CTS test motion mechanism pose measurement device and mechanism pose calibration method

Abstract

The invention provides a CTS test motion mechanism pose measurement device and a mechanism pose calibration method, and the method comprises the steps: deploying a non-contact pose measurement system in a wind tunnel test section, the non-contact pose measurement system comprises a calibration target which is in rigid connection with a parallel mechanism moving platform, and the calibration target is provided with a plurality of detection target points; the target monitoring system is in control communication connection with the pose measurement system and is used for monitoring coordinate positions of a plurality of detection targets when the CTS test movement mechanism moves to each pose point according to the calibration pose point sequence; in the calibration process, the pose measurement system determines the pose of the movable platform according to the coordinate positions of the multiple detection targets collected by the target monitoring system, and a pose set is obtained; and according to the obtained pose set, a mechanism parameter identification module written based on programming software is called, an error equation is constructed according to the pose in the pose set and the deviation of the nominal pose calculated by the theoretical inverse solution model, and mechanism structure parameters are identified and determined by adopting a nonlinear least square method.

Description

Technical Field

[0001] This invention relates to the field of wind tunnel testing technology, and in particular to a CTS test motion mechanism posture measurement device, a mechanism posture calibration method, system, equipment and medium based on the posture acquisition device. Background Technology

[0002] Wind tunnel testing of the Capture Trajectory System (CTS) is a crucial method for studying the safe separation characteristics of an aircraft from its external stores. It requires accurately reproducing the actual deployment trajectory of the external stores during wind tunnel testing. This capability heavily depends on the high-precision attitude positioning achieved by the six-DOF parallel mechanism supporting and driving the model.

[0003] The positioning error of parallel mechanisms originates from multiple sources, primarily including: machining and assembly errors of individual components, structural deformation errors caused by temperature changes and loads, and vibration errors during motion. Among these, geometric parameter errors (such as hinge point position deviations and rod length deviations) are the main source of static positioning error, accounting for 60% to 70% of the total error. Kinematic calibration, by measuring the deviation between the actual pose and the model's predicted pose, identifies the actual geometric parameters of the mechanism and uses this to correct the control model, thus providing an effective method to improve the absolute positioning accuracy of parallel mechanisms.

[0004] Currently, in CTS testing, a contact calibration method based on a coordinate measuring machine (such as the Hexagon Absolute Measurement Arm) is commonly used. This method involves manually operating the measuring arm to contact and measure multiple feature points on a precision crosshair calibration frame fixed to the moving platform, thus calculating the current actual pose of the parallel mechanism's moving platform. An error model is constructed by comparing this model with the nominal pose calculated from the mechanism's inverse kinematics model and motor encoder readings, and geometric error parameters are identified using algorithms such as the least squares method. Typically, to ensure the accuracy of the calibration model within a large workspace, the entire workspace needs to be divided into multiple sub-regions for extensive calibration and verification experiments. If the error does not meet the requirements, recalibration is necessary. Although the reliability of this method has been verified, it has the following significant drawbacks: First, it is highly dependent on manual operation. The measurement personnel need to carry the heavy measuring arm for a long time in the narrow (such as 1.2 meters in diameter) wind tunnel test section to perform repetitive operations. The labor intensity is high and human error is easily introduced due to fatigue.

[0005] Secondly, the calibration process requires at least two people to work together (one to operate the control software and the other to operate the measuring equipment), which results in high communication costs and high requirements for the professional skills of the personnel.

[0006] Finally, the entire calibration process is extremely time-consuming, typically requiring two to three full days in the wind tunnel. This lengthy calibration time has become a bottleneck restricting the efficiency of the experiment.

[0007] In view of this, there is an urgent need to provide a fully automated, high-precision, and high-efficiency CTS parallel mechanism calibration method to completely eliminate the reliance on heavy manual operation, shorten calibration time, and improve the overall efficiency and safety of the test. Summary of the Invention

[0008] To overcome the problems existing in related technologies, this disclosure provides a method, device, equipment and medium for calibrating the position and posture of a CTS test motion mechanism, so as to solve the problems of low efficiency, high labor costs and high safety risks of existing calibration methods.

