航空发动机机匣三维动态位姿多目视觉测量

郭建英; 梁晋; 叶美图; 王明明; 刘辉; 滕光蓉

doi:10.13224/j.cnki.jasp.20220967

航空发动机机匣三维动态位姿多目视觉测量

doi: 10.13224/j.cnki.jasp.20220967

郭建英^{1, 2,},
梁晋¹,
叶美图¹,
王明明²,
刘辉¹,
滕光蓉²

1.
西安交通大学机械工程学院机械制造系统工程国家重点实验室，西安 710049
2.
中国航发四川燃气涡轮研究院强度传动试验研究室，四川绵阳 621000

基金项目: 国家自然科学基金（52275543）

详细信息

作者简介:
郭建英（1985-），男，博士生，主要从事发动机强度试验技术研究

中图分类号: V214.3⁺²
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出版历程
- 收稿日期: 2022-12-19
- 网络出版日期: 2024-02-20

Multi-view visual measurement of three-dimensional dynamic position and orientation of aero engine casing

1.
State Key Laboratory for Manufacturing Systems Engineering，School of Mechanical Engineering，Xi’an Jiaotong University，Xi’an 710049，China
2.
Laboratory for Strength and Transmission，Sichuan Gas Turbine Establishment，Aero Engine Corporation of China，Mianyang Sichuan 621000，China

摘要

摘要:
针对航空发动机机匣刚度试验中相对位姿难以测量的问题，对常规双目视觉位姿测量方法进行了改进，提出了基于定位编码点的全局多目动态位姿测量方法。利用近景摄影测量技术获取机匣定位编码点在初始坐标系下的全局坐标，并通过矢量坐标转换方法转换至自定义的机匣数模坐标系下；运用数模编码点坐标求解多目相机外参，统一各测量相机坐标系，从而能够在自定义坐标矢量上对测量数据进行分析；通过多目动态位姿测量法获得机匣内外环测点在各变形状态下的三维坐标，进而解算出机匣测点在数模坐标系下的位移和姿态及其相对变化信息。试验证明，相对传统千分表测量方法，该方法的位移测量误差小于0.005 mm，弥补了传统测量方法难以测量试验件的不同部位相对姿态的缺点，为航空发动机机匣及相关壳体类的刚度试验提供了便捷的测量方法和可靠的数据来源。
- 视觉测量 /
- 航空发动机机匣 /
- 摄影测量 /
- 坐标转换 /
- 相对位姿
Abstract:
In view of the difficulty of measuring the relative position and orientation in the rigidity test of aero engine casing, the conventional method of binocular visual measurement for position and orientation was improved, a global multi-view visual dynamic position and orientation measurement method based on video dynamic measurement technology was proposed. The global coordinates of coded point on the casing under initial coordinate system were obtained by close-range photogrammetry and converted to custom numerical model coordinate system of the casing by vector coordinate transformation. The external parameters of multi-view camera were solved by using the coded point coordinates under numerical model coordinate system, and the coordinate system of each measuring camera was unified, so that the measuring data can be analyzed in the customized coordinate vector. The three-dimensional coordinates of measuring points on the inner and outer rings of the casing under each deformation state were obtained by multi-view visual dynamic position and orientation measurement method, and then the position and orientation of the measuring points on the inner and outer rings of the casing in the numerical model coordinate system as well as their relative changes were calculated. The test results showed that the displacement measurement error of the proposed method was less than 0.005 mm compared with the traditional micrometer measurement method, which made up for the disadvantage of the traditional measurement method in extracting difficultly the relative orientation of different parts of the test piece, thus providing a convenient measurement method and reliable data source for the rigidity test of aero engine casing and related shells.
- visual measurement /
- aero engine casing /
- photogrammetry /
- coordinate transformation /
- relative position and orientation

HTML

图 1 全局多目视觉测量示意图

Figure 1. Schematic diagram of global multi-view visual measurement

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图 2 摄影测量示意图

Figure 2. Schematic diagram of photogrammetry

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图 3 建立数模坐标系

Figure 3. Establishment of the numerical model coordinate system

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图 4 相机外方位参数解算

Figure 4. Solving the camera’s external parameters

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图 5 双目测量单元坐标统一

Figure 5. Coordinate unification of binocular visual measurement unit

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图 6 机匣内、外环的相对位姿测量示意图

Figure 6. Schematic diagram of relative position and orientation measurement of the inner and outer rings of the casing

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图 7 机匣加载测量试验现场

Figure 7. Test site of casing loading measurement

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图 8 机匣被测面的坐标定义和编码点布置

Figure 8. Coordinate definition of casing surface under test and arrangement of coded points

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图 9 机匣摄影测量坐标系转换过程

Figure 9. Processing of casing coordinate system conversion with photogrammetry

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图 10 两套双目测量单元的图像检测及三维重建结果

Figure 10. Image detection and 3D reconstruction results of two sets of binocular visual measurement units

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图 11 千分表现场对比测量图

Figure 11. Comparison of the field measurement of the micrometers

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图 12 机匣加载及定位编码点位移曲线

Figure 12. Displacement curves of coded point under the casing load

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图 13 机匣内外环圆心位移曲线

Figure 13. Displacement curves of casing inner and outer ring center

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图 14 机匣内外环姿态曲线

Figure 14. Orientation curves of casing inner and outer rings

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表 1 摄影测量定位编码点坐标

Table 1. Coordinates of coded points with photogrammetry mm

编码ID	x	y	z
180	0	0	439.976
173	0	−0.028	−439.976
170	0	−439.964	0.093
147	0.011	439.976	−0.003
166	29.920	0.063	−74.974
160	29.940	−0.085	75.022
150	29.911	65.021	−37.480
149	29.977	−64.893	37.565

下载: 导出CSV

表 2 双目测量位移与千分表结果对比

Table 2. Comparison of the displacement results with the binocular vision and micrometer mm

位置	双目测量结果	千分表结果	差值
外环	0.036	0.031	0.005
内环	0.058	0.055	0.003

下载: 导出CSV

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