Method, device, equipment and medium for measuring aircraft shape

Abstract

The present invention discloses a method, device, equipment and medium for measuring the shape of an aircraft. The method includes: obtaining the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system in real time, and controlling the automatic guided vehicle to move to the target measurement station; when the automatic guided vehicle reaches the target measurement station, controlling the laser radar to measure and obtain the measurement coordinates of the ERS positioning point in the laser radar coordinate system; determining the rotation and translation matrix between the laser radar coordinate system and the aircraft coordinate system, and determining the theoretical coordinates of the aircraft shape measurement point in the laser radar coordinate system; according to the theoretical coordinates of the aircraft shape measurement point in the laser radar coordinate system, controlling the laser radar to measure the aircraft shape measurement point, and converting the measurement value in the laser radar coordinate system into the measurement value in the aircraft coordinate system, until all the aircraft shape measurement points are measured. By adopting the above technical solution, it is possible to use a binocular camera and a laser radar to realize automatic measurement of the aircraft shape, thereby improving the measurement accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft detection, and in particular to a method, device, equipment and medium for measuring the appearance of an aircraft. Background Art

[0002] In the existing technology, only laser radar is generally used to complete the positioning of the laser radar in the measurement field and the measurement of the aircraft shape. However, this method requires manual movement of the laser radar to each measurement station. Relying on manual movement may cause deviations in the measurement station where the laser radar is located. After each movement to a new measurement station, the laser radar needs to be manually guided to complete the positioning of the laser radar in the measurement field, which results in high labor costs. Summary of the Invention

[0003] The present invention provides a method, device, equipment and medium for measuring the shape of an aircraft, which can realize automatic measurement of the aircraft shape by using a binocular camera and a laser radar, thereby improving measurement accuracy.

[0004] According to one aspect of the present invention, there is provided a method for measuring an aircraft shape, comprising:

[0005] Obtain the current measurement station coordinates of the target measurement station in the AGV coordinate system in real time, and control the AGV to move to the target measurement station based on the current measurement station coordinates;

[0006] When the AGV reaches the target measurement station, it controls the LiDAR to obtain the measurement coordinates of the ERS positioning point in the LiDAR coordinate system.

[0007] Determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system. Determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system.

[0008] According to the theoretical coordinates of the aircraft shape measurement points in the laser radar coordinate system, the laser radar is controlled to measure the aircraft shape measurement points, and the measurement values ​​in the laser radar coordinate system are converted into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

[0009] According to another aspect of the present invention, there is provided a device for measuring an aircraft shape, comprising:

[0010] The automatic guided vehicle movement module is used to obtain the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system in real time, and control the automatic guided vehicle to move to the target measurement station according to the current measurement station coordinates;

[0011] The ERS positioning point measurement module is used to control the lidar measurement to obtain the measurement coordinates of the ERS positioning point in the lidar coordinate system when the AGV reaches the target measurement station;

[0012] An aircraft shape measurement point determination module is used to determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system, and to determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system;

[0013] The aircraft shape measurement module is used to control the lidar to measure the aircraft shape measurement points according to the theoretical coordinates of the aircraft shape measurement points in the lidar coordinate system, and convert the measurement values ​​in the lidar coordinate system into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

[0014] According to another aspect of the present invention, an electronic device is provided, comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the aircraft shape measurement method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the aircraft shape measurement method according to any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention determines the coordinates of the current measurement station through a binocular camera, thereby realizing navigation of the automatic guided vehicle, controlling the automatic guided vehicle to move to the target measurement station, and when the automatic guided vehicle reaches the target measurement station, controlling the laser radar to measure the measurement coordinates of the ERS positioning point in the laser radar coordinate system, thereby determining the theoretical coordinates of the aircraft shape measurement point in the laser radar coordinate system, and guiding the laser radar to measure the aircraft shape measurement point. This method can realize automatic measurement of the aircraft shape, solves the problems in the prior art of requiring manual guidance of the laser radar for positioning and manual movement of the laser radar to the measurement station, improves the measurement accuracy, ensures the comprehensiveness of the aircraft shape measurement, and effectively improves the efficiency of the aircraft shape measurement.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 these drawings without creative work.

[0022] Figure 1 is a flow chart of a method for measuring an aircraft shape according to a first embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of an aircraft shape system provided according to an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of a measurement field provided according to an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of an automatic guided vehicle equipped with a binocular camera and a laser radar according to an embodiment of the present invention;

[0026] Figure 5 is a flow chart of another aircraft shape measurement method provided according to the second embodiment of the present invention;

[0027] Figure 6 is a schematic diagram of an aircraft shape measurement system provided according to an embodiment of the present invention;

[0028] Figure 7 2 is a schematic structural diagram of a device for measuring an aircraft shape according to a third embodiment of the present invention;

[0029] Figure 8 The figure is a schematic diagram of the structure of an electronic device for implementing the method for measuring the aircraft shape according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Example 1

[0033] Figure 1 This is a flow chart of a method for measuring an aircraft shape provided in the first embodiment of the present invention. This embodiment is applicable to the case of automatically measuring measurement points of an aircraft shape. The method can be executed by an aircraft shape measurement device. The aircraft shape measurement device can be implemented in the form of hardware and / or software and can generally be configured in the central controller of an aircraft shape detection system. Figure 1 As shown, the method includes:

[0034] S110 , obtaining the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system in real time, and controlling the automatic guided vehicle to move to the target measurement station according to the current measurement station coordinates.

