A multi-body combined structure autonomous posture measurement system and measurement method

Abstract

The invention relates to an autonomous posture measurement system and a measurement method for a multi-body combined structure, and belongs to the field of on-orbit measurement and assembly; a reference platform, a multi-eye combined measurement and control system, and a mechanical arm are all installed on an aircraft; the multi-eye combined measurement and control system is connected to the reference platform through a measurement and control circuit of the multi-eye combined measurement and control system; the multi-eye combined measurement and control system is connected to the mechanical arm through a measurement and control circuit of the mechanical arm; a grabbing interface at the end of the mechanical arm is arranged at the end of the mechanical arm; a camera group A, a camera group B, and a camera group C are all installed on the reference platform; a function expansion module A and a function expansion module B are both independent flight modules; a calibration plate, a target, a function expansion module grabbing interface, and an ORU module are arranged on the function expansion module B; a calibration plate, a target, a function expansion module grabbing interface, and an ORU module are arranged on the function expansion module A; the invention can realize autonomous measurement and posture adjustment of an on-orbit multi-body combined structure.

Description

Technical Field

[0001] The invention belongs to the field of on-orbit measurement and assembly, and relates to an autonomous posture measurement system and a measurement method for a multi-body combined structure. Background Art

[0002] The on-orbit assembly technology of multiple assemblies is an important way to rapidly deploy spacecraft. It plays a key role in promoting the development of large, high-performance spacecraft and is widely used in large space structures such as space stations and satellites. It has greatly increased the demand for on-orbit service and maintenance of spacecraft and expanded the scope of future space missions. The commonly used method of on-orbit assembly technology is manual assembly by astronauts. However, manual assembly by astronauts has certain limitations and can only undertake assembly tasks with small workloads, short time and relatively simple environments. For future space assembly tasks with complex structures, huge volumes, harsh installation environments and high precision requirements, manual assembly by astronauts cannot meet the mission requirements. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose an autonomous posture measurement system and a measurement method for a multi-body combined structure, which can realize autonomous measurement and posture adjustment of an on-orbit multi-body combined structure.

[0004] The solution of the present invention is:

[0005] A multi-body combined structure autonomous posture measurement system, comprising a camera group A, a camera group B, a camera group C, a calibration board, a multi-eye combined measurement and control system, a measurement and control circuit of the multi-eye combined measurement and control system, a robotic arm, a target, an ORU module, a function expansion module grabbing interface, a function expansion module A, a function expansion module B, a robotic arm end grabbing interface, a robotic arm measurement and control circuit, and a reference platform; wherein the reference platform, the multi-eye combined measurement and control system, and the robotic arm are all installed on an aircraft; the multi-eye combined measurement and control system is connected to the reference platform through the measurement and control circuit of the multi-eye combined measurement and control system; The multi-camera combined measurement and control system is connected to the manipulator through the manipulator measurement and control circuit; the manipulator end grasping interface is set at the end of the manipulator; camera group A, camera group B, and camera group C are all installed on the reference platform; function expansion module A and function expansion module B are both independent flight modules; camera group A, camera group B, and camera group C form a multi-camera system; function expansion module B is provided with a calibration plate, a target, a function expansion module grasping interface, and an ORU module; function expansion module A is provided with a calibration plate, a target, a function expansion module grasping interface, and an ORU module.

[0006] In the above-mentioned multi-body combined structure autonomous posture measurement system, the camera group A is fixedly installed on the top of the reference platform; the camera group B is fixedly installed on the right side of the reference platform; the camera group C is fixedly installed on the left side of the reference platform; the camera group A, the camera group B, and the camera group C monitor the movement of the robotic arm and cover the measurement area.

[0007] The measurement method of the above-mentioned multi-body combined structure autonomous posture measurement system includes:

[0008] Using the calibration plate as a reference, determine the relative position relationship between camera group A, camera group B, and camera group C;

[0009] Calibrate the function expansion module A, the function expansion module B, the ORU module on the function expansion module A, and the ORU module on the function expansion module B;

[0010] Unify the coordinate systems of multiple cameras and the coordinate system of the robotic arm;

[0011] Control the robotic arm to perform automatic docking to achieve automatic on-orbit assembly of multi-body composite structures.

