Composite t-string automatic positioning method and device and storage medium

Abstract

The application discloses a kind of composite T-shaped stringer automatic positioning method, device and storage medium.Identify the spatial position coordinates of composite T-shaped stringer and composite wallboard skin;Based on the spatial position coordinates, adjust the spatial grabbing position and posture of grabbing device, so that the composite T-shaped stringer is completed on the composite wallboard skin Predetermined position;Structural light three-dimensional scanning is carried out on the composite T-shaped stringer and the composite wallboard skin, and the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wallboard skin is obtained;Based on the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wallboard skin, the final positioning of the composite T-shaped stringer on the composite wallboard skin is completed.The scheme provided by the application can improve the precision and efficiency of the composite wallboard skin T-shaped stringer positioning, meet the requirements of large-size, complex surface composite stiffened wallboard automatic manufacturing.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the field of automatic process forming manufacturing technology of advanced composite materials, and particularly relates to a composite material T-shaped stringer automatic positioning method and device and a storage medium. BACKGROUND

[0002] Composite materials are widely applied to various military and civil aircrafts due to high specific strength, high specific rigidity, performance design and many other advantages. Domestic composite material wing wall plates are mostly T-shaped stringer wall plates, that is, composed of a composite material T-shaped stringer and a composite material skin. In the composite material wall plate forming process, one step is to accurately position the stringer on the skin. Specifically, the cured and formed composite material T-shaped stringer is accurately butted, glued and cemented with the wet state composite material skin, and then secondary curing is performed to form the composite material T-shaped stringer wall plate.

[0003] The existing composite material T-shaped stringer placement and positioning mainly rely on manual work, and the mold clamping plate and laser projection are used to assist manual work to realize the positioning of the composite material T-shaped stringer on the skin. The above-mentioned method has problems of low manufacturing efficiency and poor quality consistency. SUMMARY

[0004] (I) Technical problem to be solved

[0005] The technical problem to be solved by the application is to solve the technical problem that the traditional composite material wall plate skin T-shaped stringer positioning mainly relies on manual placement and visual adjustment, and has poor consistency and low reliability.

[0006] (II) Technical scheme

[0007] To solve the above-mentioned technical problem, the application provides a composite material T-shaped stringer automatic positioning method, which comprises the following steps: recognizing and detecting the spatial position coordinates of a composite material T-shaped stringer and a composite material wall plate skin; adjusting the spatial grabbing position and posture of a grabbing device based on the spatial position coordinates of the composite material T-shaped stringer, so that the grabbing device automatically grabs the composite material T-shaped stringer; adjusting the spatial grabbing position and posture of the grabbing device again based on the spatial position coordinates of the composite material wall plate skin, so that the composite material T-shaped stringer completes pre-positioning on the composite material wall plate skin; performing a structured light three-dimensional scanning on the composite material T-shaped stringer and the composite material wall plate skin, to obtain a spatial three-dimensional point cloud data model of the composite material T-shaped stringer and the composite material wall plate skin; and completing the final positioning of the composite material T-shaped stringer on the composite material wall plate skin based on the spatial three-dimensional point cloud data model of the composite material T-shaped stringer and the composite material wall plate skin.

[0008] In an embodiment, the method further comprises: comparing the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin with a preset model, and determining whether the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within a preset range; and in the case that the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within the preset range, determining that the final positioning of the composite T-stringer on the composite panel skin is completed.

[0009] In an embodiment, after determining whether the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within a preset range, the method further comprises: in the case that the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is not within the preset range, adjusting the spatial grabbing position and posture of the grabbing device again until the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within the preset range after adjustment.

[0010] In an embodiment, the method further comprises: identifying the coordinate values of X, Y, Z, rotation around the Z axis, rotation around the Y axis, and rotation around the X axis of the composite T-stringer, and identifying the coordinate values of X, Y, Z, rotation around the Z axis, rotation around the Y axis, and rotation around the X axis of the composite panel skin.

[0011] In another aspect of the present application, an automatic positioning device for composite T-stringers is provided, which comprises: a machine vision system for identifying the spatial position coordinates of the composite T-stringer and the composite panel skin; a grabbing device for grabbing the composite T-stringer; a pose adjustment system for adjusting the spatial grabbing position and pose of the grabbing device based on the spatial position coordinates of the composite T-stringer, so that the grabbing device automatically grabs the composite T-stringer, and adjusting the spatial grabbing position and pose of the grabbing device based on the spatial position coordinates of the composite panel skin, so that the composite T-stringer is pre-positioned on the composite panel skin, and adjusting the spatial grabbing position and pose of the grabbing device based on the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin, so that the composite T-stringer is finally positioned on the composite panel skin; and a detection system for performing structured light three-dimensional scanning on the composite T-stringer and the composite panel skin to obtain the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin.