[0009] This specification provides one or more embodiments of an automatic pose calibration device for a CTS test motion mechanism, comprising: A non-contact pose measurement system is deployed in the wind tunnel test section. The pose measurement system includes a calibration target rigidly connected to the parallel mechanism moving platform, and multiple detection target points are set on the calibration target. The target monitoring system, which is connected to the pose measurement system for control communication, is used to monitor the coordinate positions of multiple detection target points when the CTS test motion mechanism moves to each pose point according to the calibrated pose point sequence. During the calibration process, the pose measurement system determines the pose of the moving platform based on the coordinate positions of multiple detection target points collected by the target monitoring system, and obtains a pose set. Based on the obtained pose set, the system calls the mechanism parameter identification module written in programming software, constructs an error equation based on the deviation between the pose in the pose set and the nominal pose calculated by the theoretical inverse solution model, and uses the nonlinear least squares method to identify and determine the mechanism structural parameters.

[0010] This specification provides one or more embodiments of a mechanism pose calibration method based on the CTS test motion mechanism pose measurement device, including the following steps: Automated pose data acquisition: In the sub-calibration space, the host computer loads a pre-planned sequence of calibration pose points. After the mechanism motion control system controls the parallel mechanism to move to the preset calibration pose, it sends a positioning signal to the pose measurement system. After receiving the signal, the pose measurement system automatically triggers the target monitoring system to collect the coordinate position changes of multiple detection target points, thereby determining the six-degree-of-freedom pose of the current moving platform. Then, it drives the mechanism to move to the next pose, and repeats the mechanism motion-pose measurement process until the pose data of the moving platform under all preset calibration pose points are completed, and a pose dataset is obtained. Mechanism parameter identification: Obtain each pose in the pose dataset, combine it with the corresponding nominal pose determined by the nominal kinematic model of the mechanism, and then use the least squares algorithm to identify the key mechanism structural parameters to obtain the mechanism structural parameters. Control model update: Update the mechanism structure parameters to the inverse kinematic model of the mechanism motion controller, replacing the original nominal parameters, so as to correct the kinematic model of the mechanism; Calibration effect verification and iteration: Plan a set of calibration pose points. The pose measurement system obtains the actual six-degree-of-freedom pose of the moving platform through automated pose data acquisition steps, and calculates the error with the commanded pose. If the errors of displacement and attitude both meet the predetermined accuracy threshold, the sub-calibration space pose calibration is deemed qualified; if not, the above steps are automatically repeated for iterative calibration until the pose calibration is qualified. Sub-calibration space pose calibration iteration: Determine whether the pose calibration of all sub-calibration spaces has been completed. If not, complete the pose calibration of the next sub-calibration space based on the above steps.

[0011] This specification provides one or more embodiments of a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the mechanism pose calibration method as described above.

[0012] This specification provides one or more embodiments of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the mechanism pose calibration method as described above.

