Measurement Method and Correction Method for Spatial Position Error of Hole Making in Aerospace Structural Parts

Abstract

The present invention provides a method for measuring and correcting the spatial position error of holes in aviation structural parts, comprising the following steps: S10, selecting a reference hole from pre-connected holes of a skin and a long stringer; S20, acquiring an image of the reference hole through a visual system, and using an algorithm to calculate the pixel position coordinates of the reference hole in the image coordinate system; S30, based on the visual system and a sensor, and through the pixel position coordinates and camera parameters of the visual system, calculating the position coordinates of the reference hole in the camera coordinate system, and calculating the position coordinates of the reference hole in the aircraft coordinate system according to the hand-eye relationship and the robot base coordinate system; S40, calculating the position error of the reference hole and the position deviation of the fastening hole to be made according to the position coordinate value of the reference hole in the aircraft coordinate system and the theoretical coordinate value of the reference hole in the aircraft coordinate system.

Description

Technical Field

[0001] The present invention relates to the field of digital assembly and manufacturing of aircraft, and in particular to a method for measuring and correcting spatial position errors of holes in aviation structural parts. Background Art

[0002] As a typical aviation structural component, aircraft panel assembly is one of the most critical processes in aircraft manufacturing, primarily involving positioning, drilling holes, and connecting the panel laminate structure according to technical requirements. Taking the fuselage side panel as an example, the panel typically consists of bulkheads, stringers, skins, and corner pieces. During panel assembly, the bulkheads, stringers, skins, and corner pieces are first positioned and secured, and then the individual panel components are connected by riveting. Consequently, tens of thousands of fastener installation holes must be machined during panel assembly. Manual drilling is time-consuming and labor-intensive, and hole accuracy and consistency are difficult to guarantee. Given the low cost, high flexibility, and satisfactory hole-making quality of industrial robots, robotic hole-making systems have been widely used in aircraft manufacturing.

[0003] When drilling holes in wall panels using a robotic drilling system, the theoretical model of the drilling system and the panel forms the basis for the drilling program. However, due to the discrepancy between the theoretical model and the actual drilling conditions, errors in hole placement can occur. Typically, the panel drilling locations are partitioned, with a certain number of reference holes set in each drilling area. The drilling area is then approximated as a plane. Based on the measured reference hole coordinates, linear interpolation is used to correct the hole positions within the reference hole coverage area. However, due to the unique positional relationships between the skin, bulkhead, and corner piece, directly measuring the reference holes on the corner piece based on a vision system can result in collisions between the actuator and the wall panel. Therefore, the reference holes can only be selected at the junction of the skin and the stringer, and the hole positions of the bulkhead and corner piece connection holes are corrected using nearly perpendicular reference holes. Furthermore, the Z-axis deviation of the reference holes on the stringer directly affects the quality of the margin control of the bulkhead and corner piece connection holes.

[0004] In view of this, a method for measuring and correcting the spatial position error of hole making in aviation structural parts is proposed to be invented. By fusing multi-sensor information, the three-dimensional coordinates of the reference hole on the long stringer are accurately obtained. Then, a three-dimensional spatial position correction strategy is used to realize the position correction of the connecting holes between the bulkhead and the corner piece, thereby improving the wall panel hole making accuracy and product quality. Summary of the Invention

[0005] The main purpose of the present invention is to propose a method for measuring and correcting the spatial position error of hole making in aviation structural parts, aiming to solve the technical problem of hole making position deviation caused by the inconsistency between the theoretical model of the robotic hole making system and the product to be holed and its actual state at the hole making site in actual engineering applications.

[0006] To achieve the above object, the present invention proposes a method for measuring the spatial position error of a hole in an aviation structural component, comprising the following steps:

[0007] S10. Select a reference hole from the pre-connected holes of the skin and the stringer;

[0008] S20, acquiring the reference hole image through the visual system, and using an algorithm to calculate the pixel position coordinates of the reference hole in the image coordinate system;

[0009] S30, based on the vision system and the sensor, and using the pixel position coordinates and the camera parameters of the vision system, calculating the position coordinates of the reference hole in the camera coordinate system, and calculating the position coordinates of the reference hole in the aircraft coordinate system based on the hand-eye relationship and the robot base coordinate system;

[0010] S40 , calculating the position error of the reference hole according to the position coordinates of the reference hole in the aircraft coordinate system and the theoretical coordinates of the reference hole in the aircraft coordinate system.