[0012] In an embodiment, the machine vision system comprises a 3D structured light camera for photographically identifying the composite T-stringer and the composite panel skin to obtain the spatial position coordinates of the composite T-stringer and the composite panel skin.

[0013] In an embodiment, the grabbing device comprises one or more mechanical arms and an automatic grabbing head connected to each mechanical arm; the automatic grabbing head is located at the terminal end of the mechanical arm for grabbing the composite T-stringer, and the mechanical arm is used to change the spatial position coordinates of the automatic grabbing head.

[0014] In an embodiment, the pose adjustment system comprises a vision software; the vision software is used to adjust the joint motion state of the mechanical arm and the automatic grabbing head required for preparing to grab the composite T-stringer and the opening and closing state of the automatic grabbing head.

[0015] In an embodiment, the detection system comprises a scanning head, a signal tracker, a mobile trolley, and a two-dimensional code; the scanning head is used to scan the composite T-stringer and the composite panel skin by means of structured light three-dimensional scanning to obtain the spatial three-dimensional point cloud image of the composite T-stringer and the composite panel skin; the mobile trolley is used to realize the movement of the scanning head; the signal tracker is installed on the mobile trolley and is used to receive the scanning signal of the scanning head; and the two-dimensional code is used to guide the linear motion of the mobile trolley.

[0016] Another aspect of the present application also provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of any of the above methods.

[0017] (III) Beneficial Effects

[0018] The above technical solution of the present application has the following advantages:

[0019] The embodiment collects the spatial position coordinates of the composite T-shaped stringer and the composite wall panel skin to ensure the positioning accuracy of the T-shaped stringer assembly; the spatial grabbing position and posture of the grabbing device are detected and adjusted in real time to accurately grab the T-shaped stringer and complete the pre-positioning of the T-shaped stringer on the wall panel skin; the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin is obtained to complete the final positioning of the composite T-shaped stringer on the composite wall panel skin. The embodiment method can improve the positioning accuracy and efficiency of the composite wall panel skin T-shaped stringer, and meet the requirements of automatic manufacturing of large-size and complex-shaped composite stiffened wall panels. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A flowchart of the composite T-shaped stringer automatic positioning method of the embodiment of the present application is shown in the figure.

[0021] Figure 2 A structural schematic diagram of the composite T-shaped stringer automatic positioning device of the embodiment of the present application is shown in the figure.

[0022] Figure 3 A long stringer positioning process diagram of the embodiment of the present application is shown in the figure.

[0023] Figure 4 A composite wall panel structure (including a T-shaped stringer and a skin) diagram of the embodiment of the present application is shown in the figure.

[0024] Figure 5 A 3D structured light camera and a mechanical arm mounting relationship diagram of the embodiment of the present application is shown in the figure.

[0025] Figure 6 A 3D structured light camera, a grabbing head and a mechanical arm mounting relationship diagram of the embodiment of the present application is shown in the figure.

[0026] Figure 7 A round and square jaw of the grabbing head of the embodiment of the present application is shown in the figure.

[0027] Figure 8 An internal structure diagram of the computer equipment of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0028] In order to enable a more clear understanding of the above-mentioned objects, features and advantages of the present application, the following will further describe the solutions of the present application. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other manners different from those described herein; obviously, the embodiments described in the specification are only a part of the embodiments of the present application, and not all the embodiments.

[0030] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings and embodiments. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, i.e., the present application is not limited to the described embodiments.