[0013] This disclosure provides a pose measurement device and pose calibration method for a CTS test motion mechanism. The advantages are that, based on a set pose measurement system, a calibration target rigidly connected to the moving platform is used. As the CTS test motion mechanism moves to each pose point according to the calibration pose point sequence, the position changes of the detection target points on the calibration target are detected by a target monitoring system. Then, the pose measurement system determines the displacement and six-degree-of-freedom pose of the moving platform based on the coordinate positions of multiple detection target points, obtaining a pose set. Based on the obtained pose set, a parameter identification module written in programming software is called. An error equation is constructed using the deviation between the poses in the pose set and the nominal pose calculated by the theoretical inverse kinematics model. The nonlinear least squares method is used to identify and determine the mechanism's structural parameters. Thus, this embodiment uses non-contact measurement technology to achieve fully automatic determination of the mechanism's structural parameters, reducing human intervention, improving efficiency and safety, and avoiding the risks of human error and equipment damage. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A schematic block diagram of the CTS test motion mechanism pose measurement device provided in one or more embodiments of this specification; Figure 2 A schematic diagram of an automatic pose calibration device for a CTS test motion mechanism provided in one or more embodiments of this specification; Figure 3 A schematic diagram of a first calibration target 4 provided for one or more embodiments of this specification; Figure 4 A schematic diagram of another CTS test motion mechanism automatic pose calibration device provided for one or more embodiments of this specification. Figure 5 A schematic diagram of the second calibration target 6 provided for one or more embodiments of this specification; Figure 6 A flowchart of the CTS test motion mechanism pose calibration method provided in one or more embodiments of this specification; Figure 7 A flowchart illustrating the pose calibration method for a CTS test motion mechanism provided in one or more embodiments of this specification; Figure 8 This is a schematic diagram of the structure of a computer device provided for one or more embodiments of this specification. Detailed Implementation

[0016] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this invention.

[0017] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0018] Device Examples According to an embodiment of the present invention, a pose measurement device for a CTS test motion mechanism is provided, with reference to... Figure 1The diagram shown is a schematic block diagram of the CTS test motion mechanism pose measurement device provided in this embodiment. According to this embodiment of the invention, the CTS test motion mechanism pose measurement device includes: A non-contact pose measurement system is deployed in wind tunnel test section 1. The system includes a calibration target rigidly connected to a parallel mechanism moving platform, and multiple detection target points are set on the calibration target. The target monitoring system is connected to the pose measurement system and is used to monitor the coordinate positions of multiple detection target points when the CTS test motion mechanism moves to each pose point according to the calibrated pose point sequence. The pose measurement system determines the displacement and attitude of the parallel mechanism motion platform based on the coordinate positions of multiple detection target points collected by the target monitoring system, thus obtaining a pose set. Based on the obtained pose set, the system calls the mechanism parameter identification module written in MATLAB and other programming software to construct an error equation by the deviation between the pose in the pose set and the nominal pose calculated by the theoretical inverse solution model. The nonlinear least squares method is then used to identify and determine the mechanism structural parameters.

[0019] In this embodiment, the poses in the pose set are pose data obtained by a pose measurement system.

[0020] In one embodiment, the target monitoring system includes a calibration target with multiple marker points as detection target points, rigidly connected to the moving platform 2 of the parallel mechanism, and a multi-view vision system 3 controlled by the pose measurement system and surrounding the wind tunnel test device to capture the marker points; the multi-view vision system 3 and the pose measurement system establish a bidirectional interactive link between the mechanism motion control system and the pose measurement system through a communication network based on the TCP / UDP protocol; wherein, the calibration target is a square plate, the marker points are highly reflective circular protrusions on the surface of the square plate, and are monitored by the multi-view vision system 3.

[0021] For example, refer to Figure 2 This is a schematic diagram of the automatic pose calibration device for the CTS test motion mechanism provided in this embodiment. The target monitoring system includes a multi-view vision system 3 and a first calibration target 4. refer to Figure 3 The first calibration target 4 includes a rigid first target plate made of precision machining. At least four highly reflective circular markers are arranged on the upper surface of the first target plate in a specific asymmetrical pattern. Marker points may also be set on the side of the first target plate. The first calibration target 4 is rigidly connected to the moving platform 2, for example, by flange connection or direct welding. The pose of the calibration target is the pose of the moving platform. The multi-view vision system 3 includes multiple cameras that are evenly arranged on the rigid supports on the upper front and upper rear sides of the wind tunnel test section. They surround and take pictures of all the markers set on the first calibration target 4 from above, so as to realize the shooting of the first calibration target 4 when the CTS test motion mechanism moves and feed the feedback to the pose measurement system.

[0022] In another embodiment, the target monitoring system includes a second calibration target with multiple reflective target balls rigidly connected to the moving platform 2, and a laser tracker system 5 controlled by the pose measurement system for tracking the reflective target balls. The laser tracker system 5 communicates with the pose measurement system via Ethernet (EtherCAT or TCP / IP).

