阅读说明：本技术 一种飞机疲劳试验中内舱结构巡检的标定融合方法 (Calibration fusion method for inspection of inner cabin structure in airplane fatigue test ) 是由 毛爽 黄光启 张永兴 刘振宇 郭俊毫 旷海波 杨青春 于 2021-08-16 设计创作，主要内容包括：本申请涉及飞机结构强度全机疲劳试验领域,为一种飞机疲劳试验中内舱结构巡检的标定融合方法,包括,在试验初始载荷状态,对巡检系统进行复位,记忆并融合当前巡检小车、轨道、机械手、各类相机的焦距和视野信息；确定巡检小车的停靠位；以3D结构光相机、5K高清工业相机的焦距与视野作为标准,控制机械手的6个关节角度调节末端姿态,记忆机械手的定位信息；对巡检小车和轨道的停靠位信息、机械手定位信息、相机的焦距和视野的信息进行融合,作为巡检标定信息。具有能够实现各种数据同步从而对机器视觉图像数据进行精准采集的技术效果。(The application relates to the field of aircraft structural strength full-aircraft fatigue tests, in particular to a calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test, which comprises the steps of resetting an inspection system in an initial load state of the test, and memorizing and fusing the focal length and visual field information of a current inspection trolley, a track, a manipulator and various cameras; determining a parking position of the inspection trolley; taking the focal length and the visual field of a 3D structured optical camera and a 5K high-definition industrial camera as standards, controlling the angles of 6 joints of the manipulator to adjust the posture of the tail end, and memorizing the positioning information of the manipulator; and fusing the parking position information of the patrol trolley and the track, the manipulator positioning information, and the focal length and visual field information of the camera to obtain patrol calibration information. The method has the technical effect of realizing the synchronization of various data so as to accurately acquire the machine vision image data.)

1. A calibration fusion method for routing inspection of an inner cabin structure in an airplane fatigue test is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

resetting the inspection system in an initial test load state, and memorizing and integrating the focal length and visual field information of the current inspection trolley, the track, the manipulator and various cameras;

determining the parking positions of the inspection trolley, and memorizing and fusing the positioning information of the inspection trolley and the track when the inspection trolley reaches one parking position; taking the focal length and the visual field of a 3D structured optical camera and a 5K high-definition industrial camera as standards, controlling the angles of 6 joints of the manipulator to adjust the posture of the tail end, and memorizing the positioning information of the manipulator;

each camera works and collects images, and image information of the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused;

and the parking position information of the inspection trolley and the track, the manipulator positioning information, the focal length of the camera and the visual field information are fused to be used as inspection calibration information, and the visual inspection of a fixed area in the future is realized in a teaching mode.

2. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 1, characterized in that: and setting a data fusion platform, wherein the data fusion platform is used for classifying and storing various collected information, fusing data of a collection end and controlling the inspection system.

3. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 2, characterized in that: and synchronously acquiring test load state information of the fatigue test in the inspection process, fusing the test load state information into inspection calibration information, and correcting the calibration information influenced by the test load.

4. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 2, characterized in that: the inspection system is positioned in a grouping mode, each parking position serves as a detection point and serves as a group of information to be stored in a storage file through the data fusion platform.

5. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 4, characterized in that: the data fusion platform registers the data of each acquisition point on the track and records corresponding address information, the data acquired by the inspection system is stored in corresponding storage files through the registered address information, and the data fusion platform calls the corresponding storage files through the registered information to control the inspection system.

6. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 2, characterized in that: set up 5G terminal module between system and the data fusion platform patrols and examines, 5G terminal module adopts the mode of preliminary treatment to transmit the data real-time of gathering end collection to the data fusion platform, the data fusion platform carries out real time control to the system of patrolling and examining through 5G terminal module.

7. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 2, characterized in that: each group of test load state information in the data fusion platform corresponds to the patrol inspection calibration information one by one, detected data are transmitted to the data fusion platform in real time in the process of patrolling an acquisition point by the patrol inspection system, the data fusion platform receives information acquired by an acquisition end in real time, test load state information in a fatigue test is acquired in real time, corresponding patrol inspection calibration information is called according to the acquired test load state information, and the patrol inspection system in the current state is controlled through the patrol inspection calibration information.

8. The calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test according to claim 1, characterized in that: the system of patrolling and examining adopts the track, patrols and examines the mode of dolly and manipulator and carry out the collection of data, the track sets up along the key position in the under-deck, it adopts pulse drive gear and track to pass through the rack cooperation to patrol and examine the dolly to adopt photoelectric sensor to carry out the calibration of position, drive the manipulator and patrol and examine the motion along the track.