[0035] It is understood that to achieve automated measurement of aircraft shape, this application deploys both the binocular camera and the lidar in the same automated guided vehicle (AGV), which is mobile within the measurement field. The aircraft shape system, the measurement field, and the AGV equipped with the binocular camera and lidar together constitute the aircraft shape inspection system. The aircraft shape inspection system may also include a central controller for controlling the AGV, binocular camera, and lidar.

[0036] Optionally, the aircraft shape system may refer to the aircraft body on which the aircraft shape measurement is currently to be performed and the measurement points in the aircraft body. The purpose of the detection is to measure the coordinates of each measurement point in the aircraft shape system in the aircraft coordinate system and to determine whether each measurement point meets the expected standards.

[0037] Figure 2 Figure 1 is a schematic diagram of an optional aircraft shape system. Figure 2 As shown, the cylinder can represent an optional aircraft shape, which includes multiple measurement points. The measurement points are pre-planned points, and each measurement point has a specific coordinate value in the aircraft coordinate system. On the actual aircraft body, the measurement points are generally not marked.

[0038] Optionally, the measurement field may refer to a site providing aircraft shape measurement. The aircraft shape system may be set up in the measurement field, and the automatic guided vehicle may also move in the measurement field. Photographic coding points, measurement stations, and ERS (Enhance Reference System) positioning points may also be pre-planned in the measurement field.

[0039] Figure 3 A schematic diagram of an optional measurement field is shown in FIG. Figure 3 As shown, the measurement field can include multiple measurement stations, multiple photogrammetric coding points, and multiple ERS locating points, all of which are labeled accordingly within the measurement field. Optionally, the binocular camera can identify the measurement stations and photogrammetric coding points within the measurement field, but not the ERS locating points. ERS locating points are test points in the enhanced tooling coordinate system. They are determined during the aircraft manufacturing process, and their relative positional relationship to the aircraft body is fixed.

[0040] Optionally, measurement stations can be pre-planned locations within the measurement field. The AGV moves to each measurement station before the LiDAR performs the measurement. The measurement station planning must ensure that the LiDAR measurement results from all measurement stations cover all measurement points in the aircraft's contour system.

[0041] Optionally, the AGV coordinate system may refer to a coordinate system planned based on the AGV, which can be set according to user needs. It is understood that in a three-dimensional measurement field, any object or theoretical point in the measurement field has a fixed three-dimensional coordinate in the AGV coordinate system.

[0042] Optionally, the target measurement station may refer to the measurement station to which the automated guided vehicle is to move. Since the position of the automated guided vehicle is constantly changing during its movement, the automated guided vehicle may be navigated in real time by acquiring the current measurement station coordinates of the target measurement station in the automated guided vehicle coordinate system in real time.

[0043] Optionally, the coordinates of the current measurement station can be acquired by a binocular camera in an automated guided vehicle. A specific method for acquiring the current measurement station may include: using the binocular camera to measure the real-time coordinates of the photographic coding points in the binocular camera coordinate system in real time. Since the measurement station and the photographic coding points are both fixed coordinates in the measurement field, the real-time coordinates of the target measurement station in the binocular camera coordinate system can be determined based on the relative positional relationship between the measurement station and the photographic coding points. Furthermore, since the positions of the binocular camera and the automated guided vehicle are relatively fixed, the coordinates of the target measurement station in the automated guided vehicle coordinate system can be determined based on the calibration relationship between the binocular camera coordinate system and the automated guided vehicle coordinate system.

[0044] Figure 4 Schematic diagram of an optional automatic guided vehicle equipped with a binocular camera and a laser radar. Figure 4 As shown in the figure, the AGV is an automatic guided vehicle, and the binocular camera and laser radar are fixed at different positions in the automatic guided vehicle.

[0045] S120. When the automatic guided vehicle reaches the target measurement station, control the laser radar to measure and obtain the measurement coordinates of the ERS positioning point in the laser radar coordinate system.

