Method for automated alignment of two parts comprising servo-control with profilometers

Abstract

The invention relates to a method for automated alignment of a stationary part (1) with a movable part (2) capable of being moved towards the stationary part by a robot (3), the stationary part (1) and the movable part (2) each comprising an end (4, 5), the two ends forming an alignment interface (6). The method comprises the steps of positioning of multiple profilometers around the alignment interface so that the alignment interface is located in the field of view of the profilometers, determination of a target profile of the end of the movable part, measurement of a profile of the end of the movable part by the profilometers, comparison of the target profile and the measured profile, generating a speed setpoint in the measurement space, and movement of the movable part towards the stationary part (1) by the robot (3) on the basis of this speed setpoint.

Description

DESCRIPTION AUTOMATED DOCKING METHOD FOR TWO PARTS INCLUDING CONTROL WITH PROFILOMETERS TECHNICAL FIELD OF THE INVENTION

[0001] The invention relates, in general, to the technical field of automated docking methods for two parts and more particularly the precision docking of sheets by robotic systems. It also relates to a docking device implementing these methods.

[0002] The invention relates more specifically to an automated docking method for aligning two parts of an aircraft fuselage before a riveting operation, for example.

[0003] This type of robotic system is also called a machine tool. The term machine tool refers to a mechanism composed of servo-controlled digital axes. These may include robotic gantries or industrial robots, which are referred to below as robots. STATE OF THE PRIOR ART

[0004] Generally speaking, the structure of an aircraft is very complex and is often divided into several structural elements with large cross-sections. For example, the fuselage of an aircraft is made up of several metal or composite sheets that are assembled together. To be able to be assembled, these sheets are first positioned precisely relative to each other and then pressed against each other.

[0005] Aircraft manufacturers currently use global positioning of fuselage sections using a laser tracking metrology system. Docking is then carried out iteratively by operators, who alternate between reading the relative positions of the sections to be assembled and moving the support supporting one of the sections. For certain types of aircraft, the alignment of the sheets at the interfaces is not guaranteed by tolerancing. Misalignments or collisions are frequent and considerably disrupt the adjustment, requiring corrective maneuvers or adjustment operations. In addition, this manual adjustment requires the operator's experience to compensate for tool deformation, alignment errors or mechanical play. This manual movement process is also very time-consuming.

[0006] Document CN110919654 is known, which aims to solve these problems and discloses a robotic arm controlled by a camera. The camera produces images of the interface between two parts of an aircraft fuselage to be assembled, which are transmitted to an image processing system which in return calculates a movement instruction which is transmitted to the robotic arm.

[0007] However, these prior art camera-based servo systems are not precise and can lead to collisions or friction between the sheets. STATEMENT OF THE INVENTION

[0008] The invention aims to remedy all or part of the drawbacks of the state of the art by proposing in particular an automated docking method which is more precise than those of the prior art.

[0009] The invention focuses only on the local adequacy of the interfaces and can be coupled with a global positioning process of the sections if necessary.

[0010] To this end, a first aspect of the invention proposes a method for automated docking of a fixed part with a moving part capable of being moved towards the fixed part by a robot. The fixed part and the moving part each comprise an end. The two ends form a docking interface.

[0011] The docking method comprises the steps of: positioning several profilometers around the docking interface so that the docking interface is located in the field of vision of the profilometers, the profilometers being fixed relative to the fixed part, determining a target profile of the end of the moving part, measurement of a profile of the end of the moving part by the profilometers, comparison between the target profile and the measured profile generating a movement instruction based on a difference between the target profile and the measured profile, and movement of the moving part towards the fixed part by the robot from the movement instruction.

[0012] According to a variant, during the step of measuring a profile of the end of the moving part, each profilometer carries out a measurement at a point of the end of the moving part generating a measurement vector (x, z, a), with (x, z) designating the coordinates of a point A of the profile at the end of the moving part and a the tangent to the profile at point A, x being a coordinate along a scanning direction of the profilometer, approximately parallel to the direction of advancement of the moving part and z being a coordinate along a transverse direction perpendicular to the scanning direction.

[0013] According to another variant, target vectors (x', z', a') are generated when determining a target profile of the end of the moving part, with (x', z') designating the coordinates of a target point A' of a target profile and a' the tangent to the target point A', x' being a coordinate along the scanning direction parallel to the direction of advancement of the moving part and z' being a coordinate along the transverse direction.

[0014] According to another variant, the measurement vectors (x, z, a) are compared with the target vectors (x', z', a') to determine a deviation between the target and the observed moving part. From their deviation, a velocity vector in the sensor space is determined from the deviation, the norm being set to follow a particular bounded acceleration profile. The direction of the velocity vector is also determined. A pseudo-inverse operation of the interaction matrix is ​​applied to this velocity vector to obtain Cartesian velocities and a multiplication by the inverse Jacobian matrix of the robot is applied to the Cartesian velocities to obtain a displacement setpoint.

[0015] According to another variant, the docking method comprises an initialization step in which the position of the fixed part relative to the profilometers is determined to be able to generate three target vectors including a first target vector (x', z', a') for a part presentation step, a second target vector (x', z', a') for a part overlap step, and a third target vector (x', z', a') for a part plating step.