[0011] Optionally, step S20 includes the following steps:

[0012] S201, benchmark hole image Local exponential mode image of and visual saliency images Perform linear weighted fusion to obtain the fused image , complete the benchmark hole feature texture segmentation, ;

[0013] in, is the pixel coordinate of the original image of the reference hole, is the weight ratio of the local exponential mode image, is the weight ratio of visually significant images;

[0014] Local Exponential Mode Image Expressed as ;in, is the pixel value of the center pixel, is the pixel value of the 8-neighborhood, n is the neighborhood number, for the preset threshold T, the function The following definitions are given:

[0015] ;

[0016] Visual saliency image Expressed as ,in, is the original reference hole image The arithmetic mean pixel value, is the original reference hole image Gaussian filtered image of

[0017] S202, using the Canny edge detection algorithm to complete the fusion image of the reference hole feature texture segmentation Perform edge detection and contour extraction as texture segmentation boundary contour , based on the geodesic curvature flow driven texture segmentation boundary contour optimization, and the optimized contour The contour points are fitted with an ellipse to obtain the pixel position coordinates of the reference hole in the image coordinate system. .

[0018] Optionally, step S202 includes the following steps:

[0019] Based on the original reference hole image and texture segmentation boundary contours , initialize the image fiducial hole level set function ;

[0020] ;

[0021] in, To solve the image Medium pixel To contour curve The shortest distance;

[0022] Based on the surface evolution equation Surface Evolve, and the 0 level set of the surface after evolution is the optimized contour ;

[0023] ;

[0024] in, Representing surface functions The gradient, is the geodesic curvature.

[0025] Optionally, step S30 includes the following steps:

[0026] S301, using a single laser displacement sensor installed parallel to the camera optical axis, moving the end effector so that the reference hole is at the positive focal distance of the camera;

[0027] S302, based on the pixel position coordinates of the photographed reference hole in the image coordinate system , combined with the camera internal parameters, calculate the position coordinates of the reference hole in the camera coordinate system, and record the position of the reference hole in the camera coordinate system as ;

[0028] S303, record the calculated position of the reference hole in the aircraft coordinate system as ,According to the hand-eye relationship and the robot base coordinate system, the position coordinates of the reference hole in the aircraft coordinate system are calculated by the following formula;

[0029] ;

[0030] in, Represents the camera coordinate system For the aircraft coordinate system The transformation matrix is calculated as follows:

[0031] ;

[0032] in, Represents the robot base coordinate system Relative to the aircraft coordinate system The transformation matrix is the known parameters of the robot hole making system; Robotic hole making system In the robot base coordinate system The pose matrix under is calculated by the robot forward kinematics; is the hand-eye relationship matrix of the robot hole-making system, and are the known parameters of the robot hole-making system.

[0033] Optionally, step S40 includes the following steps:

[0034] S401, based on the coordinates of the reference hole on the long stringer measured by the visual system in the aircraft coordinate system and , and the theoretical coordinates of the reference hole in the aircraft coordinate system and , calculate the reference hole position error and ;

[0035] S402, the position coordinates of the two reference holes and , and its position error and , project the coordinate system of the fastening hole to be made on the bulkhead along the Z direction to its XY plane, and obtain the corresponding projection point and and projection error and ;

[0036] S403, using the position coordinates of the two reference holes and Projection point and Construct a straight line for the endpoint and calculate the first The position coordinates of the fastening holes to be made The hole position deviation vector ;

[0037] ;

[0038] in, yes exist and The projection point on the constructed line.