[0046] It's understandable that LiDAR generally offers high measurement accuracy, but unlike binocular cameras, which can measure objects over a wide range, LiDAR can generally only measure single points. Therefore, when the AGV reaches the target measurement location, it must first use the binocular camera to determine the coordinates of the photographic code point in the binocular camera coordinate system. Then, based on the relative positional relationship between the photographic code point and the ERS positioning point, it can determine the coordinates of the ERS positioning point in the binocular camera coordinate system. Finally, based on the calibration relationship between the binocular camera coordinate system and the LiDAR coordinate system, it can determine the theoretical coordinates of the ERS positioning point in the LiDAR coordinate system.

[0047] Furthermore, due to the low measurement accuracy of the binocular camera, the theoretical coordinates of the ERS positioning point in the lidar coordinate system are not precise coordinates. However, the theoretical coordinates can guide the lidar to measure the ERS positioning point, thereby obtaining the measured coordinates of the ERS positioning point in the lidar coordinate system through the lidar measurement results.

[0048] S130. Determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system. Determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system.

[0049] It is understandable that the design and manufacture of the aircraft is based on the ERS positioning point, and therefore, the theoretical coordinates of the ERS positioning point in the aircraft coordinate system are predetermined.

[0050] S140. Control the laser radar to measure the aircraft shape measurement points according to the theoretical coordinates of the aircraft shape measurement points in the laser radar coordinate system, and convert the measurement values ​​in the laser radar coordinate system into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

[0051] It can be understood that after determining the theoretical coordinates of the aircraft shape measurement points in the lidar coordinate system, the lidar can be directly positioned to each theoretical coordinate point for measurement to obtain the actual value of the aircraft shape measurement point in the lidar coordinate system.

[0052] The technical solution of the embodiment of the present invention determines the coordinates of the current measurement station through a binocular camera, thereby realizing navigation of the automatic guided vehicle, controlling the automatic guided vehicle to move to the target measurement station, and when the automatic guided vehicle reaches the target measurement station, controlling the laser radar to measure the measurement coordinates of the ERS positioning point in the laser radar coordinate system, thereby determining the theoretical coordinates of the aircraft shape measurement point in the laser radar coordinate system, and guiding the laser radar to measure the aircraft shape measurement point. This method can realize automatic measurement of the aircraft shape, solves the problems in the prior art of requiring manual guidance of the laser radar for positioning and manual movement of the laser radar to the measurement station, improves the measurement accuracy, ensures the comprehensiveness of the aircraft shape measurement, and effectively improves the efficiency of the aircraft shape measurement.

[0053] Example 2

[0054] Figure 5 This is a flow chart of a method for measuring the shape of an aircraft provided in the second embodiment of the present invention. This embodiment specifically describes a method for obtaining a calibration relationship based on the above embodiment. Figure 5 As shown, the method includes:

[0055] S210. Obtain the calibration relationship among the photographic coding points, ERS positioning points, and measurement stations in the aircraft shape measurement system, as well as the calibration relationship among the binocular camera coordinate system, the automatic guided vehicle coordinate system, and the lidar coordinate system.

[0056] Among them, the binocular camera and lidar are configured at different positions in the automatic guided vehicle.

[0057] Figure 6 Figure 1 is a schematic diagram of an optional aircraft shape measurement system. Figure 6 As shown, the aircraft shape measurement system includes an aircraft shape system, a measurement field and an automatic guided vehicle.

[0058] The calibration relationship between the photographic coding points, ERS positioning points and measurement stations in the aircraft shape measurement system is obtained, including:

[0059] Obtaining the coordinates of the measurement station and the ERS positioning point pre-planned in the measurement field, and calculating the calibration relationship between the measurement station and the ERS positioning point based on the measurement station coordinates and the ERS positioning point coordinates;

[0060] The binocular camera is used to measure the coordinates of the ERS positioning points and the photographic coding points in the binocular camera coordinate system. Based on the design data of the ERS positioning points, the ERS positioning points and the photographic coding points in the binocular camera coordinate system are fitted to obtain the calibration relationship between the ERS positioning points and the photographic coding points.

[0061] According to the calibration relationship between the measurement station and the ERS positioning point and the calibration relationship between the ERS positioning point and the photographic coding point, the calibration relationship between the measurement station and the photographic coding point is obtained.

[0062] Optionally, the measurement stations can be planned based on the ERS positioning points and the aircraft shape system so that the measurement points measured at all measurement stations can cover all measurement points of the aircraft shape. While ensuring the comprehensiveness of the measurement points, the number of measurement stations should be reduced as much as possible.

[0063] In an optional embodiment, a photographic target ball can be placed on the ERS positioning point in the measurement field. The binocular camera cannot recognize the ERS positioning point, but can recognize the photographic target ball. Then, the binocular camera can measure the coordinates of the ERS positioning point and the photographic coding point in the binocular camera coordinate system. Then, based on the design data of the ERS positioning point, the three-dimensional coordinates of the ERS positioning point and the photographic coding point in the binocular camera coordinate system are optimally fitted to achieve coordinate system scale scaling calibration of the binocular camera system, complete the positional relationship calibration of the measurement field ERS point and the measurement field photographic coding point, and finally complete the calibration of the measurement field photographic coding point, ERS positioning point, and measurement station based on the positional relationship between the measurement station and the ERS positioning point.

