conditions, the texture of the backplate, and the location of the holes, providing a zero-point reference for subsequent differential calculations.

[0093] The pass / fail status is determined by the pixel difference between the original template and the real-time photo.

[0094] Pixel difference refers to the difference or correlation of gray values ​​at the same coordinate point in two images.

[0095] Specifically, the computer algorithm overlays and compares real-time photos with the original template. Theoretically, if the jet passes through the hole, only the area in the real-time photo that passes through the hole (capturing the oil collection tank or oil flow behind it) will differ from the original template (capturing the empty oil collection tank background), while the area on the backplate should be the same (because no fuel adheres). If an anomaly occurs (angle is off), and oil hits the backplate, then the pixels in the backplate area will change (becoming black or reflective due to oil obscuring them). The subsystem can draw conclusions by quantifying the distribution of this difference.

[0096] As can be seen, introducing a backplate with pre-set holes at the end of the injection trajectory transforms the three-dimensional fluid angle measurement problem into a two-dimensional physical occlusion detection problem. If the injection angle is correct, the fuel jet will pass through the pre-set holes, and the pixel features of the real-time image and the original template in the hole area and backplate area will be consistent. Conversely, if the angle deviates, the oil will impact and cover the backplate surface, resulting in significant pixel differences. This method can quickly filter out interference from diffused oil mist in the air, judging only the main fuel jet path with physical impact force. This reduces the complexity and computational power consumption of the image processing algorithm while ensuring the accuracy of the qualified product judgment.

[0097] In some specific embodiments, the step of determining whether a photo is qualified based on the pixel difference between the original template and the real-time photo specifically includes:

[0098] Several grid detection zones are defined in the real-time photo, and the same grid detection zones as those in the real-time photo are defined in the original template;

[0099] Among them, the grid detection area refers to the rectangular blocks into which the image is divided, such as dividing a 1000x1000 pixel image into 100x100 10x10 pixel squares.

[0100] Specifically, instead of comparing the entire large image, it's better to divide the captured image into several grid regions for local comparison. The subsystem generates a grid mask internally and overlays it on the image. The focus is on the grids corresponding to the background area. Grids in the hole areas can be marked as either ignored or allowed to change, while grids in the background area are marked as not allowed to change.

[0101] Extract the pixel grayscale and grayscale gradient information of the corresponding grid detection areas in the real-time photo and the original template respectively;

[0102] Pixel grayscale refers to the numerical value of image brightness (0-255). Grayscale gradient refers to the rate of change of grayscale values, reflecting the texture and edge features of the image.

[0103] Specifically, for each pair of grids (the grid in the i-th row and j-th column of the template vs. the grid in the i-th row and j-th column of the real-time image), the algorithm reads the grayscale values ​​of all pixels within it and calculates the average grayscale. Simultaneously, it uses operators (such as the Sobel operator) to calculate the gradient direction and magnitude within the grid. This is because oil not only changes brightness (grayscale) but also alters the local gradient distribution due to the flow texture. Utilizing both types of information is more reliable than using grayscale alone.

[0104] Based on pixel grayscale and grayscale gradient information, the normalized cross-correlation value of the grid detection area under the corresponding coordinates is calculated;

[0105] The Normalized Cross-Correlation (NCC) is a statistic that typically ranges from -1 to 1 (or 0 to 1) and is used to measure the degree of linear correlation between two sets of data (two image patches). The closer the value is to 1, the more similar the data.

[0106] Specifically, for each pair of grids, the NCC formula is applied for calculation. The numerator of the formula is the sum of the products of the differences between the pixel values ​​and the means of the two images, and the denominator is the square root of the product of their respective variances. This calculation process eliminates the influence of overall brightness differences (normalization effect) and focuses only on the similarity of texture structure. The result is a numerical matrix, where each element represents the similarity score of the corresponding grid.

[0107] The calculated normalized cross-correlation values ​​are compared with the pre-set pass / fail thresholds;

[0108] The pass / fail threshold is an empirical constant, such as 0.8 or 0.9.

[0109] Specifically, the subsystem iterates through the NCC score of each grid. For example, the threshold is set to 0.85. If a grid has a score of 0.95, it means that it matches the template and is not occluded; if a grid has a score of 0.4, it means that it differs greatly from the template and is very likely to be occluded by oil.

[0110] If the normalized cross-correlation value of any grid detection area is less than the pass / fail threshold, a test failure command is output; if the normalized cross-correlation value of all grid detection areas is not less than the pass / fail threshold, a test pass command is output.

[0111] Specifically, the subsystem scans all grids in the backplane area (critically, those areas where there shouldn't be oil). If any single (or several consecutive) grids have an NCC value below the threshold, it is logically considered an abnormal occlusion, i.e., unqualified. Only when all monitored areas maintain high similarity among the grids is it considered qualified. This signal is then sent to the PLC, which determines whether to place the spray boom into the qualified or unqualified product box.

[0112] As can be seen, a grid detection logic was constructed at the image processing level. Pixel grayscale and gradient information at the same grid coordinates were extracted from the real-time photo and the original template, and a normalized cross-correlation value was introduced for comparison. The normalized cross-correlation value algorithm exhibits good insensitivity to changes in illumination, and can keenly capture subtle changes in texture structure caused by oil coverage, rather than simple changes in brightness. It can distinguish between normal oil mist scattering and genuine angular deviation (impact on the backplate), thus meeting the quality inspection standards for key engine components.

[0113] The following describes an exemplary vision-based engine afterburner boom injection angle measurement system 400 provided in an embodiment of this application. Figure 4 This is an exemplary hardware structure diagram of the engine afterburner boom injection angle measurement system 400 based on vision recognition provided in this application embodiment.

