CN205809689U - A kind of airframe checks system - Google Patents
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Abstract
本实用新型公开了一种飞机机身检查系统，包括无人机和地面站，所述地面站具有无人机管理平台，所述无人机与无人机管理平台相互通信、由无人机管理平台控制无人机的飞行状态，所述无人机管理平台控制无人机围绕停机状态的飞机机身飞行，所述无人机的机体部上搭载有机载部，所述机载部主要由三维扫描仪和机载通讯单元组成，所述地面站具有基于计算机运行的数据监控平台，所述数据监控平台主要由实时监控单元和地面通讯单元组成，该地面通讯单元与机载通讯单元相互通信，机载通讯单元将三维扫描仪所采集的飞机机身的图像数据传输给地面通讯单元。本实用新型具有检查结果全面、准确、可靠的特点，同时具有检查效率高、周期短、成本低的特点。
The utility model discloses an aircraft fuselage inspection system, which includes an unmanned aerial vehicle and a ground station. The ground station has an unmanned aerial vehicle management platform. The unmanned aerial vehicle and the unmanned aerial vehicle management platform communicate with each other. The management platform controls the flight state of the UAV, and the UAV management platform controls the UAV to fly around the aircraft fuselage in the shutdown state. The body part of the UAV is equipped with an on-board part, and the It is mainly composed of a three-dimensional scanner and an airborne communication unit. The ground station has a data monitoring platform based on computer operation. The data monitoring platform is mainly composed of a real-time monitoring unit and a ground communication unit. The ground communication unit and the airborne communication unit To communicate with each other, the airborne communication unit transmits the image data of the aircraft fuselage collected by the 3D scanner to the ground communication unit. The utility model has the characteristics of comprehensive, accurate and reliable inspection results, as well as high inspection efficiency, short cycle and low cost.
Description
技术领域technical field
本实用新型涉及一种以无人机进行图像数据采集的飞机机身检查系统。The utility model relates to an aircraft fuselage inspection system which uses an unmanned aerial vehicle to collect image data.
背景技术Background technique
在飞机的维修和航线维护中，都需要对飞机机身进行全面检查，以提高维护作业的准确性和可靠性，保障飞机飞行任务的安全性。一直以来，对飞机机身的检查方式主要是传统的人工目视检查。然而，由于飞机机身的结构庞大，人工在对机身进行目视检查时，通常需要借助其它机械辅助设备，在机身上进行爬山、爬下的动作，不仅整个检查过程存在劳动强度大、检查效率低、检查周期长、检查成本高等问题，而且更甚的是，此检查方式存在较高的漏检率，进而会对检查结果的准确性和可靠性造成直接影响。此外，随着近年来民航工业的快速发展，飞机数量越来越多，对时间的管控要求越来越高，这就需要有效、可靠地提高飞机机身的检查效率和检查质量，大幅缩短检查周期。显然，实现此检查目标，单纯的依靠传统的人工目视检查是不可能实现的，亟需依靠现有科技手段来实现。In aircraft maintenance and line maintenance, it is necessary to conduct a comprehensive inspection of the aircraft fuselage to improve the accuracy and reliability of maintenance operations and ensure the safety of aircraft flight missions. For a long time, the inspection method of the aircraft fuselage is mainly the traditional manual visual inspection. However, due to the large structure of the aircraft fuselage, manual visual inspection of the fuselage usually requires the help of other mechanical auxiliary equipment to climb up and down the fuselage. Not only is the whole inspection process labor-intensive, There are problems such as low inspection efficiency, long inspection cycle, and high inspection cost. What's more, this inspection method has a high rate of missed inspections, which will directly affect the accuracy and reliability of inspection results. In addition, with the rapid development of the civil aviation industry in recent years, the number of aircraft is increasing, and the requirements for time control are getting higher and higher. This requires effective and reliable improvement of the inspection efficiency and inspection quality of aircraft fuselages, and greatly shortens inspection time. cycle. Obviously, it is impossible to achieve this inspection goal simply by relying on traditional manual visual inspection, and it is urgent to rely on existing scientific and technological means to achieve it.
