Oppositely-closing attitude-adjusting method based on multi-laser tracker measuring field

A technology of laser tracker and tracker, which is applied in the field of digital measurement, can solve problems such as large uncertainty of installation error and measurement error, influence on assembly quality, and inaccurate pose, so as to improve measurement accuracy, reduce influence, and avoid The effect of error accumulation

Active Publication Date: 2019-04-12
TSINGHUA UNIV
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Problems solved by technology

However, due to the large uncertainty of the measurement data involved in the fitting due to installation errors and measurement errors, it is easy to cause inaccurate poses of the fitted target workpiece tooling and reference workpiece tooling, thereby affecting the assembly quality

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  • Oppositely-closing attitude-adjusting method based on multi-laser tracker measuring field
  • Oppositely-closing attitude-adjusting method based on multi-laser tracker measuring field
  • Oppositely-closing attitude-adjusting method based on multi-laser tracker measuring field

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Embodiment Construction

[0036] The following describes in detail the alignment and attitude adjustment method based on the multi-laser tracker measurement field according to the present invention with reference to the accompanying drawings.

[0037] refer to Figure 1 to Figure 4, the present invention's alignment attitude adjustment method based on the multi-laser tracker measurement field includes steps S1, S2, S3, S4 and S5.

[0038] S1, establish the 3D models of the reference workpiece tooling 1 and the target workpiece tooling 2 respectively in the 3D software and complete the assembly, thereby obtaining the ideal assembly model (such as figure 2 shown).

[0039] S2. In the actual working space of the assembly site, set multiple laser trackers M and multiple measurement auxiliary points P to construct a multi-laser tracker measurement field (such as figure 1 shown). Wherein, each laser tracker M has its own measurement coordinate system (i.e. local coordinate system) and measures the spatia...

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Abstract

The invention provides an oppositely-closing attitude-adjusting method based on a multi-laser tracker measuring field. The oppositely-closing attitude-adjusting method comprises the steps that S1, anideal assembly model is established; S2, the multi-laser tracker measuring field is constructed; S3, a bundle adjustment method is adopted for iterative computation, and a homogeneous transformation matrix between any two laser trackers is solved; S4, coordinates of all enhanced reference systems (ERS) under an overall coordination system are calculated; and S5, target workpiece tools are assembled onto standard workpiece tools. Position selection of the ERSs is small in constraint and more flexible, drifting of the relative positions between all the ERSs is avoided, and the measuring precision is improved. Station transferring computation adopts the bundle adjustment method based on an overall optimization idea, station transferring computation between the multiple laser trackers can be completed at a time, and the station transferring precision is improved. Meanwhile, actually measured data of the laser trackers are adopted to guide attitude adjusting, the influence of placing errorof target measuring points on the position estimation result of the target measuring points is reduced, and the measuring precision is improved.

Description

technical field [0001] The invention relates to the technical field of digital measurement, in particular to an attitude adjustment method based on multi-laser tracker measurement fields. Background technique [0002] Because the wings, fuselage and other parts of large aircraft often have the characteristics of large area, small rigidity, easy deformation, etc., and the particularity of the working environment of large aircraft, in the assembly process of large aircraft parts, it is necessary to use multiple digital equipment (such as Various positioners, industrial robots, etc.) for auxiliary assembly. [0003] In order to ensure the accurate relative positional relationship between digital equipment, tooling and components during the assembly process, it is necessary to establish a unified measurement field, and then establish a unified assembly coordinate system (ie, the global coordinate system). [0004] The establishment of a unified measurement field mainly depends ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 张继文郭九明吴丹陈恳王国磊石循磊徐静盖宇航
Owner TSINGHUA UNIV
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