[0031] The present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0032] The embodiments of the present application provide an automatic positioning method for a composite T-stringer, as shown in the accompanying drawings, the method comprises the following steps: Figure 1

[0033] Step 101: Identify the spatial position coordinates of the composite T-stringer and the composite wall panel skin;

[0034] Step 102: Based on the spatial position coordinates of the composite T-stringer, adjust the spatial grabbing position and posture of the grabbing device, so that the grabbing device automatically grabs the composite T-stringer;

[0035] Step 103: Based on the spatial position coordinates of the composite wall panel skin, adjust the spatial grabbing position and posture of the grabbing device again, so that the composite T-stringer completes the pre-positioning on the composite wall panel skin;

[0036] Step 104: Perform a structured light three-dimensional scanning on the composite T-stringer and the composite wall panel skin, to obtain a spatial three-dimensional point cloud data model of the composite T-stringer and the composite wall panel skin;

[0037] Step 105: Based on the spatial three-dimensional point cloud data model of the composite T-stringer and the composite wall panel skin, complete the final positioning of the composite T-stringer on the composite wall panel skin.

[0038] ​The embodiment guarantees the positioning accuracy of the T-shaped stringer assembly by collecting the spatial position coordinates of the composite T-shaped stringer and the composite panel skin; the spatial grabbing position and posture of the grabbing device are detected and adjusted in real time to accurately grab the T-shaped stringer and complete the preliminary positioning of the T-shaped stringer on the panel skin; and the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite panel skin is obtained to complete the final positioning of the composite T-shaped stringer on the composite panel skin. The embodiment can improve the positioning accuracy and efficiency of the composite panel skin T-shaped stringer and meet the requirements of automatic manufacturing of large-size and complex composite panel stringers.

[0039] Specifically, the embodiment can recognize and detect the spatial position coordinates of the composite T-shaped stringer and the composite panel skin by means of 3D machine vision. Here, the spatial position coordinates include coordinate values in 6 coordinate directions, i.e., the coordinate values of X, Y, Z, A (rotation around the Z axis), B (rotation around the Y axis), and C (rotation around the X axis). That is, the spatial position coordinates of the composite T-shaped stringer are the coordinate values of X, Y, Z, A (rotation around the Z axis), B (rotation around the Y axis), and C (rotation around the X axis) of the composite T-shaped stringer (1). The spatial position coordinates of the composite panel skin are the coordinate values of X, Y, Z, A (rotation around the Z axis), B (rotation around the Y axis), and C (rotation around the X axis) of the composite panel skin.

[0040] Recognizing the spatial position coordinates of the composite T-shaped stringer and the composite panel skin by means of 3D machine vision can guarantee the recognition accuracy, facilitate accurate grabbing of the composite T-shaped stringer by the grabbing device, and help accurately complete the preliminary positioning of the composite T-shaped stringer on the composite panel skin.

[0041] The spatial grabbing position and posture of the grabbing device can be adjusted by a pose adjustment system in actual application of the embodiment. The pose adjustment system generates a motion NC program code, controls the motion trajectory of the grabbing device through the motion NC program code, and controls the state of each joint and clamping block in the grabbing device through the motion NC program code to adjust the spatial grabbing position and posture of the grabbing device. Here, the motion NC program code can include motion program code instructions and logic program code instructions.

[0042] After completing the preliminary positioning of the composite T-shaped stringer on the composite panel skin, the embodiment further improves the accurate positioning of the composite T-shaped stringer on the composite panel skin by again obtaining the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite panel skin based on the point cloud matching method to realize the final positioning of the composite T-shaped stringer on the composite panel skin.

[0043] Specifically, the embodiment can preset a preset model, i.e., a spatial three-dimensional point cloud data model of the composite T-shaped stringer when the composite T-shaped stringer is accurately positioned on the composite wall panel skin. By comparing the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin with the preset model, it is determined whether the error between the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin and the preset model is within a preset range; in the case that the error between the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin and the preset model is within the preset range, it is determined that the final positioning of the composite T-shaped stringer on the composite wall panel skin is completed. In the case that the error between the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin and the preset model is not within the preset range, the spatial grabbing position and posture of the grabbing device need to be adjusted again until the error between the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin and the preset model is within the preset range after adjustment.

[0044] The embodiment further guarantees the accurate positioning of the composite T-shaped stringer on the composite wall panel skin through the secondary positioning.

[0045] The automatic positioning method of the composite T-shaped stringer provided by the embodiment solves the automatic assembly positioning process problem of the composite T-shaped stringer reinforced wall panel, lays a foundation for the automatic assembly positioning of the T-shaped stringer, can improve the precision and efficiency of the stringer assembly positioning, and has important significance for the automatic manufacturing of the aircraft composite wall panel structure.