基于现有飞机机身检查措施所存在的上述问题，近年来，行业内在研究并开发出了用于飞机机身检查的机器人，该机器人现目前的主要成型手段是：机器人通过吸盘在飞机机身上进行运动，在机器人身上加载能够获取飞机机身外部图像数据的成像设备，并在机器人身上加载可与地面站进行交互通信的通讯单元，由通讯单元将成像设备所获得的飞机机身外部的图像数据传输给地面站，以此使地面站对停机状态的飞机机身外部形态实现远程监控。此检查手段相较传统的人工目视检查而言，检查效率、检查周期和检查成本得到了有效改善。然而，该检查手段在飞机机身上的运动依然较慢（仅比人工快），不利于检查效率的提高、周期的缩短、成本的降低，而且，这种运动方式决定了其只能对飞机机身的特定部位进行检查，无法对飞机机身进行全方位的完整检查，也就是说，它存在检查死角，漏检率偏高，准确性和可靠性差，不够实用。由此可见，目前处于研发的飞机机身检查用机器人，离行业内的期望值仍有差距。Based on the above-mentioned problems existing in the existing aircraft fuselage inspection measures, in recent years, the industry has researched and developed a robot for aircraft fuselage inspection. The robot is equipped with an imaging device capable of obtaining external image data of the aircraft fuselage, and a communication unit capable of interactive communication with the ground station is loaded on the robot. The communication unit transfers the external image data obtained by the imaging device to The image data is transmitted to the ground station, so that the ground station can remotely monitor the external shape of the aircraft fuselage in the shutdown state. Compared with traditional manual visual inspection, this inspection method has effectively improved inspection efficiency, inspection cycle and inspection cost. However, the movement of the inspection method on the aircraft fuselage is still slow (only faster than manual work), which is not conducive to the improvement of inspection efficiency, shortening of the cycle, and reduction of cost. The inspection of specific parts of the fuselage cannot conduct a comprehensive and complete inspection of the aircraft fuselage. That is to say, it has dead spots in the inspection, a high rate of missed inspections, poor accuracy and reliability, and is not practical enough. It can be seen that the aircraft fuselage inspection robot currently under development is still far from the industry's expectations.
发明内容Contents of the invention
本实用新型的发明目的在于：针对上述现有技术的不足，提供一种检查结果全面、准确、可靠，且检查效率高、检查周期短、检查成本低的飞机机身检查系统。The purpose of the invention of the present utility model is to provide an aircraft body inspection system with comprehensive, accurate and reliable inspection results, high inspection efficiency, short inspection cycle and low inspection cost in view of the shortcomings of the above-mentioned prior art.
本实用新型所采用的技术方案是：一种飞机机身检查系统，包括无人机和地面站，所述地面站具有无人机管理平台，所述无人机与无人机管理平台相互通信、由无人机管理平台控制无人机的飞行状态，所述无人机管理平台控制无人机围绕停机状态的飞机机身飞行，所述无人机的机体部上搭载有机载部，所述机载部主要由三维扫描仪和机载通讯单元组成，所述地面站具有基于计算机运行的数据监控平台，所述数据监控平台主要由实时监控单元和地面通讯单元组成，该地面通讯单元与机载通讯单元相互通信，机载通讯单元将三维扫描仪所采集的飞机机身的图像数据传输给地面通讯单元。The technical solution adopted by the utility model is: an aircraft fuselage inspection system, including a drone and a ground station, the ground station has a drone management platform, and the drone and the drone management platform communicate with each other , the flight state of the drone is controlled by the drone management platform, the drone management platform controls the drone to fly around the aircraft fuselage in the shutdown state, the body of the drone is equipped with an on-board part, The airborne part is mainly composed of a three-dimensional scanner and an airborne communication unit. The ground station has a data monitoring platform based on computer operation. The data monitoring platform is mainly composed of a real-time monitoring unit and a ground communication unit. The ground communication unit Communicate with the airborne communication unit, and the airborne communication unit transmits the image data of the aircraft fuselage collected by the three-dimensional scanner to the ground communication unit.
进一步的，所述机载部具有摄像机，机载部的机载通讯单元将摄像机所采集的飞机机身的图像数据传输给地面通讯单元。Further, the airborne part has a camera, and the airborne communication unit of the airborne part transmits the image data of the aircraft fuselage collected by the camera to the ground communication unit.