[0016] According to another variant, the docking method comprises, after the initialization step, three successive servo loops of the profiles of the end of the moving part by the profilometers obtained thanks to the approximate position of the moving part relative to the robot and the approximate position of the profilometers and of the fixed part relative to the robot. This makes it possible to generate desired robot movement speeds in the measurement space. The uncertainty of these positionings is compensated by the closed-loop control.

[0017] According to another variant, the control loops each comprise a profile measurement operation at point A of the end of the moving part by the profilometers generating a measurement vector (x, z, a) during the part presentation step, the part overlapping step and the part plating step.

[0018] According to another variant, during the part presentation step, the distances between the two parts, according to the scanning direction and the transverse direction, are a few centimeters. During the overlapping step, the moving part translates towards the fixed part according to the scanning direction up to a distance less than a few millimeters according to the scanning direction and maintaining a distance of a few centimeters from the fixed part according to the transverse direction. During the plating step, the moving part translates relative to the fixed part according to the transverse direction until the two parts are in contact.

[0019] The invention also relates to an automated device for docking a moving part to a fixed part implementing a docking method as defined previously.

[0020] The docking device comprises: several profilometers distributed at different points of the interface and configured to measure the profile of the end of the moving part and the profile of the end of the fixed part, a processing means configured to generate a displacement instruction for the moving part relative to the fixed part from the measurements of the profile of the end of the moving part and the profile of the end of the fixed part made by the profilometers, and a robot configured to move the moving part relative to the fixed part according to the displacement instruction.

[0021] Alternatively, the profilometers are laser profilometers distributed regularly around the docking interface.

[0022] According to another variant, the profilometers are attached to a fixed part of the robot.

[0023] The invention thus makes it possible to provide an automated docking method ensuring the correct matching of the interfaces, simpler and more precise than those of the prior art and reducing the duration of the docking operation to less than 1 minute. This method can be coupled with a global section positioning method, for example, according to a master / slave mode.

[0024] The proposed solution does not create any collision or friction between the parts, until they voluntarily come into contact, in the final phase.

[0025] The proposed solution guarantees optimal docking by the presence of several contact points for sections of approximately 4 m in diameter. The contact points are distributed along the interface without the need for deformation of the parts. The contact area can be enlarged, at the cost of conforming the parts.

[0026] It also features positioning repeatability of the order of 0.2 mm until the parts begin to be shaped.

[0027] Additionally, profilometers do not require very precise placement around their respective nominal positions. There is no need for recalibration.

[0028] The solution is generic and can be extended to other types of parts and for applications other than aircraft. BRIEF DESCRIPTION OF THE FIGURES

[0029] Other characteristics and advantages of the invention will emerge from reading the description which follows, with reference to the appended figures, which illustrate: figure 1: a view of a moving part moving relative to a fixed part during a docking process according to an embodiment of the invention; figure 2: a graph comprising three vectors including vectors measured by the profilometers; figure 3: a diagram representing the different stages of the automated docking process making it possible to obtain a movement instruction.

[0030] For clarity, identical or similar elements are identified by identical reference signs throughout the figures. DETAILED DESCRIPTION OF AN EMBODIMENT

[0031] The invention relates to a method for automated docking of a fixed part 1 with a moving part 2 capable of being moved towards the fixed part 1 by a robot 3. The fixed part 1 and the moving part 2 each comprise an end 4, 5. The two ends 4, 5 form a docking interface 6.

[0032] Figure 1 illustrates a view of the moving part 2 moving relative to the fixed part 1 during the docking process.

[0033] Robot 3 is a robotic system also called a machine tool. A machine tool can be a mechanism composed of digital axes servo-controlled. These may include robotic gantries or industrial robots identified below as actuators.

[0034] In the following example, the moving part 2 is moved by four robots 3 formed by actuators. Two actuators are positioned on each side of the moving part 2.

[0035] Each robot 3 comprises a fixed part 15 fixed to the ground, connected to a mobile part 16 allowing the mobile part 2 to be moved.

[0036] In this example, the moving part 2 and the fixed part 1 are curved metal sheets having approximately a hemisphere shape. The moving part 2 and the fixed part 1 are portions of an aircraft fuselage. Other shapes and applications are also possible.

[0037] According to a possible embodiment of the invention, the docking method comprises a step of positioning several profilometers 7 around the docking interface 6 so that the docking interface 6 is located in the field of vision of the profilometers 7. The profilometers 7 are fixed relative to the fixed part 1.

[0038] Preferably, at least three profilometers 7 are distributed regularly around the docking interface 6.

[0039] The 7 profilometers used can be 7 “ScanControl” profilometers from the company Micro-epsilon, for example.

[0040] It is important to distribute the profilometers 7 regularly along the docking interface 6 in order to benefit from uniform control of the junction between the two parts 1, 2.

[0041] On the other hand, in the case of parts 1, 2 in the form of boats, the profilometers 7 are located at the end of the parts 1, 2 and undergo significant flexibility of the parts 1, 2 at this location. The parts 1, 2 are in fact deformed under their own weight. This deformation cannot be compensated for by the docking system which is limited to rigid movements only. The conformation is undergone via the contact between the parts 1, 2 and is not controlled.