[0039] The present invention also proposes a method for correcting the spatial position error of a hole in an aviation structural part, comprising the above-mentioned method for measuring the spatial position error of a hole in an aviation structural part; and

[0040] S50, according to the hole position deviation vector , calculate the first The corrected hole-making position coordinates of the fastening holes to be made , used for drilling fastening holes on bulkheads by a robotic drilling system;

[0041] in, .

[0042] The method for correcting the spatial position error of hole making of the present invention avoids the collision between the actuator and the wall panel when measuring the reference hole, eliminates the measurement error caused by the monocular vision object distance deviation through the fusion of the visual system and the sensor, and accurately obtains the three-dimensional coordinates of the reference hole. Then, through the three-dimensional spatial position correction strategy, the position correction of the connecting hole between the partition frame and the corner piece is realized, thereby improving the wall panel hole making accuracy and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0044] Figure 1 It is a schematic flow chart of the method for measuring the spatial position error of hole making in aviation structural parts provided by the present invention;

[0045] Figure 2 It is a schematic diagram of the measurement system based on the visual system combined with the sensor in the present invention;

[0046] Figure 3 It is a schematic diagram of the conversion relationship of the reference hole from the camera coordinate system to the aircraft coordinate system and the object distance deviation in the present invention;

[0047] Figure 4 It is a schematic diagram of the correction principle of the reference hole and the position of the fastening hole to be made on the aircraft wall panel in the present invention.

[0048] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0050] It should be noted that, for those in which specific conditions are not specified in the embodiments, the process shall be carried out under conventional conditions or the conditions recommended by the manufacturer. For those instruments used for which the manufacturer is not specified, all of them are conventional products that can be purchased on the market. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, scheme B, or schemes in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work shall fall within the scope of protection of the present invention.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0052] As a typical aviation structural component, aircraft wall panel assembly is one of the most important process links in aircraft manufacturing, which mainly includes positioning, drilling, and connecting the wall panel laminate structure according to technical requirements. Taking the fuselage side wall panel as an example, the wall panel is usually composed of bulkheads, long stringers, skins, corner pieces, etc. During the wall panel assembly process, the bulkheads, long stringers, skins, and corner pieces are first positioned and fixed, and then the various wall panel parts are connected by riveting. Therefore, during the wall panel assembly process, tens of thousands of fastener installation holes need to be processed. Manual drilling is time-consuming and labor-intensive, and the drilling accuracy and consistency are difficult to guarantee. When using a robotic drilling system to drill holes in wall panels, the theoretical model of the drilling system and the wall panel is the basis for the generation of the drilling program. However, since the theoretical model is inconsistent with the actual state of the drilling site, errors in the drilling position are generated.

[0053] In view of this, the present invention proposes a method for measuring the spatial position error of the hole in the aviation structure. Figure 1-4 , the measuring method comprises the following steps:

[0054] Step S10: Select a reference hole from the pre-connected holes of the skin and the stringer.

[0055] See also Figure 4 Considering setting reference holes in the panel bulkhead, using a vision system mounted on the end effector to capture these holes would cause a collision between the actuator and the panel. Therefore, we selected reference holes from the pre-connected holes in the skin and stringers and measured their positional errors. It should be noted that an end effector is any functional tool connected to a robot joint, and a vision system includes a camera and its processing unit.

[0056] Step S20: Acquire the reference hole image through the visual system, and use an algorithm to calculate the pixel position coordinates of the reference hole in the image coordinate system.

[0057] In this embodiment, a vision system mounted on the end effector is used to acquire a reference hole image. The algorithm performs reference hole feature texture segmentation based on a weighted fusion of the local exponential pattern and visual saliency information of the reference hole image, optimizes the texture segmentation boundary contour based on geodesic curvature flow, and performs ellipse fitting on the contour points of the optimized contour. The pixel position coordinates of the reference hole in the image coordinate system are obtained.