[0012] In the above measurement method, the specific method for calibrating the function expansion module A is as follows:

[0013] Targets are evenly arranged on the function expansion module A; a single camera outside the position and posture measurement system is used to take photos and measurements around the function expansion module A, and the three-dimensional point coordinates of all targets are calculated by the MPS single camera measurement software; then, according to the pre-set benchmark, the coordinate system of the function expansion module A is restored, and the three-dimensional point coordinates of the target and the coordinates of the function expansion module grabbing interface in the current coordinate system are recorded; and the position and posture information of the function expansion module A is fed back to the multi-camera combined measurement and control system through the measurement and control circuit.

[0014] In the above measurement method, the specific method for calibrating the function expansion module B is:

[0015] Targets are evenly arranged on the function expansion module B; a single camera outside the position and posture measurement system is used to take photos and measurements around the function expansion module B, and the three-dimensional point coordinates of all targets arranged on the module are obtained by solving the MPS single camera measurement software; according to the pre-set benchmark, the coordinate system of the function expansion module B is restored, the three-dimensional point coordinates of the pasted targets in the current coordinate system and the coordinates of the function expansion module grabbing interface are recorded, and the position and posture information of the function expansion module B is fed back to the multi-eye combined measurement and control system through the measurement and control circuit.

[0016] In the above measurement method, the method for calibrating the ORU module on the function expansion module A is:

[0017] Based on the targets evenly arranged on the function expansion module A, a single camera outside the posture measurement system is used to take photos and measure around the ORU module; the three-dimensional point coordinates of all the arranged targets are calculated by the MPS single camera measurement software; according to the pre-set benchmark, the coordinate system of the ORU module is restored, and the three-dimensional point coordinates of the target pasted by the ORU module in the current coordinate system, the center point coordinates of the grasping position and the normal of the plane are recorded, and the position and posture information of the ORU module is fed back to the multi-eye combined measurement and control system through the measurement and control circuit;

[0018] The method for calibrating the ORU module on the function expansion module B is as follows:

[0019] Based on the targets evenly distributed on the function expansion module B, a single camera outside the posture measurement system is used to take photos and measurements around the ORU module; the three-dimensional point coordinates of all the laid targets are calculated by the MPS single camera measurement software; according to the pre-set benchmark, the coordinate system of the ORU module is restored, and the three-dimensional point coordinates of the target pasted by the ORU module in the current coordinate system, the center point coordinates of the grasping position and the normal of the plane are recorded, and the position and posture information of the ORU module is fed back to the multi-eye combined measurement and control system through the measurement and control circuit.

[0020] In the above measurement method, the unified method of the multi-camera coordinate system and the robot arm coordinate system is:

[0021] Place the robot arm in the field of view of the multi-camera system; use the measuring pen and the multi-camera measurement system to measure the cylindrical surface and plane of the robot arm's flange, and obtain the center point coordinates of the robot arm's flange through fitting. ; and record the initial state of the robot arm at its current position;

[0022] Move the robot arm to any 8-10 positions in the space, and use a measuring pen to measure the center point coordinates of the robot arm's flange at different positions. By converting the common point, the coordinate system of the robot arm and the coordinate system of the multi-camera measurement system are unified.

[0023] In the above measurement method, the method of controlling the robot arm to automatically dock is:

[0024] S1, assembling the function expansion module A;

[0025] S2, assembling the function expansion module B;

[0026] S3. Replace the ORU module.