[0064] The calibration relationship between the binocular camera coordinate system, the automatic guided vehicle coordinate system, and the lidar coordinate system is obtained, including:

[0065] When the AGV is at the initial position, the initial coordinates of the laser tracker target ball on the AGV in the laser tracker coordinate system are obtained using the laser tracker in the measurement field, and the initial coordinates of the laser tracker target ball in the AGV coordinate system are recorded;

[0066] Controlling the automatic guided vehicle to move to the first positioning point and the second positioning point respectively, and obtaining the first coordinate and the second coordinate of the laser tracker target ball in the laser tracker coordinate system, and the first coordinate and the second coordinate of the laser tracker target ball in the automatic guided vehicle coordinate system;

[0067] Calibrate the laser tracker coordinate system and the automatic guided vehicle coordinate system according to the initial coordinate, first coordinate, and second coordinate of the laser tracker target ball in the laser tracker coordinate system and the initial coordinate, first coordinate, and second coordinate of the target ball in the automatic guided vehicle coordinate system;

[0068] Measuring the laser tracker target sphere on the ERS positioning point using the laser tracker to obtain the coordinates of the ERS positioning point in the laser tracker coordinate system, and determining the coordinates of the ERS positioning point in the automatic guided vehicle coordinate system based on a calibration relationship between the laser tracker coordinate system and the automatic guided vehicle coordinate system;

[0069] Using the binocular camera to measure the photographic target sphere on the ERS positioning point, obtaining the coordinates of the ERS positioning point in the binocular camera coordinate system, and obtaining a calibration relationship between the binocular camera coordinate system and the automatic guided vehicle coordinate system based on the coordinates of the ERS positioning point in the automatic guided vehicle coordinate system and the coordinates of the binocular camera coordinate system;

[0070] The laser radar is used to measure the laser radar target sphere on the ERS positioning point to obtain the coordinates of the ERS positioning point in the laser radar coordinate system, and the calibration relationship between the binocular camera coordinate system and the laser radar coordinate system is obtained based on the coordinates of the ERS positioning point in the laser radar coordinate system and the coordinates of the binocular camera coordinate system.

[0071] Optionally, the initial position of the automated guided vehicle may refer to a position where the automated guided vehicle is initially placed in the measurement field, and this position is not specifically limited.

[0072] In an optional embodiment, a laser tracker target ball mount is attached to the center of the AGV, a laser tracker target ball is placed on the target ball mount, a laser tracker is fixed in the measurement field, and the three-dimensional coordinates T0 (X0, Y0, Z0) of the target ball are measured, which are recorded as A0 (0, 0, 0) in the AGV coordinate system. The AGV moves 1000 mm along the X-axis of the AGV coordinate system, and the laser tracker measures the three-dimensional coordinates T1 (X1, Y1, Z1) of the target ball on the AGV, which are recorded as A1 (1000, 0, 0) in the AGV coordinate system. The vehicle returns to its initial position, and the AGV moves 1000 mm along the Y-axis of the AGV coordinate system. The laser tracker measures the three-dimensional coordinates T2 (X2, Y2, Z2) of the target ball on the AGV, which is recorded as A2 (0, 1000, 0) in the AGV coordinate system. The AGV returns to its initial position, and an AGV coordinate system is created with A0 as the origin, A0A1 as the X-axis, and A0A2 as the Y-axis. The positional relationship between the AGV coordinate system and the laser tracker coordinate system is calibrated by the point group {T0, T1, T2} and the point group {A0, A1, A2}, that is, the rotation and translation matrices of the two.

[0073] Furthermore, a laser tracker target ball is placed on the ERS positioning point, and the laser tracker measures the ERS positioning point to obtain the three-dimensional coordinates of the ERS positioning point in the laser tracker coordinate system. The three-dimensional coordinates of the ERS positioning point in the automatic guided vehicle coordinate system are obtained from the rotation and translation matrix of the laser tracker and the automatic guided vehicle. A photographic target ball is placed on the ERS positioning point and measured with a binocular camera system to obtain the three-dimensional coordinates of the ERS positioning point in the binocular camera system. The rotation and translation matrix between the automatic guided vehicle coordinate system and the binocular camera coordinate system can be obtained, thus completing the calibration of the automatic guided vehicle coordinate system and the binocular camera coordinate system.

[0074] Furthermore, a photographic target sphere is placed at the ERS positioning point and measured using a binocular camera system to obtain the three-dimensional coordinates of the ERS positioning point in the binocular camera system. A lidar target sphere is placed at the ERS positioning point and measured using the lidar to obtain the three-dimensional coordinates of the ERS positioning point in the lidar coordinate system. The rotation and translation matrix between the lidar coordinate system and the binocular camera coordinate system can then be obtained, thus completing the calibration of the lidar coordinate system and the binocular camera coordinate system.