[0058] In specific implementation, step S20 includes the following steps:

[0059] Step S201: Image the reference hole Local exponential mode image of and visual saliency images Perform linear weighted fusion to obtain the fused image , complete the benchmark hole feature texture segmentation, ;

[0060] in, is the pixel coordinate of the original image of the reference hole, is the weight ratio of the local exponential mode image, is the weight ratio of visually significant images;

[0061] Local Exponential Mode Image Expressed as ;in, is the pixel value of the center pixel, is the pixel value of the 8-neighborhood, n is the neighborhood number, for the preset threshold T, the function The following definitions are given:

[0062] ;

[0063] Visual saliency image Expressed as ,in, is the original reference hole image The arithmetic mean pixel value, is the original reference hole image Gaussian filtered image of

[0064] Step S202: Using the Canny edge detection algorithm, the fused image of the reference hole feature texture segmentation is completed. Perform edge detection and contour extraction as texture segmentation boundary contour , based on the geodesic curvature flow driven texture segmentation boundary contour optimization, and the optimized contour The contour points are fitted with an ellipse to obtain the pixel position coordinates of the reference hole in the image coordinate system. .

[0065] Based on the original reference hole image and texture segmentation boundary contours , initialize the image fiducial hole level set function ;

[0066] ;

[0067] in, To solve the image Medium pixel To contour curve The shortest distance;

[0068] Based on the surface evolution equation Surface Evolve, and the 0 level set of the surface after evolution is the optimized contour ;

[0069] ;

[0070] in, Representing surface functions The gradient, is the geodesic curvature.

[0071] Step S30: Based on the visual system and sensor, and through the pixel position coordinates and the camera parameters of the visual system, the position coordinates of the reference hole in the camera coordinate system are calculated; based on the hand-eye relationship and the robot base coordinate system, the position coordinates of the reference hole in the aircraft coordinate system are calculated.

[0072] In this embodiment, based on a single laser displacement sensor mounted parallel to the camera's optical axis, the end effector is moved so that the reference hole is at the camera's positive focal distance. Based on the pixel position coordinates of the reference hole in the image coordinate system, combined with the camera's intrinsic parameters, the position coordinates of the reference hole in the camera coordinate system are calculated. Based on the hand-eye relationship and the robot's base coordinate system, the position coordinates of the reference hole in the aircraft coordinate system are calculated. In addition, it should be noted that the sensor used in this step is a laser displacement sensor. Please refer to Figure 3 , Figure 3 The deviation between the object distance and the positive focus object distance when the visual system shoots the reference hole under non-ideal conditions is introduced to eliminate this deviation. Figure 2 Use the laser displacement sensor in the camera, adjust the displacement sensor installation position so that the laser beam is parallel to the camera optical axis, and by pre-calibrating the spatial position of the laser light point in the camera coordinate system and the direction vector of the laser beam in the camera coordinate system, move the end effector so that the reference hole is at the camera's positive focal distance. When calibrating the hand-eye relationship, record the relative object distance measured by the laser displacement sensor at this time. When measuring the reference hole, maintain the same relative object distance. Since aviation structural parts (such as wing panels, fuselage panels, etc.) have a large radius of curvature, local areas can be approximated as planes. It can be assumed that the reference hole and the laser displacement sensor spot are both in the positive focal plane. When measuring, try to keep the reference hole feature in the center of the image to ensure accurate measurement results.

[0073] In specific implementation, step S30 includes the following steps:

[0074] S301, using a single laser displacement sensor installed parallel to the camera optical axis, moving the end effector so that the reference hole is at the positive focal distance of the camera;

[0075] S302, based on the pixel position coordinates of the photographed reference hole in the image coordinate system , combined with the camera internal parameters, calculate the position coordinates of the reference hole in the camera coordinate system, and record the position of the reference hole in the camera coordinate system as ;

[0076] S303, record the calculated position of the reference hole in the aircraft coordinate system as ,According to the hand-eye relationship and the robot base coordinate system, the position coordinates of the reference hole in the aircraft coordinate system are calculated by the following formula;

[0077] ;

[0078] in, Represents the camera coordinate system For the aircraft coordinate system The transformation matrix is calculated as follows:

[0079] ;

[0080] in, Represents the robot base coordinate system Relative to the aircraft coordinate system The transformation matrix is the known parameters of the robot hole making system; Robotic hole making system In the robot base coordinate system The pose matrix under is calculated by the robot forward kinematics; is the hand-eye relationship matrix of the robot hole-making system, and are the known parameters of the robot hole-making system.