[0027] In the above measurement method, in S1, the method for assembling the function expansion module A is:

[0028] Move the function expansion module A into the measurement area; after covering the target on the surface of the function expansion module A, use the multi-camera system to take a single photo for measurement; transmit the measured information to the multi-camera combined measurement and control system to obtain the actual position of the function expansion module A and the target on the surface tooling of the robot arm gripper; guide the gripping interface at the end of the robot arm to move to the gripping interface position of the function expansion module to grip the function expansion module A; finally, use the robot arm to move the function expansion module A, and use the multi-camera system to monitor the position of the surface of the function expansion module A and the target on the robot arm in real time, solve the relative position relationship between the function expansion module A and the interface on the reference platform in real time, and feed back the translation and rotation parameters required for docking to the robot arm until the docking is completed;

[0029] In S2, the specific method for assembling the function expansion module B is:

[0030] Move the function expansion module B into the measurement area; after covering the target on the surface of the function expansion module B, use the multi-camera system to take a single photo and measure; transmit the measured information to the multi-camera combined measurement and control system to obtain the actual position of the function expansion module B and the target on the surface tooling of the robot arm gripper; guide the gripping interface at the end of the robot arm to move to the position of the gripping interface of the function expansion module to grip the function expansion module B; finally, use the robot arm to move the function expansion module B, and use the multi-camera system to monitor the position of the target on the surface of the function expansion module B and the robot arm in real time, solve the relative position relationship between the function expansion module B and the function expansion module A in real time, and feed back the translation and rotation parameters required for docking to the robot arm until the docking is completed.

[0031] In the above measurement method, in S3, the method of replacing the ORU module is:

[0032] The numbered ORU modules have been inserted into the function expansion module A and the function expansion module B; the multi-camera system monitors in real time that the robot arm moves to the position of the ORU module with the specified number and grabs it. After placing it in the fixed area, it grabs the new ORU module and inserts it into the corresponding position, and the entire measurement and adjustment process is completed.

[0033] The beneficial effects of the present invention compared with the prior art are:

[0034] (1) The present invention calibrates and measures the workpiece to be measured by using a multi-camera system, assembles the workpiece to be measured based on a robotic arm, and realizes autonomous measurement and posture adjustment of a multi-body combined structure;

[0035] (2) Compared with traditional manual assembly, the present invention can undertake space assembly tasks with complex structures, huge volumes, harsh installation environments, and high precision requirements;

[0036] (3) The present invention monitors the target in real time through a multi-camera system and adopts a method of first grabbing the function expansion module A and then grabbing the function expansion module B to achieve autonomous on-orbit assembly of a multi-body combined structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the multi-body combined structure autonomous posture measurement system of the present invention;

[0038] Figure 2 This is a flow chart of the posture measurement method of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the embodiments.

[0040] The present invention provides an autonomous posture measurement system for a multi-body combined structure, which can realize autonomous measurement and posture adjustment of an on-orbit multi-body combined structure.

[0041] Multi-body combined structure autonomous posture measurement system, such as Figure 1 As shown, it specifically includes camera group A1, camera group B2, camera group C3, calibration board 4, multi-eye combined measurement and control system 5, multi-eye combined measurement and control system measurement and control circuit 6, robotic arm 7, target 8, ORU module 9, function expansion module grabbing interface 10, function expansion module A11, function expansion module B12, robotic arm end grabbing interface 13, robotic arm measurement and control circuit 14, reference platform 15; wherein, reference platform 15, multi-eye combined measurement and control system 5, robotic arm 7 are all installed on the aircraft; multi-eye combined measurement and control system 5 is connected to reference platform 15 through multi-eye combined measurement and control system measurement and control circuit 6; multi-eye combined measurement and control system 5 is connected to the robot 7 through the robot arm measurement and control circuit 14; the robot arm end grasping interface 13 is set at the end of the robot arm 7; the camera group A1, the camera group B2, and the camera group C3 are all installed on the reference platform 15; the function expansion module A11 and the function expansion module B12 are independent flight modules; the camera group A1, the camera group B2, and the camera group C3 form a multi-camera system; the function expansion module B12 is provided with a calibration plate 4, a target 8, a function expansion module grasping interface 10, and an ORU module 9; the function expansion module A11 is provided with a calibration plate 4, a target 8, a function expansion module grasping interface 10, and an ORU module 9.