[0023] For example, refer to Figure 4 This is a schematic diagram of another CTS test motion mechanism automatic pose calibration device provided in this embodiment. The target monitoring system includes a laser tracker system 5 and a second calibration target 6, which can be referred to. Figure 5 The second calibration target 6 includes a second target plate, on the upper surface of which at least three non-collinear reflective target balls are set. The second calibration target 6 is rigidly connected to the moving platform 2 via a flange. The laser tracking system 5 is fixedly set on the connector on the wall of the wind tunnel test section 1 and is located in front of the second calibration target 6. It can identify all reflective target balls in a top-down posture and monitor the coordinate position changes of multiple target balls when the CTS test motion mechanism moves, and feed the feedback to the pose measurement system.

[0024] The CTS test motion mechanism pose measurement device provided in this embodiment, based on the set pose measurement system, uses a calibration target rigidly connected to the moving platform 2. When the CTS test motion mechanism moves to each pose point according to the calibration pose point sequence, the target monitoring system detects the position changes of the detection target points on the calibration target. Then, the pose measurement system determines the displacement and six-degree-of-freedom pose of the moving platform 2 based on the coordinate positions of multiple detection target points, obtaining a pose set. Based on the obtained pose set, a parameter identification module written in programming software is called. An error equation is constructed by the deviation between the pose in the pose set and the nominal pose calculated by the theoretical inverse solution model. The nonlinear least squares method is used to identify and determine the mechanism structure parameters. In this embodiment, the method uses non-contact measurement technology to realize the determination of fully automatic mechanism structure parameters, reduce human intervention, improve efficiency and safety, and avoid the risk of human error and equipment damage.

[0025] Method Implementation Examples According to embodiments of the present invention, a method for calibrating the pose of a CTS test motion mechanism using a pose measurement device is provided, such as... Figure 6 and 7 As shown, Figure 6 This is a flowchart of the CTS test motion mechanism pose calibration method provided in this embodiment. Figure 7 This is a flowchart of the CTS test motion mechanism pose calibration method provided in this embodiment. The CTS test motion mechanism pose calibration method according to this embodiment includes the following steps: Step S1, Automated Pose Data Acquisition: A bidirectional interactive link is established between the mechanism motion control system and the pose measurement system through a communication network based on the TCP / UDP protocol. In the sub-verification space, the host computer loads a pre-planned sequence of calibration pose points. After the mechanism motion control system controls the parallel mechanism to move to the preset calibration pose, it sends a positioning signal to the pose measurement system. After receiving the signal, the pose measurement system automatically triggers the target monitoring system to collect the coordinate position changes of multiple detection target points, thereby determining the displacement and six-degree-of-freedom pose of the current moving platform 2. Then, the mechanism is driven to move to the next pose, and the mechanism motion-pose measurement process is repeated until the pose data of the moving platform 2 under all preset calibration pose points is determined. In this embodiment, the calibration pose point sequence may include 100-200 preset pose points.

[0026] In one embodiment, the interaction between the motion control system of the CTS test motion mechanism and the pose measurement system is achieved by calling the interface and network communication protocol to realize the automatic triggering and synchronization of commands and signals. The interface can be a secondary development interface (API) provided by the measurement equipment supplier or the interface of the self-developed calibration software.

[0027] Step S2, Mechanism Parameter Identification: Obtain each pose in the pose dataset, combine it with the corresponding nominal pose determined by the nominal kinematic model of the mechanism, and use the least squares algorithm to identify the key mechanism structural parameters (such as hinge point position, link length, etc.) that affect the positioning accuracy of the mechanism to obtain the mechanism structural parameters. In this embodiment, the process of identifying the mechanism parameters can refer to Section 1.3, "Structural Parameter Identification," in the paper "Ground Calibration Method of Parallel Mechanism for Trajectory Capture System" by Xie Feng, Hong Guanxin, et al., published in the Journal of Aeronautics in 2020 [J]. Journal of Aeronautics, pp. 423175-5.