作为优选方案，所述机载部还具有微处理器和数据存储单元，所述微处理器用于采集成像设备所采集的飞机机身的图像数据、并将图像数据传送给数据存储单元存储，所述微处理器通过机载通讯单元与地面站通信。As a preferred solution, the airborne part also has a microprocessor and a data storage unit, the microprocessor is used to collect the image data of the aircraft fuselage collected by the imaging device, and transmit the image data to the data storage unit for storage, so The microprocessor communicates with the ground station through the on-board communication unit.
所述三维扫描仪通过电动云台安装在无人机的机体部上。The three-dimensional scanner is installed on the body part of the drone through an electric pan-tilt.
所述三维扫描仪为ASUS Xtion或Primesense三维传感器。The three-dimensional scanner is an ASUS Xtion or Primesense three-dimensional sensor.
所述摄像机通过电动云台安装在无人机的机体部上。The camera is installed on the body part of the drone through an electric pan-tilt.
所述数据监控平台具有中央处理器和数据处理单元。The data monitoring platform has a central processing unit and a data processing unit.
本实用新型的有益效果是：上述检查系统以无人机结合光学实时三维扫描技术来对飞机机身的外部形态进行全面、准确、可靠的检查，检查全面、完整、无死角，能够为飞机机身的维护作业提供准确、可靠地依据；毫无疑问，本实用新型在满足前述特点的前提下，具有检查作业轻松容易、检查效率大幅提高、检查周期大幅缩短、检查成本大幅降低的特点，完全满足行业内的技术期许，实用性强。The beneficial effects of the utility model are: the above-mentioned inspection system uses a drone combined with optical real-time three-dimensional scanning technology to conduct a comprehensive, accurate and reliable inspection of the external shape of the aircraft fuselage. The inspection is comprehensive, complete, and has no dead ends. Provide accurate and reliable basis for the maintenance operation of the body; undoubtedly, on the premise of satisfying the above-mentioned characteristics, the utility model has the characteristics of easy inspection operation, greatly improved inspection efficiency, greatly shortened inspection cycle, and greatly reduced inspection cost. It meets the technical expectations of the industry and has strong practicability.
附图说明Description of drawings
下面结合附图对本实用新型作进一步的说明。Below in conjunction with accompanying drawing, the utility model is further described.
图1是本实用新型的一种结构原理框图。Fig. 1 is a kind of structural principle block diagram of the utility model.
图中代号含义：1—无人机；11—机体部；111—飞控单元；112—遥控接收端；12—机载部；121—微处理器；122—三维扫描仪；123—第一电动云台；124—摄像机；125—第二电动云台；126—数据存储单元；127—机载通讯单元；2—地面站；21—无人机管理平台；211—路径规划单元；212—遥控发射端；22—数据监控平台；221—中央处理器；222—实时监控单元；223—数据处理单元；224—地面通讯单元。The meaning of the codes in the picture: 1—unmanned aerial vehicle; 11—airframe; 111—flight control unit; 112—receiver of remote control; 12—airborne portion; 121—microprocessor; 122—three-dimensional scanner; 123—first Electric pan/tilt; 124—camera; 125—second electric pan/tilt; 126—data storage unit; 127—airborne communication unit; 2—ground station; 21—UAV management platform; 211—path planning unit; 212— Remote control transmitter; 22—data monitoring platform; 221—central processing unit; 222—real-time monitoring unit; 223—data processing unit; 224—ground communication unit.
具体实施方式detailed description
实施例1Example 1
参见图1所示，本实用新型为飞机机身检查用的检查系统，它包括无人机1和地面站2。Referring to shown in Fig. 1, the utility model is an inspection system for aircraft fuselage inspection, which includes an unmanned aerial vehicle 1 and a ground station 2.