[0042] Among them, camera group A1 is fixedly installed on the top of the reference platform 15; camera group B2 is fixedly installed on the right side of the reference platform 15; camera group C3 is fixedly installed on the left side of the reference platform 15; camera group A1, camera group B2, and camera group C3 are used to monitor the movement of the robotic arm 7 and cover the measurement area.

[0043] Measurement method based on multi-body combined structure autonomous posture measurement system, such as Figure 2As shown, the specific steps include:

[0044] With the calibration plate 4 as a reference, the relative position relationship among the camera group A1, the camera group B2, and the camera group C3 is determined.

[0045] The function expansion module A11, the function expansion module B12, the ORU module 9 on the function expansion module A11, and the ORU module 9 on the function expansion module B12 are calibrated.

[0046] The specific method for calibrating the function expansion module A11 is as follows:

[0047] Targets 8 are evenly arranged on the function expansion module A11; a single camera outside the position and posture measurement system is used to take photos and measurements around the function expansion module A11, and all three-dimensional point coordinates of the target 8 are obtained by solving the MPS single camera measurement software; then, according to the pre-set benchmark, the coordinate system of the function expansion module A11 is restored, and the three-dimensional point coordinates of the target 8 and the coordinates of the function expansion module grabbing interface 10 in the current coordinate system are recorded; and the position and posture information of the function expansion module A11 is fed back to the multi-camera combined measurement and control system 5 through the measurement and control circuit.

[0048] The specific method for calibrating the function expansion module B12 is as follows:

[0049] Targets 8 are evenly arranged on the function expansion module B12; a single camera outside the position and posture measurement system is used to take photos and measurements around the function expansion module B12, and the three-dimensional point coordinates of all targets 8 arranged on the module are obtained by solving the MPS single camera measurement software; according to the pre-set benchmark, the coordinate system of the function expansion module B12 is restored, and the three-dimensional point coordinates of the pasted target 8 and the coordinates of the function expansion module grabbing interface 10 in the current coordinate system are recorded, and the position and posture information of the function expansion module B12 is fed back to the multi-eye combined measurement and control system 5 through the measurement and control circuit.

[0050] The method for calibrating the ORU module 9 on the function expansion module A11 is as follows:

[0051] Based on the targets 8 evenly distributed on the function expansion module A11, a single camera outside the posture measurement system is used to take photos and measurements around the ORU module 9; the three-dimensional point coordinates of the deployed targets 8 are calculated by the MPS single camera measurement software; according to the pre-set benchmark, the coordinate system of the ORU module 9 is restored, and the three-dimensional point coordinates of the target 8 pasted by the ORU module 9 in the current coordinate system, the center point coordinates of the grasping position and the normal of the plane are recorded, and the position and posture information of the ORU module 9 is fed back to the multi-eye combined measurement and control system 5 through the measurement and control circuit.

[0052] The method for calibrating the ORU module 9 on the function expansion module B12 is:

[0053] Based on the targets 8 evenly distributed on the function expansion module B12, a single camera outside the posture measurement system is used to take photos and measurements around the ORU module 9; the three-dimensional point coordinates of the deployed targets 8 are calculated by the MPS single camera measurement software; according to the pre-set benchmark, the coordinate system of the ORU module 9 is restored, and the three-dimensional point coordinates of the target 8 pasted by the ORU module 9 in the current coordinate system, the center point coordinates of the grasping position and the normal of the plane are recorded, and the position and posture information of the ORU module 9 is fed back to the multi-eye combined measurement and control system 5 through the measurement and control circuit.

[0054] Unify the multi-camera coordinate system and the coordinate system of the robot 7.