9. The utility model provides a demarcation system that fuses that interior cabin structure patrolled and examined in aircraft fatigue test which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the positioning information fusion module (1) is used for fusing inspection trolley control information, track positioning correction information and manipulator control information;

the visual fusion module (2) is used for fusing visual image information acquired by the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera;

the fatigue test information module (3) is used for receiving test load state information in a fatigue test;

and the integral data fusion module (4) is used for receiving the data of the positioning information fusion module, the vision fusion module and the fatigue test information module and calibrating and fusing the corresponding data one by one.

10. The utility model provides a full quick-witted fatigue test platform of aircraft structural strength which characterized in that: comprising a calibration fusion method according to any of claims 1-8.

Technical Field

The application belongs to the field of aircraft structural strength full-aircraft fatigue tests, and particularly relates to a calibration fusion method for inspection of an inner cabin structure in an aircraft fatigue test.

Background

The airplane structure damage detection method based on 5G + machine vision is adopted in the airplane whole machine structure strength test, the surface damage and the defect of an inner cabin of an airplane are detected, the deformation bulge defect and the like are detected, the inspection trolley, the track, the mechanical arm and the vision module are used in the airplane structure damage detection method based on 5G + machine vision, the acquisition unit of the vision module comprises a structured light 3D camera, a binocular camera, a 5K high-definition industrial camera, a monitoring camera and other various cameras, the airplane structure damage, the surface defect and the three-dimensional contour of a fixed position are detected in an important mode, and the airplane structure damage, the surface defect and the three-dimensional contour of the fixed position are used for comparing the difference between the contour and the original state. The airplane structure damage detection system based on 5G + machine vision can generate various data aiming at the inspection of an inner cabin of an airplane, and the data comprise inspection trolley control information, track positioning information, position correction information, manipulator control information, 3D (three-dimensional) image information, 2D image information and the like, and the information is relatively independent. When data are compared, a certain difference is probably caused between information of the same acquisition point output by different devices, so that a certain deviation is caused between positioning information and visual information acquired by different parts of each detection point, the acquired image information is fuzzy and inaccurate, the damage state is asynchronous with the test state, the accurate position and time of damage can not be accurately locked, the fatigue damage analysis of the airplane structure is influenced, and the use value of the data is reduced.

Therefore, a method needs to be designed to reduce errors of output information among different devices, accurately control the front-end device, and ensure that the acquired image is clear.

Disclosure of Invention

The application aims to provide a calibration fusion method for inspection of an inner cabin structure in an airplane fatigue test, so as to solve the problem that images are not clear due to the fact that data are not synchronous when different devices acquire the same acquisition point in the prior art.

The technical scheme of the application is as follows: a calibration fusion method for inspection of an inner cabin structure in an airplane fatigue test comprises the steps of resetting an inspection system in an initial load state of the test, and memorizing and fusing the focal length and visual field information of a current inspection trolley, a track, a manipulator and various cameras; determining the parking positions of the inspection trolley, and memorizing and fusing the positioning information of the inspection trolley and the track when the inspection trolley reaches one parking position; taking the focal length and the visual field of a 3D structured optical camera and a 5K high-definition industrial camera as standards, controlling the angles of 6 joints of the manipulator to adjust the posture of the tail end, and memorizing the positioning information of the manipulator; each camera works and collects images, and image information of the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused; and the parking position information of the inspection trolley and the track, the manipulator positioning information, the focal length of the camera and the visual field information are fused to be used as inspection calibration information, and the visual inspection of a fixed area in the future is realized in a teaching mode.

Preferably, a data fusion platform is arranged, and the data fusion platform is used for classifying and storing various collected information, fusing data of a collection end and controlling the inspection system.

Preferably, test load state information of the fatigue test is synchronously acquired in the inspection process, the test load state information is fused into inspection calibration information, and the calibration information influenced by the test load is corrected.

Preferably, the routing inspection system is positioned in a grouping mode, each docking station is used as a detection point and is stored in a storage file as a group of information through the data fusion platform.

Preferably, the data fusion platform registers data of each acquisition point on the track and records corresponding address information, the data acquired by the inspection system is stored in a corresponding storage file through the registered address information, and the data fusion platform calls the corresponding storage file through the registered information to control the inspection system.

Preferably, set up 5G terminal module between system and the data fusion platform patrols and examines, 5G terminal module adopts the mode of preliminary treatment to transmit the data of gathering end collection to the data fusion platform in real time, the data fusion platform carries out real time control to the system of patrolling and examining through 5G terminal module.

Preferably, each group of test load state information in the data fusion platform corresponds to the patrol inspection calibration information one by one, in the process of patrolling and inspecting the acquisition points by the patrol inspection system, detected data are transmitted to the data fusion platform in real time, the data fusion platform receives the information acquired by the acquisition end in real time, acquires the test load state information in the fatigue test in real time, calls the corresponding patrol inspection calibration information according to the acquired test load state information, and controls the patrol inspection system in the current state through the patrol inspection calibration information.