其中，无人机1具有机体部11和机载部12。机体部1与常规无人机（可以是固定翼无人机，亦可以是旋翼无人机）无异，是保证无人机正常飞行的基本，其主要由主体（包括但不限于机架、脚架、云台、成像系统）、动力系统（包括但不限于电机、蓄电池、电力调速器）和飞控单元111（包括但不限于遥控接收端112、GPS系统、IMU系统、电子罗盘）等组成。机载部12搭载在无人机1的机体部11上，机载部12主要由微处理器121、三维扫描仪122、摄像机124、数据存储单元126和机载通讯单元127组成；微处理器121作为集成电路组成的中央处理器，其根据所接收到的地面站2的控制信号对三维扫描仪122和摄像机124的动作进行控制（主要是对安装它们的电动云台-即第一电动云台123和第二电动云台125的动作分别进行控制），将三维扫描仪122和摄像机124所采集到的图像数据传送给数据存储单元126进行存储，并通过机载通讯单元127将三维扫描仪122和摄像机124所采集到的图像数据传输给地面站2；三维扫描仪122为ASUS Xtion或Primesense三维传感器，它可以扫描得到飞机机身3的表面三维点云数据和图像纹理数据（以下统称图像数据），三维扫描仪122通过增设在无人机机体部11上的第一电动云台123安装在无人机1的机体部11上，第一电动云台123能够实现水平向和垂直向的转动，具体转动动作由微处理器121控制；摄像机124为CCD工业摄像机，它能够动态记录飞机机身3的影像（以下统称图像数据），摄像机124通过增设在无人机机体部11上的第二电动云台125安装在无人机1的机体部11上，第二电动云台125同样能够实现水平向和垂直向的转动，具体转动动作由微处理器121控制；数据存储单元126作为存储器（优选大容量的闪存存储器），用于存储图像数据；机载通讯单元127为现有的无线通讯方式，例如为WIFI或COFDM编码正交频分复用无线通信装置。Among them, the drone 1 has a body part 11 and an airborne part 12 . The body part 1 is no different from a conventional UAV (it can be a fixed-wing UAV or a rotary-wing UAV), and it is the basis for ensuring the normal flight of the UAV. It is mainly composed of the main body (including but not limited to the frame, tripod, gimbal, imaging system), power system (including but not limited to motors, batteries, electric governor) and flight control unit 111 (including but not limited to remote control receiver 112, GPS system, IMU system, electronic compass) and so on. The airborne part 12 is carried on the body part 11 of the UAV 1, and the airborne part 12 is mainly composed of a microprocessor 121, a three-dimensional scanner 122, a camera 124, a data storage unit 126 and an airborne communication unit 127; 121 is a central processor composed of integrated circuits, which controls the actions of the three-dimensional scanner 122 and the camera 124 according to the received control signal of the ground station 2 (mainly for the electric pan/tilt on which they are installed—that is, the first electric cloud platform 123 and the second electric platform 125 are controlled separately), the image data collected by the three-dimensional scanner 122 and the camera 124 are transmitted to the data storage unit 126 for storage, and the three-dimensional scanner is transmitted through the airborne communication unit 127 The image data collected by 122 and camera 124 are transmitted to the ground station 2; the three-dimensional scanner 122 is an ASUS Xtion or Primesense three-dimensional sensor, which can scan the surface three-dimensional point cloud data and image texture data of the aircraft fuselage 3 (hereinafter collectively referred to as image data), the three-dimensional scanner 122 is installed on the body part 11 of the UAV 1 through the first electric pan-tilt 123 added on the body part 11 of the UAV, and the first electric pan-tilt 123 can realize horizontal and vertical Rotation, the concrete rotation action is controlled by microprocessor 121; Camera 124 is a CCD industrial camera, and it can dynamically record the image of aircraft fuselage 3 (hereinafter collectively referred to as image data), camera 124 is set up on the drone body part 11 by the first Two electric pan-tilts 125 are installed on the body part 11 of unmanned aerial vehicle 1, and the second electric pan-tilt 125 can realize the rotation of horizontal direction and vertical direction equally, and concrete rotation action is controlled by microprocessor 121; Data storage unit 126 is used as memory (preferably large-capacity flash memory), used to store image data; the airborne communication unit 127 is an existing wireless communication method, such as WIFI or COFDM coded orthogonal frequency division multiplexing wireless communication device.