[0055] The method for unifying the coordinate system of the multi-camera and the coordinate system of the robot 7 is:

[0056] Place the robot 7 in the field of view of the multi-camera system; use a measuring pen and the multi-camera measurement system to measure the cylindrical surface and plane of the flange of the robot 7, and obtain the center point coordinates of the flange of the robot 7 by fitting. ; and record the initial state of the robot arm 7 at the current position;

[0057] Move the robot 7 to any position in the space by 8-10 positions, and use a measuring pen to measure the coordinates of the center point of the flange of the robot 7 at different positions. By converting the common point, the coordinate system of the robot 7 and the coordinate system of the multi-camera measurement system are unified.

[0058] The robot arm 7 is controlled to automatically dock and realize the on-orbit automatic assembly of the multi-body combined structure.

[0059] The method for controlling the mechanical arm 7 to perform automatic docking is:

[0060] S1. Assemble the function expansion module A11.

[0061] The method for assembling the function expansion module A11 is as follows:

[0062] Move the function expansion module A11 into the measurement area; after covering the target 8 on the surface of the function expansion module A11, use the multi-camera system to take a single photo and measure; transmit the measured information to the multi-camera combined measurement and control system 5 to obtain the actual position of the function expansion module A11 and the target 8 on the surface tooling of the robot arm 7 gripper; guide the gripping interface 13 at the end of the robot arm to move to the position of the function expansion module gripping interface 10 to grip the function expansion module A11; finally, use the robot arm 7 to move the function expansion module A11, and use the multi-camera system to monitor the position of the surface of the function expansion module A11 and the target 8 on the robot arm 7 in real time, solve the relative position relationship between the function expansion module A11 and the docking interface on the reference platform 15 in real time, and feed back the translation and rotation parameters required for docking to the robot arm 7 until the docking is completed.

[0063] S2. Assemble the function expansion module B12.

[0064] The specific method for assembling the function expansion module B12 is as follows:

[0065] Move the function expansion module B12 into the measurement area; after covering the target 8 on the surface of the function expansion module B12, use the multi-camera system to take a single photo and measure; transmit the measured information to the multi-camera combined measurement and control system 5 to obtain the actual position of the function expansion module B12 and the target 8 on the surface tooling of the robot arm 7 gripper; guide the gripping interface 13 at the end of the robot arm to move to the position of the function expansion module gripping interface 10 to grip the function expansion module B12; finally, use the robot arm 7 to move the function expansion module B12, and use the multi-camera system to monitor the position of the target 8 on the surface of the function expansion module B12 and the robot arm 7 in real time, solve the relative position relationship between the function expansion module B12 and the function expansion module A11 in real time, and feed back the translation and rotation parameters required for docking to the robot arm 7 until the docking is completed.

[0066] S3. Replace the ORU module 9.

[0067] The method for replacing ORU module 9 is as follows:

[0068] The numbered ORU modules 9 have been inserted into the function expansion modules A11 and B12; the multi-camera system monitors in real time that the robot arm 7 moves to the position of the ORU module 9 with the specified number and grabs it. After placing it in a fixed area, it grabs the new ORU module 9 and inserts it into the corresponding position, and the entire measurement and adjustment process is completed.

[0069] The present invention aims to solve the problem that manual assembly can only undertake assembly tasks with small workload, short time and relatively simple environment, and has certain limitations. By adopting a multi-camera system to calibrate and measure the workpiece to be measured, and assembling the workpiece to be measured based on a robotic arm, the autonomous measurement and posture adjustment of the multi-body combination structure can be achieved, and the autonomous on-orbit assembly of the multi-body combination structure can be achieved. Compared with traditional manual assembly, it can undertake space assembly tasks with complex structures, huge volumes, harsh installation environments and high precision requirements. This technology is of great significance for the on-orbit assembly of multi-body combination structures in space, and facilitates the subsequent on-orbit monitoring and maintenance of spacecraft.

