本文選題：直升機(jī) + 旋翼共錐度��； 參考：《南昌航空大學(xué)》2017年碩士論文

【摘要】：直升機(jī)旋翼共錐度是反映直升機(jī)旋翼動(dòng)平衡特性的重要參數(shù),它直接影響直升機(jī)的安全性、穩(wěn)定性和機(jī)動(dòng)性等關(guān)鍵指標(biāo),因此旋翼共錐度的精確測(cè)量為直升機(jī)旋翼的生產(chǎn)與維護(hù)提供重要依據(jù)。在基于立體視覺(jué)的直升機(jī)機(jī)載旋翼共錐度測(cè)量系統(tǒng)中,采集的旋翼圖像往往具有大場(chǎng)景、背景復(fù)雜以及含有一定干擾噪聲等特點(diǎn),導(dǎo)致傳統(tǒng)標(biāo)記點(diǎn)檢測(cè)算法定位慢、精度低,進(jìn)而影響旋翼共錐度實(shí)時(shí)測(cè)量。針對(duì)上述問(wèn)題,本文對(duì)旋翼圖像中圓形標(biāo)記點(diǎn)的快速精準(zhǔn)定位方法進(jìn)行了深入研究,主要工作內(nèi)容和研究成果如下:(1)概述了基于立體視覺(jué)的直升機(jī)機(jī)載旋翼共錐度測(cè)量系統(tǒng)及相關(guān)理論知識(shí)。首先,介紹了直升機(jī)旋翼共錐度的測(cè)量原理和雙目立體視覺(jué)原理;然后,開(kāi)展了基于立體視覺(jué)的直升機(jī)機(jī)載旋翼共錐度測(cè)量系統(tǒng)設(shè)計(jì),該系統(tǒng)包括硬件子系統(tǒng)和軟件子系統(tǒng),硬件系統(tǒng)包括:光電傳感器模塊、雙目圖像采集模塊、PC/104嵌入式系統(tǒng)、供電模塊和配置工具模塊;軟件系統(tǒng)包括:配置軟件和旋翼共錐度測(cè)量軟件;最后,深入分析了該系統(tǒng)中圓形標(biāo)記點(diǎn)檢測(cè)算法存在定位慢和精度低的原因,并針對(duì)該問(wèn)題開(kāi)展了圓形標(biāo)記點(diǎn)定位方法的研究。(2)提出了一種基于CIC的圓形標(biāo)記點(diǎn)快速定位算法(簡(jiǎn)稱:CIC算法)。首先,利用Canny算子對(duì)旋翼圖像進(jìn)行邊緣檢測(cè),再采用連通域搜索法提取輪廓信息;然后,依次采用連通域輪廓的圓度特征、慣性率特征和凹凸度特征篩選旋翼圖像中圓形標(biāo)記點(diǎn),并進(jìn)行驗(yàn)證;最后,采用最小二乘圓擬合法實(shí)現(xiàn)圓心的精確定位。通過(guò)大量仿真和真實(shí)環(huán)境中圓形標(biāo)記點(diǎn)檢測(cè)實(shí)驗(yàn),結(jié)果表明,本算法能夠在復(fù)雜背景下精準(zhǔn)快速地定位圓形標(biāo)記點(diǎn)。但是,當(dāng)旋翼處于高速旋轉(zhuǎn)以及相機(jī)焦距不準(zhǔn)等因素影響時(shí),造成圖像中圓形標(biāo)記點(diǎn)邊緣模糊,導(dǎo)致部分圓形標(biāo)記點(diǎn)漏檢。(3)針對(duì)上述部分圓形標(biāo)記點(diǎn)漏檢的現(xiàn)象,改進(jìn)了一種基于EDCIC的圓形標(biāo)記點(diǎn)快速定位算法(簡(jiǎn)稱:EDCIC算法)。首先,采用高斯濾波器對(duì)圖像進(jìn)行平滑,利用Sobel算子獲取梯度等級(jí)圖和梯度方向圖,并利用梯度等級(jí)圖搜索圖像中的錨點(diǎn);其次,采用Smart Routing算法連接錨點(diǎn),得到邊緣圖像;再次,利用Helmholtz感知原理判決邊緣線段,去除邊緣圖像中的雜線;最后,采用CIC算法對(duì)邊緣圖像進(jìn)行圓形標(biāo)記點(diǎn)檢測(cè)。通過(guò)大量仿真和真實(shí)環(huán)境中圓形標(biāo)記點(diǎn)檢測(cè)實(shí)驗(yàn),結(jié)果表明,本算法與傳統(tǒng)圓形標(biāo)記點(diǎn)檢測(cè)算法相比,具有較高的檢測(cè)速度、定位精度,并較好地解決了由于邊緣模糊造成圓形標(biāo)記點(diǎn)漏檢的問(wèn)題,可用于提高復(fù)雜背景下直升機(jī)旋翼共錐度的測(cè)量速度和精度。
[Abstract]:The common taper of helicopter rotor is an important parameter to reflect the dynamic balance characteristics of helicopter rotor, which directly affects the safety, stability and maneuverability of helicopter. Therefore, the accurate measurement of the common taper of rotor provides an important basis for the production and maintenance of helicopter rotor. In the helicopter airborne rotor common taper measurement system based on stereo vision, the captured rotor images often have the characteristics of large scene, complex background and certain interference noise, which leads to the slow positioning and low precision of the traditional marking point detection algorithm. Furthermore, the real time measurement of common taper of rotor is affected. In order to solve the above problems, the fast and accurate positioning method of circular marking points in rotor images is studied in this paper. The main work and research results are as follows: 1) A helicopter airborne rotor common taper measurement system based on stereo vision and related theoretical