地面站2具有基于计算机运行的无人机管理平台21和数据监控平台22。其中，无人机管理平台21主要由人机控制系统（包括但不限于路径规划单元211、遥控发射端212）、视频管理系统、监视器等组成；无人机管理平台21通过遥控发射端212和无人机机体部11的遥控接收端112与无人机1进行相互通信，当然，也可以采用其它现有的通讯方式进行相互通信，即由无人机管理平台21控制无人机1的飞行状态-包括飞行轨迹，在本实用新型中，无人机管理平台21需要控制无人机1围绕停机状态的飞机机身3按设定路径进行飞行。数据监控平台22主要由中央处理器221、实时监控单元222、数据处理单元223和地面通讯单元224组成；中央处理器221作为超大规模的集成电路，用于通过地面通讯单元224接收无人机1的机载部12所传输来的图像数据，并将这些图像数据传输给实时监控单元222和数据处理单元223，即中央处理器221通过相互通信的地面通讯单元224和机载通讯单元127控制机载部12的微处理器121，以此达到对机载部12的三维扫描仪122和摄像机124的控制；实时监控单元222作为监控器，用于实时显示机载部12传输来的飞机机身3的图像数据，供监控人员实时查看；数据处理单元223作为地面站2的数据存储单元（优选大容量的闪存存储器），用于将接收到的图像数据进行存储，若为了进一步智能化，可以考虑使数据处理单元223实现图像数据的甄选等（非本实用新型贡献于现有技术的技术点）；地面通讯单元224用于与机载部12的机载通讯单元127进行相互通信，地面通讯单元224为现有的无线通讯方式，例如为WIFI或COFDM编码正交频分复用无线通信装置。The ground station 2 has a computer-based UAV management platform 21 and a data monitoring platform 22 . Among them, UAV management platform 21 is mainly composed of man-machine control system (including but not limited to path planning unit 211, remote control transmitter 212), video management system, monitor, etc.; UAV management platform 21 through remote control transmitter 212 The remote control receiver 112 of the drone body 11 and the drone 1 communicate with each other. Of course, other existing communication methods can also be used to communicate with each other, that is, the drone management platform 21 controls the remote control of the drone 1. Flight state - including the flight trajectory. In the present invention, the UAV management platform 21 needs to control the UAV 1 to fly around the aircraft fuselage 3 in the shutdown state according to the set path. The data monitoring platform 22 is mainly composed of a central processing unit 221, a real-time monitoring unit 222, a data processing unit 223 and a ground communication unit 224; The image data transmitted by the airborne part 12 of the airborne unit 12, and these image data are transmitted to the real-time monitoring unit 222 and the data processing unit 223, that is, the central processing unit 221 controls the machine through the ground communication unit 224 and the airborne communication unit 127 that communicate with each other. The microprocessor 121 of the carrying part 12 is used to achieve the control of the three-dimensional scanner 122 and the camera 124 of the airborne part 12; 3 image data for monitoring personnel to view in real time; the data processing unit 223 is used as the data storage unit (preferably large-capacity flash memory) of the ground station 2 to store the received image data. It is considered to make the data processing unit 223 realize the selection of image data, etc. (not the technical point that the utility model contributes to the prior art); the ground communication unit 224 is used to communicate with the airborne communication unit 127 of the airborne part 12, the ground communication Unit 224 is an existing wireless communication method, such as WIFI or COFDM coded OFDM wireless communication device.
由本实用新型的结构原理可以清楚的看出，本实用新型基于现有成熟的无人机技术实现，其通过无人机管理平台控制无人机围绕飞机机身按设定路径飞行，在飞行的过程中，利用无人机机载的三维扫描仪和摄像机对飞机机身外部形态的三维数据与图片进行采集，并将采集到的数据信息在机载部进行实时存储，同时，通过无线通讯单元传输至地面站的数据监控平台，数据监控平台将接收到的数据信息进行存储，并通过监控器进行实时的画面显示，即机载部将采集到的数据信息通过无线通讯单元传输至地面站的数据监控平台，交由地面站的监控人员进行分析处理；当然，在整个数据采集的过程中，地面站的监控人员可以根据需要及时修改无人机的飞行路径，进行飞机机身部分部位形态数据确认等操作。It can be clearly seen from the structural principle of the utility model that the utility model is realized based on the existing mature unmanned aerial vehicle technology, which controls the unmanned aerial vehicle to fly around the aircraft body according to the set path through the unmanned aerial vehicle management platform. During the process, the 3D scanner and camera onboard the UAV are used to collect 3D data and pictures of the external shape of the aircraft fuselage, and the collected data information is stored in the airborne part in real time. At the same time, through the wireless communication unit It is transmitted to the data monitoring platform of the ground station. The data monitoring platform stores the received data information and displays the real-time screen through the monitor, that is, the airborne part transmits the collected data information to the ground station through the wireless communication unit. The data monitoring platform is handed over to the monitoring personnel of the ground station for analysis and processing; of course, during the entire data collection process, the monitoring personnel of the ground station can modify the flight path of the UAV in time as needed, and carry out the morphological data of some parts of the aircraft fuselage. Confirmation and other operations.