[0070] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A measurement method based on a multi-body combined structure autonomous posture measurement system, characterized in that: The multi-body combined structure autonomous posture measurement system comprises a camera group A (1), a camera group B (2), a camera group C (3), a calibration plate (4), a multi-eye combined measurement and control system (5), a multi-eye combined measurement and control system measurement and control circuit (6), a robotic arm (7), a target (8), an ORU module (9), a function expansion module grasping interface (10), a function expansion module A (11), a function expansion module B (12), a robotic arm end grasping interface (13), a robotic arm measurement and control circuit (14), and a reference platform (15); wherein the reference platform (15), the multi-eye combined measurement and control system (5), and the robotic arm (7) are all installed on an aircraft; the multi-eye combined measurement and control system (5) is connected to the reference platform (15) via the multi-eye combined measurement and control system measurement and control circuit (6); the multi-eye combined measurement and control The system (5) is connected to the robot (7) via a robot arm measurement and control circuit (14); a robot arm end grasping interface (13) is arranged at the end of the robot arm (7); a camera group A (1), a camera group B (2), and a camera group C (3) are all installed on a reference platform (15); a function expansion module A (11) and a function expansion module B (12) are both independent flight modules; the camera group A (1), the camera group B (2), and the camera group C (3) form a multi-camera system; the function expansion module B (12) is provided with a calibration plate (4), a target (8), a function expansion module grasping interface (10), and an ORU module (9); the function expansion module A (11) is provided with a calibration plate (4), a target (8), a function expansion module grasping interface (10), and an ORU module (9); The camera group A (1) is fixedly mounted on the top of the reference platform (15); the camera group B (2) is fixedly mounted on the right side of the reference platform (15); and the camera group C (3) is fixedly mounted on the left side of the reference platform (15); the camera group A (1), the camera group B (2), and the camera group C (3) monitor the movement of the robot arm (7) and cover the measurement area; The measurement method is: Using the calibration plate (4) as a reference, determine the relative position relationship between the camera group A (1), the camera group B (2), and the camera group C (3); Calibrate the function expansion module A (11), the function expansion module B (12), the ORU module (9) on the function expansion module A (11), and the ORU module (9) on the function expansion module B (12); Unify the coordinate system of multiple cameras and the coordinate system of the robotic arm (7); Controlling the robotic arm (7) to automatically dock and realize the on-orbit automatic assembly of the multi-body combined structure; The specific method for calibrating the function expansion module A (11) is as follows: Targets (8) are evenly arranged on the function expansion module A (11); a single camera outside the position and posture measurement system is used to take photos and measurements around the function expansion module A (11), and all three-dimensional point coordinates of the target (8) are calculated using MPS single camera measurement software; then, according to a pre-set reference, the coordinate system of the function expansion module A (11) is restored, and the three-dimensional point coordinates of the target (8) and the coordinates of the function expansion module grabbing interface (10) in the current coordinate system are recorded; and the position and posture information of the function expansion module A (11) is fed back to the multi-camera combined measurement and control system (5) through the measurement and control circuit; The specific method for calibrating the function expansion module B (12) is as follows: Targets (8) are evenly arranged on the function expansion module B (12); a single camera outside the position and posture measurement system is used to take photos and measure around the function expansion module B (12); all three-dimensional point coordinates of the targets (8) arranged on the module are obtained by solving the MPS single camera measurement software; according to a pre-set reference, the coordinate system of the function expansion module B (12) is restored, the three-dimensional point coordinates of the attached targets (8) and the coordinates of the function expansion module grabbing interface (10) in the current coordinate system are recorded, and the position and posture information of the function expansion module B (12) is fed back to the multi-camera combined measurement and control system (5) through the measurement and control circuit; The method for calibrating the ORU module (9) on the function expansion module A (11) is as follows: Based on the targets (8) evenly arranged on the function expansion module A (11), a single camera outside the posture measurement system is used to take photos and measure around the ORU module (9); all three-dimensional point coordinates of the arranged targets (8) are calculated by MPS single camera measurement software; according to a pre-set reference, the coordinate system of the ORU module (9) is restored, and the three-dimensional point