[0114] In some embodiments, the vision-based engine afterburner boom injection angle measurement system 400 is a computer device or includes a computer device. The computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data. The network interface communicates with other external terminals or servers via a network connection. In some embodiments, the network interface can be a wired network interface; in some embodiments, it can also be a wireless network interface. When the computer program is executed by the processor, it implements the methods described in the embodiments of this application.

[0115] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0116] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0117] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as meaning "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0118] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0119] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for measuring the injection angle of an engine afterburner boom based on visual recognition, characterized in that, include: The fuel supply subsystem includes a pressure-controlled fuel tank, a proportional pressure reducing valve, a test injector, and a pressure sensor. The proportional pressure reducing valve is connected to the air end of the pressure-controlled oil tank, the test spray bar is connected to the fuel end of the pressure-controlled oil tank, and the pressure sensor is connected between the test spray bar and the pressure-controlled oil tank; the proportional pressure reducing valve is used to adjust the air load in the pressure-controlled oil tank, so that the extrusion thrust of the fuel in the pressure-controlled oil tank drives the fuel to the test spray bar, wherein the pressure sensor detects the thrust and provides feedback to adjust the proportional pressure reducing valve; The boom loading and unloading subsystem includes a custom material tray and pneumatic grippers; The spray bar to be tested is placed at a preset position on the customized material tray, which is used to transport the spray bar to be tested to the picking station using the customized material tray, and to use the pneumatic gripper to send the spray bar to be tested from the picking station to the testing station. The spray angle testing subsystem is used to capture spray images and determine the spray angle by comparing pixels. The spray angle testing subsystem also includes a back plate, which is located at the end of the spray trajectory and has preset holes corresponding to the qualified spray angle path. The injection angle testing subsystem is also used to take an image of the back plate as an original template before the injector bar under test injects fuel; and to take an image of the back plate as a real-time photo when the fuel is injected. Several grid detection zones are defined in the real-time photo, and the same grid detection zones as those in the real-time photo are defined in the original template; Extract the pixel grayscale and grayscale gradient information of the corresponding grid detection areas in the real-time photo and the original template respectively; Based on the pixel grayscale and the grayscale gradient information, the normalized cross-correlation value of the grid detection area under the corresponding coordinates is calculated; The calculated normalized cross-correlation values ​​are compared with a pre-set pass / fail threshold. If the normalized cross-correlation value of the grid detection area is less than the pass / fail threshold, then a test failure command is output. If the normalized cross-correlation value of all the grid detection areas is not less than the pass / fail threshold, then a test pass command is output.

2. The method for measuring the injection angle of an engine afterburner boom based on visual recognition according to claim 1, characterized in that: The fuel supply subsystem also includes an air filter and a residual pressure relief valve; the input end of the air filter is connected to an external source of compressed air, and the output end is connected to the input end of the residual pressure relief valve, and the output end of the residual pressure relief valve is connected to the input end of the proportional pressure reducing valve. The fuel supply subsystem is also used to pre-treat external compressed air using the air filter to obtain filtered air, and to control the pressure of the filtered air within a preset range using the residual pressure relief valve.

3. A method for measuring the injection angle of an engine afterburner boom based on visual recognition according to claim 1 or 2, characterized in that: The fuel supply subsystem also includes a solenoid valve, a fuel collection tank, a fuel collection container, a float level switch, and a pneumatic diaphragm pump. The solenoid valve is located between the pressure-controlled fuel tank and the test nozzle. The input end of the fuel collection tank is located at the output end of the test nozzle, and the output end is connected to the fuel collection container. The float level switch is located at a preset position on the inner side of the fuel collection container. The input end of the pneumatic diaphragm pump is connected to the fuel collection container below the float level switch, and the output end is connected to the pressure-controlled fuel tank. The fuel supply subsystem is also used to control the injection duration of the test nozzle using the solenoid valve; to collect the fuel injected by the test nozzle using the oil collection tank, so that the fuel enters the collection tank; and when the oil level in the collection tank touches the float level switch, to control the pneumatic diaphragm pump to start, suck out the fuel and press it back into the pressure control tank.

4. The method for measuring the injection angle of an engine afterburner boom based on visual recognition according to claim 1, characterized in that: The spray bar loading and unloading subsystem also includes a synchronous belt and a stepper motor; the customized material tray is set on the synchronous belt, and the stepper motor is driven and connected to the synchronous belt; The spray bar loading and unloading subsystem is also used so that the stepper motor performs a pulse stepping action to push the customized material tray to move a preset distance, so that the previous spray bar to be tested in the customized material tray moves from the pick-up station and the next spray bar to be tested moves to the pick-up station.

5. The method for measuring the injection angle of an engine afterburner boom based on visual recognition according to claim 4, characterized in that: The spray bar loading and unloading subsystem also includes an oil supply base, a sealing gasket, and a clamping cylinder; the oil supply base is located below the test station, and the sealing gasket is located in the bottom hole of the oil supply base; The spray bar loading and unloading subsystem is also used to press the bottom sealing surface of the spray bar under test onto the sealing gasket using the clamping cylinder, and then retract the air gripper after pressing.

6. A vision-based engine afterburner boom injection angle measurement system, characterized in that, The vision-based engine afterburner boom injection angle measurement system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the vision-based engine afterburner boom injection angle measurement system to perform the method as described in any one of claims 1-5.

7. A computer program product containing instructions, characterized in that, When the computer program product is run on the vision-based engine afterburner boom injection angle measurement system, the vision-based engine afterburner boom injection angle measurement system performs the method as described in any one of claims 1-5.

8. A computer-readable storage medium comprising instructions, characterized in that, When the instruction is executed on the vision-based engine afterburner boom injection angle measurement system, the vision-based engine afterburner boom injection angle measurement system performs the method as described in any one of claims 1-5.

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