[0046] The embodiment can improve the manufacturing efficiency and quality consistency of the composite T-shaped stringer reinforced wall panel assembly positioning, effectively improves the automatic positioning of the composite T-shaped stringer, accumulates relevant engineering experience for the subsequent development of the automatic positioning of the composite reinforced wall panel stringer, and has certain engineering practical application value.

[0047] The embodiment of the application further provides a composite T-shaped stringer automatic positioning device, as shown in Figure 2 The composite T-shaped stringer automatic positioning device 200 comprises:

[0048] A machine vision system 201 is configured to identify and detect the spatial position coordinates of the composite T-shaped stringer and the composite wall panel skin.

[0049] A grabbing device 202 is configured to grab the composite T-shaped stringer.

[0050] The pose adjustment system 203 is configured to adjust the spatial grasping position and pose of the grasping device based on the spatial position coordinates of the composite T-shaped stringer, so that the grasping device automatically grasps the composite T-shaped stringer; adjust the spatial grasping position and pose of the grasping device based on the spatial position coordinates of the composite wall panel skin, so that the composite T-shaped stringer is positioned on the composite wall panel skin; and adjust the spatial grasping position and pose of the grasping device based on the spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin, so that the composite T-shaped stringer is finally positioned on the composite wall panel skin.

[0051] The detection system 204 is configured to perform a structured light three-dimensional scanning on the composite T-shaped stringer and the composite wall panel skin, and obtain a spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall panel skin.

[0052] Specifically, the machine vision system 201 in the embodiment includes a 3D structured light camera, which is configured to perform photograph identification on the composite T-shaped stringer and the composite wall panel skin, and obtain spatial position coordinates of the composite T-shaped stringer and the composite wall panel skin.

[0053] Here, the spatial position coordinates include coordinate values in six coordinate directions, i.e., coordinate values of X, Y, Z, A (rotation around the Z axis), B (rotation around the Y axis), and C (rotation around the X axis). That is, the spatial position coordinates of the composite T-shaped stringer are the coordinate values of X, Y, Z, A (rotation around the Z axis), B (rotation around the Y axis), and C (rotation around the X axis) of the composite T-shaped stringer (1). The spatial position coordinates of the composite wall panel skin are the coordinate values of X, Y, Z, A (rotation around the Z axis), B (rotation around the Y axis), and C (rotation around the X axis) of the composite wall panel skin.

[0054] The grasping device 202 in the embodiment includes one or more mechanical arms and an automatic grasping head connected to each of the mechanical arms. The automatic grasping head is located at the terminal end of the mechanical arm and is configured to grasp the composite T-shaped stringer. The mechanical arm is configured to change the spatial position coordinates of the automatic grasping head. Here, the mechanical arm can be a Kuka mechanical arm KR480 R3330 MT with a load of 480 kg and an arm span of 3326 mm.

[0055] Specifically, in this embodiment, the change of the spatial motion trajectory of the mechanical arm and the opening and closing state of the automatic grabbing head can be controlled by the pose adjustment system 203. That is, the pose adjustment system 203 generates a motion NC program code, controls the motion trajectory of the mechanical arm through the motion NC program code, and controls the state of each joint and the clamping block through the motion NC program code, to realize the adjustment of the spatial grabbing position and posture of the grabbing device. Here, the motion NC program code can include motion program code instructions and logic program code instructions.

[0056] The detection system 204 in this embodiment includes a scanning head, a signal tracker, a mobile trolley and a two-dimensional code. The scanning head is used to scan the composite T-shaped stringer and the composite wall panel skin in a structured light three-dimensional scanning manner to obtain a spatial three-dimensional point cloud image of the composite T-shaped stringer and the composite wall panel skin. The mobile trolley is used to realize the movement of the scanning head. The signal tracker is installed on the mobile trolley and is used to receive the scanning signal of the scanning head. The two-dimensional code is used to guide the linear motion of the mobile trolley.

[0057] The scanning head in this embodiment can also be a 3D structured light camera. The spatial three-dimensional point cloud data model can be a three-dimensional point cloud image obtained by directly displaying the collected point cloud data in a three-dimensional coordinate system by using the structured light three-dimensional scanning manner of the automatic scanning head. The structured light three-dimensional scanning can obtain three-dimensional point cloud data of the surface of an object by scanning the object, and has the characteristics of automatic splicing, large scanning range, high speed and high precision.