knowledge are summarized. Firstly, the measurement principle of common taper of helicopter rotor and the principle of binocular stereo vision are introduced. Then, the design of helicopter common taper measurement system based on stereo vision is carried out. The system includes hardware subsystem and software subsystem. The hardware system includes: photoelectric sensor module, binocular image acquisition module PC-104 embedded system, power supply module and configuration tool module; software system includes configuration software and rotor common taper measurement software; finally, In this paper, the reasons of slow location and low precision of circular marking point detection algorithm in this system are analyzed. In order to solve this problem, the research of circular marking point location method is carried out. (2) A rapid circular marking point location algorithm based on CIC is proposed (abbreviated as: CIC algorithm). Firstly, the edge of rotor image is detected by Canny operator, then the contour information is extracted by using the connected domain search method, and then the roundness feature of the connected domain contour is adopted in turn. The inertial rate feature and convexity feature are used to screen and verify the circular marking points in the rotor image. Finally, the least square circle fitting method is used to locate the center of the rotor accurately. Through a large number of simulation and real environment experiments, the results show that the algorithm can accurately and quickly locate circular marking points in complex background. However, when the rotor is under the influence of high speed rotation and the camera focal length is not correct, the edge of the circular marking point in the image is blurred, which leads to the missing detection of the partial circular marking point. This paper presents an improved circular marker point location algorithm based on EDCIC. Firstly, the image is smoothed by Gao Si filter, the gradient grads and gradient patterns are obtained by Sobel operator, and the anchor points in the images are searched by gradient gradients. Secondly, the edge images are obtained by using the Smart Routing algorithm to connect the anchor points. Thirdly, the edge line segment is determined by Helmholtz sensing principle, and the clutter line is removed from the edge image. Finally, CIC algorithm is used to detect the circular marking points of the edge image. Through a large number of experiments in simulation and real environment, the results show that the algorithm has higher detection speed and positioning accuracy than the traditional circular marker detection algorithm. It can be used to improve the measuring speed and precision of helicopter rotor taper in complex background.
【學(xué)位授予單位】：南昌航空大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：V275.1;TP391.41

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本文編號(hào)：1970040