[0028] Step S3, control model update: update the mechanism structure parameters identified in step S2 to the inverse kinematics model of the mechanism motion controller, replace the original nominal parameters, so as to correct the kinematic model of the mechanism and improve the pose control accuracy. Step S4, Calibration Effect Verification and Iteration: A set of calibration pose points is planned. The pose measurement system obtains the actual six-degree-of-freedom pose of the moving platform 2 through step S2, calculates its error compared with the commanded pose, and determines that the sub-calibration space pose calibration is qualified if both the displacement and attitude errors meet the predetermined accuracy thresholds; otherwise, steps S1 to S4 are automatically repeated for iterative calibration until the pose calibration is qualified. In this embodiment, the preset displacement error accuracy threshold is displacement ≤ 0.1 mm, and the attitude error accuracy threshold is attitude ≤ 0.05°.

[0029] Step S5, Sub-calibration space pose calibration iteration: Determine whether the pose calibration of all sub-calibration spaces has been completed. If not, complete the pose calibration of the next sub-calibration space based on the above steps S1-S4.

[0030] In this embodiment, the process of the mechanism pose calibration method is automatically completed by integrated host computer software, which has functions such as calibration point management, data communication, parameter identification algorithm, model update and verification report generation.

[0031] The mechanism pose calibration method provided in this embodiment offers a non-contact, automated, efficient, and safe automated calibration method for CTS test motion mechanisms. This improves the calibration efficiency and safety of CTS test motion mechanisms, reduces labor costs, and solves the problems of low efficiency, high labor costs, and high safety risks associated with existing calibration methods.

[0032] In one embodiment, if the target monitoring system includes a multi-view vision system 3 and a first calibration target 4, the automated pose data acquisition steps are as follows: Step A1: The host computer loads the pre-planned sequence of calibration pose points, and the mechanism motion control system controls the parallel mechanism to move to the first preset calibration pose point. The system then sends a "positioning" command to the multi-view vision system 3 via the TCP protocol.

[0033] In step A2, after receiving the instruction, the pose measurement system uses the principle of multi-view vision 3D reconstruction to acquire a 2D image containing the first calibration target 4 through the synchronous camera of the multi-view vision system 3. Combining the relative positions and intrinsic / extrinsic parameters between the cameras, it performs triangulation on multiple marker points to calculate the 3D coordinates of each marker point, thereby calculating the six-degree-of-freedom pose (X, Y, Z, α, β, γ) of the moving platform 2. After the measurement is completed, the pose measurement system sends a "measurement complete" signal to the mechanism motion control system via the TCP protocol. In one specific embodiment, during the calibration phase, when the moving platform is at zero position (attitude angle is zero), the coordinate system of three non-collinear marker points on the target surface is collected, denoted as the point set {P}. i The relative positions of these points in the volume coordinate system of the moving platform are fixed, forming a "virtual rigid body"; when the moving platform changes pose, the "virtual rigid body" changes accordingly, and the point set {Q} is measured at this time. i The displacement and angle of change can be calculated from the point sets P and Q.

[0034] Specifically, when the three-dimensional coordinates of the marker points at the zero position and the moving position are obtained, the displacement vector of each marker can be calculated (because it is a rigid body, theoretically the displacement vector of each point should be equal, so one point can be taken as a representative, or the average value can be taken as a representative), thus obtaining the displacement; the attitude is the rotation of the "virtual rigid body" from the zero position to the moving position, which can be calculated by the three-dimensional coordinates of the zero position and the moving position. The attitude angle of the moving platform 2 at the moving position can be obtained from the rotation matrix.

[0035] Step A3, repeat steps A1-A2 to complete the determination of the pose data of the moving platform 2 under all preset calibrated pose points.