[0075] S220: Use the binocular camera to measure the photographic code points in real time, obtain the real-time coordinates of the photographic code points in the binocular camera coordinate system, and determine the real-time coordinates of the target measurement station in the binocular camera coordinate system based on the calibration relationship between the measurement station and the photographic code points.

[0076] S230. Acquire the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system in real time based on the calibration relationship between the binocular camera coordinate system and the automatic guided vehicle and the real-time coordinates of the target measurement station in the binocular camera coordinate system.

[0077] S240: Navigate the automatic guided vehicle according to the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system, and control the automatic guided vehicle to move to the target measurement station.

[0078] S250. When the automatic guided vehicle arrives at the target measurement station, the binocular camera is used to measure the photographic code point, the coordinates of the photographic code point in the binocular camera system are obtained, and the coordinates of the photographic code point in the lidar coordinate system are determined based on the calibration relationship between the binocular camera coordinate system and the lidar coordinate system.

[0079] S260. Determine the theoretical coordinates of the ERS positioning point in the lidar coordinate system based on the calibration relationship between the photographic coding point and the ERS positioning point and the coordinates of the photographic coding point in the lidar coordinate system.

[0080] S270 , controlling the laser radar to measure the ERS positioning point according to the theoretical coordinates of the ERS positioning point in the laser radar coordinate system, and obtaining the measured coordinates of the ERS positioning point in the laser radar coordinate system.

[0081] S280. Determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system. Determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system.

[0082] S290. Control the laser radar to measure the aircraft shape measurement points according to the theoretical coordinates of the aircraft shape measurement points in the laser radar coordinate system, and convert the measurement values ​​in the laser radar coordinate system into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

[0083] S2100: Determine an offset value of the aircraft shape measurement point based on a measurement value of the aircraft shape measurement point in the aircraft coordinate system and a standard value of the aircraft shape measurement point in the aircraft coordinate system, and when it is determined that the offset value of the target aircraft shape measurement point is greater than a preset offset threshold, issue an error reminder for the target aircraft shape measurement point.

[0084] The technical solution of the embodiment of the present invention determines the coordinates of the current measurement station through a binocular camera, thereby realizing navigation of the automatic guided vehicle, controlling the automatic guided vehicle to move to the target measurement station, and when the automatic guided vehicle reaches the target measurement station, controlling the laser radar to measure the measurement coordinates of the ERS positioning point in the laser radar coordinate system, thereby determining the theoretical coordinates of the aircraft shape measurement point in the laser radar coordinate system, and guiding the laser radar to measure the aircraft shape measurement point. This method can realize automatic measurement of the aircraft shape, solves the problems in the prior art of requiring manual guidance of the laser radar for positioning and manual movement of the laser radar to the measurement station, improves the measurement accuracy, ensures the comprehensiveness of the aircraft shape measurement, and effectively improves the efficiency of the aircraft shape measurement.

[0085] Example 3

[0086] Figure 7 This is a schematic diagram of the structure of a device for measuring the shape of an aircraft provided in the third embodiment of the present invention. Figure 7 As shown, the apparatus includes: an automatic guided vehicle moving module 310 , an ERS positioning point measuring module 320 , an aircraft shape measurement point determining module 330 and an aircraft shape measuring module 340 .

[0087] The AGV movement module 310 is used to obtain the current measurement station coordinates of the target measurement station in the AGV coordinate system in real time, and control the AGV to move to the target measurement station according to the current measurement station coordinates.

[0088] The ERS positioning point measurement module 320 is used to control the laser radar to measure and obtain the measurement coordinates of the ERS positioning point in the laser radar coordinate system when the automatic guided vehicle reaches the target measurement station.

[0089] The aircraft shape measurement point determination module 330 is used to determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system, and to determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system.

[0090] The aircraft shape measurement module 340 is used to control the lidar to measure the aircraft shape measurement points based on the theoretical coordinates of the aircraft shape measurement points in the lidar coordinate system, and convert the measurement values ​​in the lidar coordinate system into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

[0091] The technical solution of the embodiment of the present invention determines the coordinates of the current measurement station through a binocular camera, thereby realizing navigation of the automatic guided vehicle, controlling the automatic guided vehicle to move to the target measurement station, and when the automatic guided vehicle reaches the target measurement station, controlling the laser radar to measure the measurement coordinates of the ERS positioning point in the laser radar coordinate system, thereby determining the theoretical coordinates of the aircraft shape measurement point in the laser radar coordinate system, and guiding the laser radar to measure the aircraft shape measurement point. This method can realize automatic measurement of the aircraft shape, solves the problems in the prior art of requiring manual guidance of the laser radar for positioning and manual movement of the laser radar to the measurement station, improves the measurement accuracy, ensures the comprehensiveness of the aircraft shape measurement, and effectively improves the efficiency of the aircraft shape measurement.