Preferably, the system of patrolling and examining adopts the track, patrols and examines the mode of dolly and manipulator and carry out the collection of data, the track sets up along the key position in the under-deck, it adopts pulse drive gear and track to pass through the rack cooperation to patrol and examine the dolly to adopt photoelectric sensor to carry out the calibration of position, drive the manipulator and move along the track circuit.

A calibration fusion system for inspection of an inner cabin structure in an airplane fatigue test comprises a positioning information fusion module, a calibration module and a calibration module, wherein the positioning information fusion module is used for fusing inspection trolley control information, track positioning correction information and manipulator control information; the visual fusion module is used for fusing visual image information acquired by the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera; the fatigue test information module is used for receiving test load state information in a fatigue test; and the integral data fusion module is used for receiving the data of the positioning information fusion module, the vision fusion module and the fatigue test information module and calibrating and fusing the data corresponding to each other one by one.

The utility model provides a full quick-witted fatigue test platform of aircraft structural strength which characterized in that: comprising a calibration fusion method according to any of claims 1-8.

According to the calibration fusion method for the inspection of the inner cabin structure in the airplane fatigue test, the positioning information of the inspection system is fused firstly, then the image information of various cameras is fused, and finally the two types of information are fused synchronously, so that the synchronization of various information data is ensured, and the accurate acquisition of the images of the inspection points of the inner cabin of the airplane is realized.

Preferably, the calibration data deviation caused by deformation generated in the aircraft test process can be corrected by synchronously acquiring the test load state information in the fatigue test, so that the accuracy of the calibration data is ensured, and the inspection system can be stably controlled.

Drawings

In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention.

FIG. 1 is a schematic diagram of the overall process architecture of the present application;

fig. 2 is a schematic view of the overall flow structure of the present application.

1. A positioning information fusion module; 2. a visual fusion module; 3. a fatigue information fusion module; 4. and an integral data fusion module.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.

Embodiment I, calibration fusion method for inspection of inner cabin structure in airplane fatigue test

The method includes the steps that an inspection system is adopted to collect images of crack damage and 3D deformation damage in an airplane cabin, a rail is arranged in the inspection system along a key detection position of the airplane in the airplane cabin, an inspection trolley which runs along the rail is arranged on the rail, a multi-freedom-degree mechanical hand is arranged on the inspection trolley, and various cameras are arranged at the tail end of the mechanical hand, namely one end far away from the inspection trolley, to collect images of the crack damage and the 3D deformation damage of the airplane cabin.

The camera comprises a 3D structured light camera, a 5K high-definition industrial camera and a high-definition monitoring camera, and the cameras of the three cameras have a common visual field. Image information collected by various cameras and position information of the inspection trolley, the track and the manipulator are transmitted to the background for processing as information collected by the collection end.

And in the operation process of the inspection system, the full-mechanical static force/fatigue tests of the airplane synchronously operate and correspond to each other.

As shown in fig. 1 and 2, the device comprises:

s100, resetting the inspection system in an initial test load state, and memorizing and integrating the focal length and visual field information of the current inspection trolley, the track, the manipulator and various cameras;

s200, determining the parking positions of the inspection trolley, and memorizing and fusing the positioning information of the inspection trolley and the track when the inspection trolley reaches one parking position; taking the focal length and the visual field of a 3D structured optical camera and a 5K high-definition industrial camera as standards, controlling 6 joints of the manipulator to adjust the tail end posture, and memorizing the positioning information of the manipulator;

step S300, each camera works and collects images, and image information of the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera is fused;

and S400, fusing parking position information of the routing inspection trumpet side, manipulator positioning information, and information of the focal length and the visual field of the camera to serve as routing inspection calibration information, and realizing visual routing inspection of a fixed area in the future in a teaching mode.

Through patrolling and examining the dolly, the track, the positional information of manipulator fuses, realize high accuracy repeated positioning, through to 3D structure optical camera, 5K high definition industrial camera, the image information of high definition surveillance camera fuses, guarantee that the surface crack damage and the 3D deformation damage image of gathering are synchronous, and can show completely, the rethread is to patrolling and examining dolly and orbital berthing position information, manipulator positional information, the information of the focus and the field of vision of camera fuses, the synchronization and the accuracy of all information of gathering the end collection have been guaranteed, thereby can guarantee that the camera can gather the image of high definition, can accurately lock position and the time that the damage appears, in order to carry out effectual aircraft structure fatigue damage analysis, the use value of data has been guaranteed.