[0058] This embodiment improves the spatial position recognition accuracy of the composite T-shaped stringer through the machine vision system 201, accurately recognizes and automatically grabs the composite T-shaped stringer by adjusting the spatial position and posture of the mechanical arm in the grabbing device 202, adjusts the spatial position of the mechanical arm after grabbing the composite T-shaped stringer through the NC code in the pose adjustment system 203, realizes the pre-positioning of the composite T-shaped stringer on the composite wall panel skin through the cooperative motion of the mechanical arm, guides the cooperative motion of the mobile trolley and the scanning head through the two-dimensional code in the detection system 204, obtains the three-dimensional point cloud image of the spatial position of the composite T-shaped stringer and the composite wall panel skin through the line-by-line scanning manner, and completes the final positioning of the composite T-shaped stringer on the composite wall panel skin by comparing the differences between the point cloud image and the theoretical model. The method of this embodiment can improve the positioning accuracy and efficiency of the T-shaped stringer of the composite wall panel skin, and meets the requirements of automatic manufacturing of large-size and complex composite stiffened wall panels.

[0059] It should be noted that the above-described apparatus, when executed, is only illustrated by the division of the program modules described above. In actual applications, the processing can be assigned to different program modules as needed, that is, the internal structure of the terminal can be divided into different program modules to complete all or part of the processing described above. Furthermore, the apparatus and method embodiments described above belong to the same concept, and their specific implementation processes are detailed in the method embodiments, and will not be repeated here.

[0060] The present invention will now be described in detail with reference to application examples.

[0061] This embodiment provides an automated collaborative grasping and positioning method for composite material T-shaped stringers. This embodiment improves the spatial position recognition accuracy of the composite material T-shaped stringer through a machine vision system. By adjusting the spatial position and posture of the robotic arm, the composite material T-shaped stringer is accurately identified and automatically grasped. After grasping the composite material T-shaped stringer, the spatial position of the robotic arm is adjusted using NC code. Through the coordinated movement of the robotic arm, the pre-positioning of the composite material T-shaped stringer on the composite material panel skin is achieved. The coordinated movement of the moving trolley and the scanning head is guided by a QR code. A three-dimensional point cloud image of the spatial position of the composite material T-shaped stringer and the composite material panel skin is obtained using a line-by-line scanning method. By comparing the differences between the point cloud image and the theoretical model, the final positioning of the composite material T-shaped stringer on the composite material panel skin is completed. This invention solves the problem of automated assembly and positioning of composite material T-shaped stringers and can effectively improve the production efficiency of automated composite material manufacturing.

[0062] Specifically, see Figure 3 The automated collaborative gripping and positioning method for composite material T-shaped stringers in this embodiment includes the following steps:

[0063] Step 1: Use a machine vision system to take pictures and identify the spatial positions of the composite material T-shaped stringer and the composite material wall panel skin, and obtain the spatial position coordinates of the composite material T-shaped stringer and the composite material wall panel skin respectively.

[0064] Step 2: Use the obtained spatial position coordinates of the composite material T-shaped stringer to adjust the spatial gripping position and attitude of the automatic gripping head of the robotic arm terminal;

[0065] Step 3: After adjusting its spatial gripping position and posture, the automatic gripper head automatically grips the composite material T-shaped stringer;

[0066] Step 4: The pose adjustment system uses motion simulation software to generate motion NC program code for the robotic arm and automatic gripper head to automatically grip the composite material T-shaped stringer;

[0067] Step 5: Adjust the spatial position coordinates of the robot arm and the automatic grabbing head for automatically grabbing the composite T-stringer using the motion NC program code;

[0068] Step 6: Complete the pre-positioning and gluing of the composite T-stringer on the composite wall skin through the automatic cooperative movement of a single or multiple robot arms using the spatial position coordinates of the composite wall skin;

[0069] Step 7: Obtain the spatial three-dimensional point cloud data model of the composite T-stringer and the composite wall skin through the automatic cooperative movement of the mobile trolley, the signal tracker, the automatic scanning head, and the robot arm using the structured light three-dimensional scanning method guided by the two-dimensional code and the motion NC program code;

[0070] Step 8: Compare the measured spatial three-dimensional point cloud data model with the theoretical model of the composite T-stringer and the composite wall skin to determine whether the error between the spatial three-dimensional point cloud data model and the theoretical model (21) is within the design value range. If the error is within the design value range, proceed to the next step. If the error exceeds the design value range, repeat steps 1-18.