[0092] On the basis of the above embodiments, a calibration relationship acquisition module may be further included, which may specifically include:

[0093] Point calibration relationship acquisition unit, used to obtain the calibration relationship between the photographic coding points, ERS positioning points and measurement stations in the aircraft shape measurement system;

[0094] A coordinate system calibration relationship acquisition unit is used to obtain the calibration relationship between the binocular camera coordinate system, the automatic guided vehicle coordinate system and the lidar coordinate system;

[0095] Among them, the binocular camera and lidar are configured at different positions in the automatic guided vehicle.

[0096] Based on the above embodiments, the point calibration relationship acquisition unit can be specifically used to:

[0097] Obtaining the coordinates of the measurement station and the ERS positioning point pre-planned in the measurement field, and calculating the calibration relationship between the measurement station and the ERS positioning point based on the measurement station coordinates and the ERS positioning point coordinates;

[0098] The binocular camera is used to measure the coordinates of the ERS positioning points and the photographic coding points in the binocular camera coordinate system. Based on the design data of the ERS positioning points, the ERS positioning points and the photographic coding points in the binocular camera coordinate system are fitted to obtain the calibration relationship between the ERS positioning points and the photographic coding points.

[0099] According to the calibration relationship between the measurement station and the ERS positioning point and the calibration relationship between the ERS positioning point and the photographic coding point, the calibration relationship between the measurement station and the photographic coding point is obtained.

[0100] Based on the above embodiments, the coordinate system calibration relationship acquisition unit can be specifically used to:

[0101] When the AGV is at the initial position, the initial coordinates of the laser tracker target ball on the AGV in the laser tracker coordinate system are obtained using the laser tracker in the measurement field, and the initial coordinates of the laser tracker target ball in the AGV coordinate system are recorded;

[0102] Controlling the automatic guided vehicle to move to the first positioning point and the second positioning point respectively, and obtaining the first coordinate and the second coordinate of the laser tracker target ball in the laser tracker coordinate system, and the first coordinate and the second coordinate of the laser tracker target ball in the automatic guided vehicle coordinate system;

[0103] Calibrate the laser tracker coordinate system and the automatic guided vehicle coordinate system according to the initial coordinate, first coordinate, and second coordinate of the laser tracker target ball in the laser tracker coordinate system and the initial coordinate, first coordinate, and second coordinate of the target ball in the automatic guided vehicle coordinate system;

[0104] Measuring the laser tracker target sphere on the ERS positioning point using the laser tracker to obtain the coordinates of the ERS positioning point in the laser tracker coordinate system, and determining the coordinates of the ERS positioning point in the automatic guided vehicle coordinate system based on a calibration relationship between the laser tracker coordinate system and the automatic guided vehicle coordinate system;

[0105] Using the binocular camera to measure the photographic target sphere on the ERS positioning point, obtaining the coordinates of the ERS positioning point in the binocular camera coordinate system, and obtaining a calibration relationship between the binocular camera coordinate system and the automatic guided vehicle coordinate system based on the coordinates of the ERS positioning point in the automatic guided vehicle coordinate system and the coordinates of the binocular camera coordinate system;

[0106] The laser radar is used to measure the laser radar target sphere on the ERS positioning point to obtain the coordinates of the ERS positioning point in the laser radar coordinate system, and the calibration relationship between the binocular camera coordinate system and the laser radar coordinate system is obtained based on the coordinates of the ERS positioning point in the laser radar coordinate system and the coordinates of the binocular camera coordinate system.

[0107] Based on the above embodiments, the automated guided vehicle moving module 310 can be specifically used for:

[0108] Using the binocular camera to measure the photographic code points in real time, obtaining the real-time coordinates of the photographic code points in the binocular camera coordinate system, and determining the real-time coordinates of the target measurement station in the binocular camera coordinate system based on the calibration relationship between the measurement station and the photographic code points;

[0109] According to the calibration relationship between the binocular camera coordinate system and the automatic guided vehicle and the real-time coordinates of the target measurement station in the binocular camera coordinate system, the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system are obtained in real time;

[0110] According to the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system, the automatic guided vehicle is navigated and controlled to move to the target measurement station.

[0111] Based on the above embodiments, the ERS positioning point measurement module 320 can be specifically used to:

[0112] When the AGV reaches the target measurement station, the binocular camera is used to measure the photographic code point, the coordinates of the photographic code point in the binocular camera system are obtained, and the coordinates of the photographic code point in the lidar coordinate system are determined based on the calibration relationship between the binocular camera coordinate system and the lidar coordinate system;

[0113] Determine the theoretical coordinates of the ERS positioning point in the LiDAR coordinate system based on the calibration relationship between the photographic coding point and the ERS positioning point and the coordinates of the photographic coding point in the LiDAR coordinate system;

[0114] The laser radar is controlled to measure the ERS positioning point according to the theoretical coordinates of the ERS positioning point in the laser radar coordinate system, and the measured coordinates of the ERS positioning point in the laser radar coordinate system are obtained.