[0036] In another embodiment, if the target monitoring system includes a laser tracker system 5 and a second calibration target 6, the automated pose data acquisition steps are as follows: Step B1: The host computer loads the pre-planned sequence of calibration pose points, and the mechanism motion control system controls the parallel mechanism to move to the first preset calibration pose point, and sends a "positioning" command to the pose measurement system via TCP protocol.

[0037] In step B2, after receiving the instruction, the pose measurement system uses a laser tracker to acquire the spatial coordinates of the reflective target ball group of the second calibration target 6 in real time, and then calculates the six-degree-of-freedom pose (X, Y, Z, α, β, γ) of the moving platform 2. After the measurement is completed, the pose measurement system sends a "measurement complete" signal to the mechanism motion control system via TCP protocol. Step B3, repeat steps B1-B2 to complete the determination of the pose data of the moving platform 2 under all preset calibration pose points.

[0038] The mechanism posture calibration method implemented by the CTS test motion mechanism posture measurement device can achieve posture calibration and verification process that meets the CTS test requirements (displacement ≤0.1mm, posture ≤0.05°). The entire calibration process does not require manual intervention, and the efficiency is improved by about 5 times compared with manual methods.

[0039] like Figure 8 As shown, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the CTS test motion mechanism pose calibration method in the above embodiments.

[0040] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the pose calibration method of the CTS test motion mechanism in the above embodiments.

[0041] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0042] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0043] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention are well known to those skilled in the art.

Claims

1. An automatic pose calibration device for a CTS test motion mechanism, characterized in that, include: A non-contact pose measurement system is deployed in the wind tunnel test section. The pose measurement system includes a calibration target rigidly connected to the parallel mechanism moving platform, and multiple detection target points are set on the calibration target. The target monitoring system, which is connected to the pose measurement system for control communication, is used to monitor the coordinate positions of multiple detection target points when the CTS test motion mechanism moves to each pose point according to the calibrated pose point sequence. During the calibration process, the pose measurement system determines the pose of the moving platform based on the coordinate positions of multiple detection target points collected by the target monitoring system, and obtains a pose set. Based on the obtained pose set, the mechanism parameter identification module written in programming software is called to construct an error equation by the deviation between the pose in the pose set and the nominal pose calculated by the theoretical inverse solution model, and the nonlinear least squares method is used to identify and determine the mechanism structural parameters.

2. The automatic pose calibration device for the CTS test motion mechanism as described in claim 1, characterized in that, The target monitoring system includes a calibration target with multiple marker points as detection target points, which is rigidly connected to the moving platform of the parallel mechanism; A multi-view vision system controlled by a pose measurement system and positioned above the wind tunnel test apparatus to capture marker points.

3. The automatic pose calibration device for the CTS test motion mechanism as described in claim 2, characterized in that, The target monitoring system includes a multi-view vision system and a first calibration target; The first calibration target includes a first target plate, on the upper surface of which are provided at least four highly reflective circular marking points arranged in a specific asymmetrical pattern. The first calibration target is rigidly connected to the moving platform. The multi-view vision system includes multiple cameras that are evenly arranged on the upper front and upper rear rigid supports of the wind tunnel test section, forming a surround and top-down view to capture all the marked points set on the first calibration target.

4. The automatic pose calibration device for the CTS test motion mechanism as described in claim 1, characterized in that, The target monitoring system includes a second calibration target equipped with multiple reflective target balls and rigidly connected to the moving platform; A laser tracker system controlled by a pose measurement system and used to track a reflective target ball. The laser tracker system communicates with the pose measurement system via Ethernet.

5. The automatic pose calibration device for the CTS test motion mechanism as described in claim 4, characterized in that, The target monitoring system includes a laser tracker system and a second calibration target; The second calibration target includes a second target plate, on the upper surface of which are at least three non-collinear reflective target balls. The second calibration target is rigidly connected to the moving platform via a flange. The laser tracker system is fixed on the connector on the wall of the wind tunnel test section and positioned in front of the second calibration target to identify all reflective target balls in a top-down posture. It also monitors the coordinate position changes of multiple reflective target balls when the CTS test motion mechanism moves and feeds the data back to the pose measurement system.