[0071] Step 9: After the automatic grabbing head completes the automatic grabbing of the composite T-stringer, use the motion NC program code to leave the composite wall skin. The robot arm and the automatic grabbing head return to the initial reference point. Repeat steps 1-9 to complete the assembly and positioning of all composite T-stringers on the composite wall skin.

[0072] In this embodiment, the composite T-stringer and the composite wall skin together constitute a composite T-stiffened wall panel. The structure of the composite T-stiffened wall panel after positioning can be seen in Figure 4 .

[0073] The machine vision system in this embodiment can include a 3D structured light camera, an industrial computer, and a programmable logic controller (PLC). The 3D structured light camera can be installed at the end of the robot arm, as shown in Figure 5 . In addition, the automatic grabbing head can be installed together with the 3D structured light camera at the end of the robot arm, as shown in Figure 6 . The robot arm can be a Kuka robot arm KR480 R3330MT with a load of 480 kg and an arm span of 3326 mm.

[0074] The industrial computer in this embodiment can serve as the running platform of the pose adjustment system (also known as vision software) which is used to control the spatial grabbing position and attitude of the robot arm and the automatic grabbing head. The programmable logic controller (PLC) can be used to control the data communication between the 3D structured light camera, the robot arm, the automatic grabbing head, and the vision software. The vision software is mainly used for image acquisition, target recognition, pose transformation, communication, and robot arm control.

[0075] The automatic grabbing head in the embodiment can include a circular rolling clamp block and a square sliding clamp block. Figure 7 As shown, the space grabbing position and posture is adjusted, specifically, the joint motion state required for the mechanical arm and the automatic grabbing head to prepare for grabbing the composite T-shaped stringer and the opening and closing state of the circular rolling clamp block and the square sliding clamp block of the automatic grabbing head are adjusted.

[0076] The embodiment can use the motion NC program code to control the motion trajectory of the mechanical arm and the automatic grabbing head, use the circular rolling clamp block and the square sliding clamp block of the automatic grabbing head to grab the composite T-shaped stringer and fix it on the composite wall plate skin.

[0077] The automatic cooperative motion in the embodiment refers to the cooperative process that the mechanical arm automatically moves to the specified target point according to the process needs using the motion NC program code.

[0078] The automatic scanning head in the embodiment can be installed on the mechanical arm through an automatic gun changing disc.

[0079] The initial reference point in the embodiment can refer to a set mechanical arm motion starting reference point.

[0080] The embodiment ensures the positioning accuracy of the T-shaped stringer assembly by collecting the space position coordinates of the composite T-shaped stringer and the composite wall plate skin; realizes accurate grabbing of the T-shaped stringer and completes the pre-positioning of the T-shaped stringer on the wall plate skin by real-time detection and adjustment of the space grabbing position and posture of the grabbing device; realizes the final positioning of the composite T-shaped stringer on the composite wall plate skin by obtaining the space three-dimensional point cloud data model of the composite T-shaped stringer and the composite wall plate skin. The embodiment method can improve the positioning accuracy and efficiency of the composite wall plate skin T-shaped stringer, and meet the requirements of automatic manufacturing of large-size and complex surface composite stiffened wall plates.

[0081] In order to realize the method of the embodiment of the application, the embodiment of the application further provides a computer program product, which comprises computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps of the above method.

[0082] Based on the hardware implementation of the above program module, and in order to realize the method of the embodiment of the application, the embodiment of the application further provides an electronic device (computer device). Specifically, in one embodiment, the computer device can be a terminal, and its internal structure diagram can be as shown in Figure 8As shown in the figure. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A06 to run. The network interface A02 of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor A01 to implement the method of any one of the above embodiments. The display screen A04 of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0083] Those skilled in the art can understand that, Figure 8 The skilled in the art can understand that,

[0084] The device provided by the embodiment of the present application includes a processor, a memory and a program stored in the memory and executable on the processor. The processor executes the program to implement the method of any one of the above embodiments.

[0085] Those skilled in the art can understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0086] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0087] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0088] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0089] In one typical configuration, the computing device includes one or more processors (CPU's), input / output interfaces, network interfaces, and memory.

[0090] The memory can include non-persistent memory and / or persistent memory, such as flash memory, read-only memory (ROM), and / or volatile or non-volatile random access memory (RAM), among others. The memory is an example of computer-readable media.

