Cabin section pose measurement and alignment system, control method and application

Abstract

The invention relates to the technical field of cabin section butt joint, and discloses a cabin section pose measurement and alignment system, a control method and application. The surface of a cabin section is scanned through a linear scanning method; a comprehensive method of axis fitting and bus fitting is used, and the advantages of high Y-axis measurement accuracy of an axis method and high X-axis measurement accuracy of a bus method are combined, the measurement errors of the single axis method or the single bus method along the Y axis and the X axis are avoided, and a large amount of numerical simulation is carried out on the axis and the bus through a Monte Carlo numerical simulation method; and registration is carried out on the camera group for shooting the same end face through coincidence transformation and geometric transformation of the same end face unit and a calibration method. According to the basic thought, the transformation relation enabling the two tracks to coincide is sought through an algorithm, transformation is carried out according to the determined geometrical relation between the two tracks, and the real poses of the two tracks in the space are obtained. Registration is directly carried out on returned image features, and dependence on an expensive laser tracker is eliminated.

Description

technical field [0001] The application technology belongs to the technical field of cabin docking, and in particular relates to a cabin pose measurement and alignment system, a control method and an application. Background technique [0002] At present: As an important part of the national industry, the production capacity of the aerospace manufacturing industry represents the strength of a country's comprehensive national strength and productivity. At the same time, the field has also been largely influenced by the concept of smart manufacturing. From the perspective of the current development of aerospace products, the traditional production mode has been difficult to meet the increasing performance and quality requirements, so the new production line based on robots and various smart devices will become the reform and development direction of the spacecraft manufacturing industry. [0003] As a key link in the production of spacecraft, the quality of the final assembly o...

AI Technical Summary

Problems solved by technology

[0005] (1) Non-contact: contact measurement needs to repeatedly move the probe to obtain the position of the surface point of the measured object, and then fit the pose of the part. On the one hand, it needs The movement of the probe is completed by a mechanical device, which will occupy the installation space of other equipment, resulting in bloated equipment; on the other hand, the probe of the contact measurement equipment needs to be in contact with the surface of the part. In some special cases, the use of this method will be limited. , such as the temperature of the measured object is high, the surface is soft, etc.

Although the current CMM can achieve high precision (0.001mm level), its huge drive structure makes it only available as a separate measuring instrument and cannot be integrated in the assembly line

[0006] (2) No target: Spraying or placing measurement targets on the surface of the measured object is convenient for the measuring instrument to obtain the position of the measured object, but for the entire assembly process, Need to add additional manpower cost to complete the process

[0011](1) Existing contact measurement completes the movement of the probe through mechanical devices, occupying the installation space of other equipment, resulting in bloated equipment; the probe of contact measurement equipment Need to be in contact with the surface of the part, in some special cases, the use of this method will be limited

[0012](2) Existing spraying or placing measurement targets on the surface of the measured object requires additional labor costs for the entire assembly process to complete the process

[0013](3) For a single visual measurement method, as the field of view increases, the accuracy will decrease, which cannot meet the docking requirements of the cabin

[0014](4) The existing actual engineering environment is often an unstructured environment with various interferences, so the measurement system is required to have strong anti-interference ability; currently on the market Common precision visual measurement systems that do not rely on targets cannot meet the measurement needs in engineering environments

[0015]The difficulty in solving the above problems and defects is as follows: Firstly, because it is a single visual measurement method for motion, the reduction in accuracy will not be achieved when the field of view increases. For the docking requirements of the cabin, at this stage, the distance between the camera and the target can only be manually adjusted to meet the measurement requirements; in view of the lack of anti-interference ability of the current system, without using a precision measurement system that relies on the target , the current measurement system in the market cannot meet the measurement requirements in the engineering environment

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