[0081] Step S40: Calculate the position error of the reference hole based on the position coordinates of the reference hole in the aircraft coordinate system and the theoretical coordinates of the reference hole in the aircraft coordinate system. Project the two reference hole position coordinates and the position error along the Z direction of the coordinate system of the fastening hole to be made on the bulkhead onto its XY plane. Construct a straight line with the two projection points as endpoints, and then calculate the position deviation of the fastening hole to be made.

[0082] For specific implementation, please refer to Figure 4 , Figure 4 This is a schematic diagram of the positional relationship between the reference hole and the fastening hole to be made. Due to the assembly positional relationship of the bulkhead, long stringer, and corner piece of the wall panel, directly using the vision system to measure the holes on the bulkhead and corner piece as the reference hole will cause the actuator to collide with the wall panel. Therefore, the reference hole is selected at the connection between the long stringer and the skin on the wall panel. The measurement results of the reference hole on the long stringer are used to correct the fastening holes on the long stringer and the skin, and the bulkhead and corner piece, so that the fastening holes to be made on two nearly perpendicular curved surfaces can be corrected simultaneously. Step S40 includes the following steps:

[0083] S401, based on the coordinates of the reference hole on the long stringer measured by the visual system in the aircraft coordinate system and , and the theoretical coordinates of the reference hole in the aircraft coordinate system and , calculate the reference hole position error and ;

[0084] S402, the position coordinates of the two reference holes and , and its position error and , project the coordinate system of the fastening hole to be made on the bulkhead along the Z direction to its XY plane, and obtain the corresponding projection point and and projection error and ;

[0085] S403, using the position coordinates of the two reference holes and Projection point and Construct a straight line for the endpoint and calculate the first The position coordinates of the fastening holes to be made The hole position deviation vector ;

[0086] ;

[0087] in, yes exist and The projection point on the constructed line.

[0088] The present invention also proposes a method for correcting the spatial position error of a hole in an aviation structural part, comprising the above-mentioned method for measuring the spatial position error of a hole in an aviation structural part; and

[0089] S50, according to the hole position deviation vector , calculate the first The corrected hole-making position coordinates of the fastening holes to be made , used for drilling fastening holes on bulkheads by a robotic drilling system;

[0090] in, .

[0091] The method for measuring and correcting the spatial position error of hole making of the present invention avoids the collision between the actuator and the wall panel when measuring the reference hole, eliminates the measurement error caused by the monocular vision object distance deviation through the fusion of the industrial camera and the laser sensor, and accurately obtains the three-dimensional coordinates of the reference hole. Then, through a three-dimensional spatial position correction strategy, the position correction of the connecting hole between the partition frame and the corner piece is realized, thereby improving the wall panel hole making accuracy and product quality.