[0091] Computer-readable media includes permanent and non-permanent, moveable and non- moveable media that can be implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, without limitation, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disks (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information for access by a computing device. According to the definitions herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0092] It can be understood that the memory of the embodiments of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM). The magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of RAM can be used, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), sync link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory described in the embodiments of the present application is intended to include, but not be limited to, the memory of these and any other suitable type of memory.

[0093] It should also be noted that the terms "comprising", "comprises", "including", "includes" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0094] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method of automatically positioning a composite T-stringer, characterized by, The method comprises: identifying the X, Y, Z, rotation around the Z axis, rotation around the Y axis, and rotation around the X axis coordinate values of the composite T-stringer, and identifying the X, Y, Z, rotation around the Z axis, rotation around the Y axis, and rotation around the X axis coordinate values of the composite panel skin; adjusting the spatial grabbing position and posture of the grabbing device based on the spatial position coordinates of the composite T-stringer, so that the grabbing device automatically grabs the composite T-stringer; based on the spatial position coordinates of the composite panel skin, adjusting the spatial grabbing position and posture of the grabbing device again, so that the composite T-stringer completes the predetermined positioning on the composite panel skin; performing a structured light three-dimensional scanning on the composite T-stringer and the composite panel skin to obtain a spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin; comparing the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin with a preset model to determine whether the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within a preset range; in the case that the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within the preset range, determining that the final positioning of the composite T-stringer on the composite panel skin is completed.

2. The method of claim 1, wherein, After determining whether the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within the preset range, the method further comprises: in the case that the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is not within the preset range, adjusting the spatial grabbing position and posture of the grabbing device again until the error between the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin and the preset model is within the preset range after adjustment.

3. An automatic positioning device for composite T-stringer, for implementing the automatic positioning method for composite T-stringer according to claim 1 or 2, characterized in that, The device comprises: a machine vision system for identifying and detecting the spatial position coordinates of the composite T-stringer and the composite panel skin; a grabbing device for grabbing the composite T-stringer; a position and posture adjustment system for adjusting the spatial grabbing position and posture of the grabbing device based on the spatial position coordinates of the composite T-stringer, so that the grabbing device automatically grabs the composite T-stringer; and adjusting the spatial grabbing position and posture of the grabbing device based on the spatial position coordinates of the composite panel skin, so that the composite T-stringer completes the predetermined positioning on the composite panel skin; and adjusting the spatial grabbing position and posture of the grabbing device based on the spatial three-dimensional point cloud data model of the composite T-stringer and the composite panel skin, to complete the final positioning of the composite T-stringer on the composite panel skin; The detection system is used for structural light three-dimensional scanning of the composite T-shaped stringer and the composite wallboard skin, and obtains a spatial three-dimensional point cloud data model of the composite T-shaped stringer and the composite wallboard skin.

4. The apparatus of claim 3, wherein, The machine vision system comprises a 3D structured light camera, which is used for photograph identification of the composite T-shaped stringer and the composite wallboard skin, and obtains spatial position coordinates of the composite T-shaped stringer and the composite wallboard skin.

5. The apparatus of claim 3, wherein, The grabbing device comprises one or more mechanical arms and an automatic grabbing head connected to each mechanical arm; the automatic grabbing head is located at the terminal of the mechanical arm and is used for grabbing the composite T-shaped stringer; and the mechanical arm is used for changing the spatial position coordinates of the automatic grabbing head.

6. The apparatus of claim 3, wherein, The pose adjustment system comprises vision software; the vision software is used for adjusting the joint motion state and the opening and closing state of the automatic grabbing head required for the mechanical arm and the automatic grabbing head to prepare for grabbing the composite T-shaped stringer.

7. The apparatus of claim 3, wherein, The detection system comprises a scanning head, a signal tracker, a moving trolley and a two-dimensional code; the scanning head is used for scanning the composite T-shaped stringer and the composite wallboard skin in a structural light three-dimensional scanning mode to obtain a spatial three-dimensional point cloud image of the composite T-shaped stringer and the composite wallboard skin; the moving trolley is used for realizing movement of the scanning head; the signal tracker is installed on the moving trolley and is used for receiving scanning signals of the scanning head; and the two-dimensional code is used for guiding linear motion of the moving trolley.

8. A storage medium having stored therein a computer program, characterized in that The computer program is executed by a processor to realize the steps of the method in any one of claims 1 or 2.

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