By carrying out visual fusion on the multiple cameras, the comprehensive visual field of each camera can reach 300mm by 350mm, and the detection precision can reach 0.4 mm. And the information is fused by adopting a step-by-step fusion mode, the information with the same type is fused firstly, and then the information with different types is fused, so that the calibration fusion efficiency is effectively improved.

Preferably, a data fusion platform is arranged, and the data fusion platform is used for classifying and storing various collected information, fusing data of a collection end and controlling the inspection system. The data fusion platform controls the inspection system through inspection calibration information after data fusion, effectively ensures the control precision of the inspection system, can correct the inspection system in real time, and facilitates data transfer by classified storage of the data.

Preferably, in the process of carrying out the fatigue test, the aircraft is likely to deform so as to cause the track to change, the change of the track can cause the deviation of the original calibration information, and meanwhile, the information generated by the full-aircraft fatigue test is not affected by the deformation of the aircraft. The method adopted for this problem is:

and synchronously acquiring test load state information of the fatigue test in the inspection process, fusing the test load state information into inspection calibration information, and correcting the calibration information influenced by the test load. Calibration information is corrected according to the test load state information, so that the precision of the inspection calibration information is effectively guaranteed, and the image acquisition quality of the inspection system is guaranteed.

Preferably, the routing inspection system is positioned in a grouping mode, each docking station serves as a detection point and is stored in a storage file through the data fusion platform as a group of information. The grouping design improves the inspection regularity of the inspection system and is convenient to control; the positioning information is memorized in a grouping mode, so that the data is convenient to call and control, and the data is convenient to look up.

Preferably, the data fusion platform registers the data of each acquisition point on the track and records corresponding address information, the data acquired by the inspection system is stored in a corresponding storage file through the registered address information, and the data fusion platform calls the corresponding storage file through the registered information to control the inspection system. Through this setting, guarantee that all kinds of data carry out stable categorised storage and recall.

Preferably, a 5G terminal module is arranged between the inspection system and the data fusion platform, the 5G terminal module transmits data collected by the collecting end to the data fusion platform in real time in a preprocessing mode, and the data fusion platform controls the inspection system in real time through the 5G terminal module.

The 5G network carries out millisecond transmission, can upload inspection trolley control information, track positioning correction information, manipulator control information and visual information of each camera to the data fusion platform in real time, and can carry out real-time control on the inspection system, thereby ensuring the real-time property of data.

Preferably, each group of test load state information of the data fusion platform corresponds to the patrol calibration information one by one, in the process that the patrol system patrols the collection point, the detected data are transmitted to the data fusion platform in real time, the data fusion platform receives the information collected by the collection end in real time, obtains the test load state information in the fatigue test in real time, calls the corresponding patrol calibration information according to the obtained test load state information, and controls the patrol system in the current state through the patrol calibration information. Through the cooperation of using experimental load state information, can carry out real-time accurate positioning and correction when carrying out data acquisition to the system of patrolling and examining, guarantee each camera data acquisition's accuracy.

Preferably, the system of patrolling and examining adopts the track, patrols and examines the mode of dolly and manipulator and carry out the collection of data, sets up along the key position in the under-deck in the track, and the dolly of patrolling and examining adopts pulse drive gear and track to pass through gear cooperation to adopt photoelectric sensor to carry out the calibration of position, drive the manipulator and make a round trip to move along the track. The dolly adopts pulse drive gear, realizes stable accurate operation with the gear cooperation on the one hand, and on the other hand can accurate location with the photoelectric sensor cooperation, and its final positioning accuracy can reach 0.1 mm.

The second embodiment is a specific implementation manner, and the calibration fusion system for the inspection of the inner cabin structure in the airplane fatigue test comprises a positioning information fusion module 1, a visual fusion module 2, a fatigue test information module 3 and an overall data fusion module 4.

The positioning information fusion module 1 is used for fusing inspection trolley control information, track positioning correction information and manipulator control information;

the visual fusion module 2 is used for fusing visual image information acquired by the 3D structured light camera, the 5K high-definition industrial camera and the high-definition monitoring camera;

the fatigue test information module 3 is used for receiving information such as test load states, instrument data and the like in a fatigue test and transmitting the information to the integral data fusion module;

the integral data fusion module 4 is used for receiving the data of the positioning information fusion module, the vision fusion module and the fatigue test information module and calibrating and fusing the corresponding data one by one.

Through calibrating and fusing various data, clear image information can be synchronously acquired by various information in the operation process of the inspection system, so that subsequent structural fatigue damage analysis is facilitated.

In a third embodiment, as a specific implementation manner, a full-aircraft fatigue test stand for structural strength of an aircraft includes the calibration fusion method described in the first embodiment. By adopting the method, the key parts and the inaccessible parts of the airplane can be accurately inspected in the airplane fatigue test, and high-precision repeated positioning and visual information can be ensured to be obtained.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.