需要特别说明的是，本实用新型贡献于现有技术的是此种基于无人机对飞机机身外部形态图像数据的采集、监控系统的结构，各零件、设备均为现有成熟技术。本实用新型贡献于现有技术的点不在于各零件、设备的功能开发。It should be noted that what this utility model contributes to the prior art is the structure of the UAV-based acquisition and monitoring system of the external shape image data of the aircraft fuselage, and all parts and equipment are existing mature technologies. The point that the utility model contributes to the prior art does not lie in the functional development of each part and equipment.
实施例2Example 2
本实施例的其它内容与实施例1相同，不同之处在于：机载部的成像设备仅为三维扫描仪，即去除摄像机；当然，为了记录飞机机身的动态影像，可以考虑将无人机的摄像机转化利用。The other content of this embodiment is the same as that of Embodiment 1, except that the imaging device of the airborne part is only a three-dimensional scanner, that is, the camera is removed; of course, in order to record the dynamic image of the aircraft fuselage, it can be considered The camera conversion utilization.
实施例3Example 3
本实施例的其它内容与实施例1相同，不同之处在于：去除机载部的微处理器，这就需要三维扫描仪和摄像机分别通过机载通讯单元直接与地面站进行相互通信，即地面站的中央处理器取代机载部的微处理器。The other content of this embodiment is the same as that of Embodiment 1, except that the microprocessor of the airborne part is removed, which requires the three-dimensional scanner and the camera to directly communicate with the ground station through the airborne communication unit, that is, the ground The central processing unit of the station replaces the microprocessor of the airborne department.
以上各实施例仅用以说明本实用新型，而非对其限制；尽管参照上述各实施例对本实用新型进行了详细的说明，本领域的普通技术人员应当理解：本实用新型依然可以对上述各实施例进行修改，或者对其中部分技术特征进行等同替换。而这些修改或者替换，并不使相应技术方案的本质脱离本实用新型的精神和范围。The above embodiments are only used to illustrate the utility model, rather than to limit it; although the utility model has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that: the utility model can still be applied to the above-mentioned each The embodiments are modified, or some technical features are equivalently replaced. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the present utility model.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111429565A (en) * | 2020-03-18 | 2020-07-17 | 中国民航科学技术研究院 | System and method for acquiring and managing three-dimensional data on surface of airframe of civil aircraft |
| CN114623763A (en) * | 2022-03-04 | 2022-06-14 | 中国民用航空飞行学院 | Flexible stereoscopic vision measuring device for target space coordinates |
| CN114739501A (en) * | 2022-03-19 | 2022-07-12 | 中国民用航空飞行学院 | Detection device for turbine blade of aircraft engine |
| US11623738B1 (en) * | 2021-11-12 | 2023-04-11 | Beta Air, Llc | System and method for the prioritization of flight controls in an electric aircraft |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111429565A (en) * | 2020-03-18 | 2020-07-17 | 中国民航科学技术研究院 | System and method for acquiring and managing three-dimensional data on surface of airframe of civil aircraft |
| CN111429565B (en) * | 2020-03-18 | 2021-04-06 | 中国民航科学技术研究院 | System and method for acquiring and managing three-dimensional data on surface of airframe of civil aircraft |
| US11623738B1 (en) * | 2021-11-12 | 2023-04-11 | Beta Air, Llc | System and method for the prioritization of flight controls in an electric aircraft |
| CN114623763A (en) * | 2022-03-04 | 2022-06-14 | 中国民用航空飞行学院 | Flexible stereoscopic vision measuring device for target space coordinates |
| CN114623763B (en) * | 2022-03-04 | 2023-03-21 | 中国民用航空飞行学院 | A flexible stereo vision measuring device for target space coordinates |
| CN114739501A (en) * | 2022-03-19 | 2022-07-12 | 中国民用航空飞行学院 | Detection device for turbine blade of aircraft engine |
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