[0115] On the basis of the above embodiments, a measurement result reminder module may be further included, specifically for:

[0116] The offset value of the aircraft shape measurement point is determined according to the measurement value of the aircraft shape measurement point in the aircraft coordinate system and the standard value of the aircraft shape measurement point in the aircraft coordinate system. When it is determined that the offset value of the target aircraft shape measurement point is greater than a preset offset threshold, an error reminder is issued to the target aircraft shape measurement point.

[0117] The aircraft shape measuring device provided in the embodiment of the present invention can execute the aircraft shape measuring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0118] Example 4

[0119] Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0120] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0121] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0122] The processor 11 can be various general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the aircraft shape measurement method described in an embodiment of the present invention. That is:

[0123] Obtain the current measurement station coordinates of the target measurement station in the AGV coordinate system in real time, and control the AGV to move to the target measurement station based on the current measurement station coordinates;

[0124] When the AGV reaches the target measurement station, it controls the LiDAR to obtain the measurement coordinates of the ERS positioning point in the LiDAR coordinate system.

[0125] Determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system. Determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system.

[0126] According to the theoretical coordinates of the aircraft shape measurement points in the laser radar coordinate system, the laser radar is controlled to measure the aircraft shape measurement points, and the measurement values ​​in the laser radar coordinate system are converted into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

[0127] In some embodiments, the aircraft profile measurement method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the aircraft profile measurement method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the aircraft profile measurement method in any other suitable manner (e.g., via firmware).

[0128] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0131] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0132] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0133] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0134] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0135] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for measuring an aircraft shape, characterized in that: include: Obtain the current measurement station coordinates of the target measurement station in the AGV coordinate system in real time, and control the AGV to move to the target measurement station based on the current measurement station coordinates; When the AGV reaches the target measurement station, it controls the LiDAR to obtain the measurement coordinates of the enhanced coordinate system ERS positioning point in the LiDAR coordinate system; Determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system. Determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system. According to the theoretical coordinates of the aircraft shape measurement points in the laser radar coordinate system, the laser radar is controlled to measure the aircraft shape measurement points, and the measurement values ​​in the laser radar coordinate system are converted into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

2. The method according to claim 1, characterized in that Before obtaining the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system in real time, the following steps are also included: Obtain the calibration relationships among the photographic coding points, ERS positioning points, and measurement stations in the aircraft shape measurement system, as well as the calibration relationships among the binocular camera coordinate system, the AGV coordinate system, and the LiDAR coordinate system. Among them, the binocular camera and lidar are configured at different positions in the automatic guided vehicle.

3. The method according to claim 2, characterized in that Obtain the calibration relationship between the photographic coding points, ERS positioning points, and measurement stations in the aircraft shape measurement system, including: Obtaining the coordinates of the measurement station and the ERS positioning point pre-planned in the measurement field, and calculating the calibration relationship between the measurement station and the ERS positioning point based on the measurement station coordinates and the ERS positioning point coordinates; The binocular camera is used to measure the coordinates of the ERS positioning points and the photographic coding points in the binocular camera coordinate system. Based on the design data of the ERS positioning points, the ERS positioning points and the photographic coding points in the binocular camera coordinate system are fitted to obtain the calibration relationship between the ERS positioning points and the photographic coding points. According to the calibration relationship between the measurement station and the ERS positioning point and the calibration relationship between the ERS positioning point and the photographic coding point, the calibration relationship between the measurement station and the photographic coding point is obtained.