coordinates of the target (8) attached to the ORU module (9) in the current coordinate system, the center point coordinates of the grasping position and the normal of the plane are recorded, and the position and posture information of the ORU module (9) is fed back to the multi-eye combined measurement and control system (5) through the measurement and control circuit; The method for calibrating the ORU module (9) on the function expansion module B (12) is as follows: Based on the targets (8) evenly arranged on the function expansion module B (12), a single camera outside the posture measurement system is used to take photos and measure around the ORU module (9); all three-dimensional point coordinates of the arranged targets (8) are calculated by MPS single camera measurement software; according to a pre-set reference, the coordinate system of the ORU module (9) is restored, and the three-dimensional point coordinates of the target (8) attached to the ORU module (9) in the current coordinate system, the center point coordinates of the grasping position and the normal of the plane are recorded, and the position and posture information of the ORU module (9) is fed back to the multi-eye combined measurement and control system (5) through the measurement and control line; The method to unify the coordinate system of multiple cameras and the coordinate system of the robot arm (7) is: The robot arm (7) is placed in the field of view of the multi-camera system; the cylindrical surface and the plane surface of the flange of the robot arm (7) are measured by using a measuring pen in conjunction with the multi-camera measuring system, and the center point coordinates of the flange of the robot arm (7) are obtained by fitting. ; and record the initial state of the robot arm (7) at its current position; The robot arm (7) is moved arbitrarily to 8-10 positions in space, and the coordinates of the center points of the flange of the robot arm (7) at different positions are measured with a measuring pen, and the coordinate system of the robot arm (7) and the coordinate system of the multi-camera measurement system are unified by common point conversion; The method for controlling the robotic arm (7) to perform automatic docking is: S1, assembling the function expansion module A (11); S2, assembling the function expansion module B (12); S3, replace the ORU module (9); In S1, the method for assembling the function expansion module A (11) is as follows: Move the function expansion module A (11) into the measurement area; after covering the target (8) on the surface of the function expansion module A (11), use the multi-camera system to take a single photo for measurement; transmit the measured information to the multi-camera combined measurement and control system (5) to obtain the actual position of the function expansion module A (11) and the target (8) on the gripper surface of the robot arm (7); guide the gripping interface (13) at the end of the robot arm to move to the position of the function expansion module gripping interface (10) to grip the function expansion module A (11); finally, use the robot arm (7) to move the function expansion module A (11), and use the multi-camera system to monitor the position of the surface of the function expansion module A (11) and the target (8) on the robot arm (7) in real time, solve the relative position relationship between the function expansion module A (11) and the docking interface on the reference platform (15) in real time, and feed back the translation and rotation parameters required for docking to the robot arm (7) until the docking is completed; In S2, the specific method for assembling the function expansion module B (12) is: The function expansion module B (12) is moved into the measurement area; after the target (8) on the surface of the function expansion module B (12) is covered, a single photo measurement is performed using a multi-camera system; the measured information is transmitted to the multi-camera combined measurement and control system (5) to obtain the actual position of the function expansion module B (12) and the target (8) on the surface tooling of the gripper of the robot arm (7); the gripping interface (13) at the end of the robot arm is guided to move to the position of the gripping interface (10) of the function expansion module to grip the function expansion module B (12); finally, the function expansion module B (12) is moved using the robot arm (7), and the position of the target (8) on the surface of the function expansion module B (12) and the robot arm (7) is monitored in real time using the multi-camera system, the relative position relationship between the function expansion module B (12) and the function expansion module A (11) is calculated in real time, and the translation and rotation parameters required for docking are fed back to the robot arm (7) until the docking is completed.

2. The measuring method according to claim 1, characterized in that: In S3, the method for replacing the ORU module (9) is: The numbered ORU modules (9) have been inserted into the function expansion module A (11) and the function expansion module B (12); the multi-camera system monitors in real time that the robot arm (7) moves to the position of the ORU module (9) with the specified number and grabs it, places it in a fixed area, grabs a new ORU module (9), and inserts it into the corresponding position, and the entire measurement and adjustment process is completed.

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