[0092] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0093] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for measuring the spatial position error of holes in aircraft structural parts, used to measure the error of hole positions on aircraft sidewall panels, which include bulkheads, stringers, skins, and corner pieces, characterized in that: The measurement method includes the following steps: S10. Select a reference hole from the pre-connected holes of the skin and the stringer; S20, acquiring the reference hole image through the visual system, and using an algorithm to calculate the pixel position coordinates of the reference hole in the image coordinate system; S30, based on the vision system and the sensor, and using the pixel position coordinates and the camera parameters of the vision system, calculating the position coordinates of the reference hole in the camera coordinate system, and calculating the position coordinates of the reference hole in the aircraft coordinate system based on the hand-eye relationship and the robot base coordinate system; S40, calculating the position error of the reference hole based on the position coordinate value of the reference hole in the aircraft coordinate system and the theoretical coordinate value of the reference hole in the aircraft coordinate system, projecting the two reference hole position coordinates and the position error along the Z direction of the coordinate system of the fastening hole to be fabricated on the bulkhead onto the XY plane thereof, constructing a straight line with the two projected points as endpoints, and then calculating the position deviation of the fastening hole to be fabricated; The step S20 includes the following steps: S201, benchmark hole image Local exponential mode image of and visual saliency images Perform linear weighted fusion to obtain the fused image , complete the benchmark hole feature texture segmentation, ; in, is the pixel coordinate of the original image of the reference hole, is the weight ratio of the local exponential mode image, is the weight ratio of visually significant images; Local Exponential Mode Image Expressed as ;in, is the pixel value of the center pixel, is the pixel value of the 8-neighborhood, n is the neighborhood number, for the preset threshold T, the function The following definitions are given: ; Visual saliency image Expressed as ,in, is the original reference hole image The arithmetic mean pixel value, is the original reference hole image Gaussian filtered image of S202, using the Canny edge detection algorithm to complete the fusion image of the reference hole feature texture segmentation Perform edge detection and contour extraction as texture segmentation boundary contour , based on the geodesic curvature flow driven texture segmentation boundary contour optimization, and the optimized contour The contour points are fitted with an ellipse to obtain the pixel position coordinates of the reference hole in the image coordinate system. .

2. The method for measuring spatial position error of holes in aviation structural parts according to claim 1, characterized in that: The step S202 includes the following steps: Based on the original reference hole image and texture segmentation boundary contours , initialize the image fiducial hole level set function ; ； in, To solve the image Medium pixel To contour curve The shortest distance; Based on the surface evolution equation Surface Evolve, and the 0 level set of the surface after evolution is the optimized contour ; ； in, Representing surface functions The gradient, is the geodesic curvature.

3. The method for measuring the spatial position error of a hole in an aviation structural part according to claim 1, wherein: The step S30 includes the following steps: S301, using a single laser displacement sensor installed parallel to the camera optical axis, moving the end effector so that the reference hole is at the positive focal distance of the camera; S302, based on the pixel position coordinates of the photographed reference hole in the image coordinate system , combined with the camera internal parameters, calculate the position coordinates of the reference hole in the camera coordinate system, and record the position of the reference hole in the camera coordinate system as ; S303, record the calculated position of the reference hole in the aircraft coordinate system as ,According to the hand-eye relationship and the robot base coordinate system, the position coordinates of the reference hole in the aircraft coordinate system are calculated by the following formula; ； in, Represents the transformation matrix of the camera coordinate system camera relative to the aircraft coordinate system PCS, and its calculation formula is as follows: ； in, Represents the transformation matrix of the robot base coordinate system Base relative to the aircraft coordinate system PCS, which is a known parameter of the robot hole making system; is the pose matrix of the robot hole-making system TCP in the robot base coordinate system Base, which is calculated by the robot forward kinematics; is the hand-eye relationship matrix of the robotic hole-making system, and are the known parameters of the robotic hole-making system.

4. The method for measuring the spatial position error of a hole in an aviation structural part according to claim 1, wherein: The step S40 includes the following steps: S401, based on the coordinates of the reference hole on the long stringer measured by the visual system in the aircraft coordinate system and , and the theoretical coordinates of the reference hole in the aircraft coordinate system and , calculate the reference hole position error and ; S402, the position coordinates of the two reference holes and , and its position error and , project the coordinate system of the fastening hole to be made on the bulkhead along the Z direction to its XY plane, and obtain the corresponding projection point and and projection error and ; S403, using the position coordinates of the two reference holes and Projection point and Construct a straight line for the endpoint and calculate the coordinates of the i-th fastening hole to be made on the bulkhead based on the following formula The hole position deviation vector ; ； in, yes exist and The projection point on the constructed line.

5. A method for correcting spatial position errors in hole making of aviation structural parts, characterized in that: A method for measuring spatial position error of a hole in an aviation structural part according to any one of claims 1 to 4; and S50, according to the hole position deviation vector Calculate the corrected hole position coordinates of the i-th fastening hole to be made on the bulkhead , used for drilling fastening holes on bulkheads by a robotic drilling system; in, .

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