4. The method according to claim 2, characterized in that Obtain the calibration relationship between the binocular camera coordinate system, the AGV coordinate system, and the LiDAR coordinate system, including: When the AGV is at the initial position, the initial coordinates of the laser tracker target ball on the AGV in the laser tracker coordinate system are obtained using the laser tracker in the measurement field, and the initial coordinates of the laser tracker target ball in the AGV coordinate system are recorded; Controlling the automatic guided vehicle to move to the first positioning point and the second positioning point respectively, and obtaining the first coordinate and the second coordinate of the laser tracker target ball in the laser tracker coordinate system, and the first coordinate and the second coordinate of the laser tracker target ball in the automatic guided vehicle coordinate system; Calibrate the laser tracker coordinate system and the automatic guided vehicle coordinate system according to the initial coordinate, first coordinate, and second coordinate of the laser tracker target ball in the laser tracker coordinate system and the initial coordinate, first coordinate, and second coordinate of the target ball in the automatic guided vehicle coordinate system; Measuring the laser tracker target sphere on the ERS positioning point using the laser tracker to obtain the coordinates of the ERS positioning point in the laser tracker coordinate system, and determining the coordinates of the ERS positioning point in the automatic guided vehicle coordinate system based on a calibration relationship between the laser tracker coordinate system and the automatic guided vehicle coordinate system; Using the binocular camera to measure the photographic target sphere on the ERS positioning point, obtaining the coordinates of the ERS positioning point in the binocular camera coordinate system, and obtaining a calibration relationship between the binocular camera coordinate system and the automatic guided vehicle coordinate system based on the coordinates of the ERS positioning point in the automatic guided vehicle coordinate system and the coordinates of the binocular camera coordinate system; The laser radar is used to measure the laser radar target sphere on the ERS positioning point to obtain the coordinates of the ERS positioning point in the laser radar coordinate system, and the calibration relationship between the binocular camera coordinate system and the laser radar coordinate system is obtained based on the coordinates of the ERS positioning point in the laser radar coordinate system and the coordinates of the binocular camera coordinate system.

5. The method according to claim 2, characterized in that The current measurement station coordinates of the target measurement station in the AGV coordinate system are obtained in real time, and the AGV is controlled to move to the target measurement station according to the current measurement station coordinates, including: Using the binocular camera to measure the photographic code points in real time, obtaining the real-time coordinates of the photographic code points in the binocular camera coordinate system, and determining the real-time coordinates of the target measurement station in the binocular camera coordinate system based on the calibration relationship between the measurement station and the photographic code points; According to the calibration relationship between the binocular camera coordinate system and the automatic guided vehicle and the real-time coordinates of the target measurement station in the binocular camera coordinate system, the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system are obtained in real time; According to the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system, the automatic guided vehicle is navigated and controlled to move to the target measurement station.

6. The method according to claim 2, characterized in that When the AGV reaches the target measurement station, it controls the LiDAR to obtain the measured coordinates of the ERS positioning point in the LiDAR coordinate system, including: When the AGV reaches the target measurement station, the binocular camera is used to measure the photographic code point, the coordinates of the photographic code point in the binocular camera system are obtained, and the coordinates of the photographic code point in the lidar coordinate system are determined based on the calibration relationship between the binocular camera coordinate system and the lidar coordinate system; Determine the theoretical coordinates of the ERS positioning point in the LiDAR coordinate system based on the calibration relationship between the photographic coding point and the ERS positioning point and the coordinates of the photographic coding point in the LiDAR coordinate system; The laser radar is controlled to measure the ERS positioning point according to the theoretical coordinates of the ERS positioning point in the laser radar coordinate system, and the measured coordinates of the ERS positioning point in the laser radar coordinate system are obtained.

7. The method according to claim 1, characterized in that According to the theoretical coordinates of the aircraft shape measurement points in the laser radar coordinate system, the laser radar is controlled to measure the aircraft shape measurement points, and the measurement values ​​in the laser radar coordinate system are converted into measurement values ​​in the aircraft coordinate system until all the aircraft shape measurement points are measured. The method further includes: The offset value of the aircraft shape measurement point is determined according to the measurement value of the aircraft shape measurement point in the aircraft coordinate system and the standard value of the aircraft shape measurement point in the aircraft coordinate system. When it is determined that the offset value of the target aircraft shape measurement point is greater than a preset offset threshold, an error reminder is issued to the target aircraft shape measurement point.

8. A device for measuring aircraft shape, characterized in that: include: The automatic guided vehicle movement module is used to obtain the current measurement station coordinates of the target measurement station in the automatic guided vehicle coordinate system in real time, and control the automatic guided vehicle to move to the target measurement station according to the current measurement station coordinates; The ERS positioning point measurement module is used to control the lidar measurement to obtain the measurement coordinates of the enhanced coordinate system ERS positioning point in the lidar coordinate system when the automatic guided vehicle reaches the target measurement station; An aircraft shape measurement point determination module is used to determine the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system based on the theoretical coordinates of the ERS positioning point in the aircraft coordinate system and the measured coordinates of the ERS positioning point in the lidar coordinate system, and to determine the theoretical coordinates of the aircraft shape measurement point in the lidar coordinate system based on the rotation and translation matrix between the lidar coordinate system and the aircraft coordinate system and the theoretical coordinates of the aircraft shape measurement point in the aircraft coordinate system; The aircraft shape measurement module is used to control the lidar to measure the aircraft shape measurement points according to the theoretical coordinates of the aircraft shape measurement points in the lidar coordinate system, and convert the measurement values ​​in the lidar coordinate system into measurement values ​​in the aircraft coordinate system until all aircraft shape measurement points are measured.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the aircraft shape measurement method according to any one of claims 1 to 7 of the present invention.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the aircraft shape measurement method according to any one of claims 1 to 7 when executed.

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