6. A mechanism pose calibration method based on the CTS test motion mechanism pose measurement device according to any one of claims 1-5, characterized in that, Including the following steps: Automated pose data acquisition: In the sub-calibration space, the host computer loads a pre-planned sequence of calibration pose points. After the mechanism motion control system controls the parallel mechanism to move to the preset calibration pose, it sends a positioning signal to the pose measurement system. After receiving the signal, the pose measurement system automatically triggers the target monitoring system to collect the coordinate position changes of multiple detection target points, thereby determining the six-degree-of-freedom pose of the current moving platform. Then, it drives the mechanism to move to the next pose, and repeats the mechanism motion-pose measurement process until the pose data of the moving platform under all preset calibration pose points are completed, and a pose dataset is obtained. Mechanism parameter identification: Obtain each pose in the pose dataset, combine it with the corresponding nominal pose determined by the nominal kinematic model of the mechanism, and then use the least squares algorithm to identify the key mechanism structural parameters to obtain the mechanism structural parameters. Control model update: Update the mechanism structure parameters to the inverse kinematic model of the mechanism motion controller, replacing the original nominal parameters, so as to correct the kinematic model of the mechanism; Calibration effect verification and iteration: Plan a set of calibration pose points. The pose measurement system obtains the actual six-degree-of-freedom pose of the moving platform through automated pose data acquisition steps, and calculates the error with the commanded pose. If the errors of displacement and attitude both meet the predetermined accuracy threshold, the sub-calibration space pose calibration is deemed qualified; if not, the above steps are automatically repeated for iterative calibration until the pose calibration is qualified. Sub-calibration space pose calibration iteration: Determine whether the pose calibration of all sub-calibration spaces has been completed. If not, complete the pose calibration of the next sub-calibration space based on the above steps.

7. The mechanism pose calibration method as described in claim 6, characterized in that, The automated pose data acquisition steps for a target monitoring system, including a multi-view vision system and a first calibrated target, are as follows: Step A1: The host computer loads the pre-planned sequence of calibration pose points, the mechanism motion control system controls the parallel mechanism to move to the first preset calibration pose point, and sends a "positioning" command to the pose measurement system; In step A2, after receiving the instruction, the pose measurement system uses the principle of multi-view vision 3D reconstruction to acquire a 2D image containing the first calibration target through the multi-view vision system. Combining the relative positional relationship between the cameras and the intrinsic and extrinsic parameters, the system performs triangulation on multiple marker points using the triangulation method to calculate the 3D coordinates of each marker point, and then calculates the displacement and six-degree-of-freedom pose of the moving platform. After the measurement is completed, the pose measurement system sends a "measurement completed" signal to the mechanism motion control system via the TCP protocol. Step A3: Repeat steps A1-A2 to complete the determination of the attitude data of the moving platform under all preset calibration pose points.

8. The mechanism pose calibration method as described in claim 6, characterized in that, The automated pose data acquisition steps for the target monitoring system, which includes a laser tracker system and a second calibrated target, are as follows: Step B1: The host computer loads the pre-planned sequence of calibration pose points, the mechanism motion control system controls the parallel mechanism to move to the first preset calibration pose point, and sends a "positioning" command to the pose measurement system. Step B2: After receiving the instruction, the pose measurement system uses a laser tracker to acquire the spatial coordinates of the reflective target ball group of the second calibration target in real time, and then calculates the six-degree-of-freedom pose of the moving platform; after the measurement is completed, the pose measurement system sends a "measurement completed" signal to the mechanism motion control system via TCP protocol. Step B3: Repeat steps B1-B2 to complete the determination of the pose data of the moving platform under all preset calibration pose points.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the mechanism pose calibration method as described in any one of claims 6 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the mechanism pose calibration method as described in any one of claims 6 to 8.

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