[0042] A good compromise is therefore required. The profilometers 7 must be well spaced while remaining located in "controllable" areas of parts 1, 2, i.e. rigidly connected as much as possible to the actuators. It should be noted that "bubbles" can form, which are difficult to model, when parts 1, 2 come into contact in areas that are nevertheless rigid. This makes it almost impossible to choose an ideal location for the profilometers 7, which must therefore be done empirically.

[0043] According to a preferred embodiment, the docking method comprises three steps including a step of presenting or approaching the parts 1, 2. The moving part 2 is “presented” facing the fixed part 1. The moving part 2 is well aligned with the fixed part 1. The distances between the two parts 1, 2 in a scanning direction X and a transverse direction Z are a few centimeters.

[0044] The scanning direction X of the profilometers 7 is approximately parallel to the direction of advancement A of the moving part 2. The transverse direction Z is substantially perpendicular to the scanning direction X and is substantially parallel to the direction of emission of the laser of the profilometers 7. There is a direction Y perpendicular to the directions X and Z.

[0045] In this example and with respect to figure 1, the scanning direction X is substantially parallel to the axis of the parts 1, 2 and the transverse direction Z is substantially orthogonal to their surface.

[0046] The docking method also comprises an overlapping step in which the moving part 2 translates towards the fixed part 1 in the scanning direction X up to a distance of less than 4 mm in the scanning direction X and maintaining a distance of a few centimeters from the fixed part 1 in the transverse direction Z.

[0047] This is followed by a plating step in which the moving part 2 translates relative to the fixed part 1 in the transverse direction Z until the two parts 1, 2 are in actual or imminent contact. For example, the distance in the transverse direction Z can be 2 mm. Then, the parts 1, 2 deform or conform by applying a force in the transverse direction Z until reaching a threshold which can be 800 Newton, for example.

[0048] The movements of the moving part 2 during these three stages are obtained by a control based on the measurements of the profile of the end 5 of the moving part 2 and the profile of the end of the fixed part 1. The information from each profilometer 7 gives a cloud of points from which it is possible to extract a straight line, representing the profile of the observed part.

[0049] Figure 2 represents the profile or vector S of the moving part 2, the profile or vector S” of the fixed part 1 and the profile or vector S' of the target in the case of a single profilometer 7. With n profilometers 7, the vectors S and S' therefore have 3n components.

[0050] The docking method comprises a control loop in which a target profile of the end 5 of the moving part 2 is determined for the three steps previously described and in which profiles of the end 5 of the moving part 2 and profiles of the end 4 of the fixed part 1 are measured by the profilometers 7.

[0051] The docking method comprises in particular an initialization step in which the position of the fixed part 1 relative to the profilometers 7 is measured in order to be able to generate three target vectors SI', S2', S3' including a first target vector SI' having coordinates (x'i, z'i, a'i) during the part presentation step, a second target vector S2' having coordinates (x'2, z'2, a'2) during the part overlapping step and a third target vector S3' having coordinates (x'3, z'3, a'3) during the part plating step.

[0052] The relative position of the fixed part 1 in relation to the actuators or more precisely in relation to the fixed part 15 of the actuators is known approximately because the fixed part 1 is referenced in a workshop reference.

[0053] The relative position of the fixed part of the actuators with respect to the moving part 2 is also known approximately at all times, by the geometry of the fixed part 1 and the model of the actuator.

[0054] Finally, the relative position of the fixed part 1 with respect to the profilometers 7 is also known approximately. Too low a precision can compromise the stability of the control.

[0055] The concatenation of the information read on the n profilometers 7 makes it possible to obtain a measurement vector of the fixed part 1 S” having coordinates (x”, z”, a”), with (x”, z”) designating the coordinates of a point (A”) of a profile at the end of the fixed part 1 and a” the tangent to the point (A”), x” being a coordinate following the scanning direction (X) and z” being a coordinate following the transverse direction (Z).

[0056] The fixed part measurement vector 1 (x”, z”, a”) obtained with the fixed part 1 makes it possible to very precisely fix one degree of freedom in orientation for the profilometer 7 (rotation around an axis parallel to the transverse direction Y, in the profilometer frame of reference) and two in translation (along the X and Z directions). By rotating the profilometer around an axis parallel to the scanning direction X until minimizing the value along an axis parallel to the transverse direction Z, it is also possible to precisely obtain an orthogonality, therefore to know the rotation with respect to the scanning direction X. The other degrees of freedom of the profilometers 7 remain estimated.In practice, a translation error of the order of a cm in the Y direction and a rotation error of the order of 1° in the transverse Z direction do not compromise the convergence of the docking for sheet metal diameters reaching several meters, the impact on the S' setpoint being negligible.

[0057] The docking method comprises a step of determining a target profile of the end of the moving part 2.

[0058] In the presentation step, a first target vector SI' having coordinates (xi', zi', ai') is generated, with (xi', zi') designating the coordinates of a target point (Ai') of a target profile and ai' the tangent to the target point (Ai'), xi' being a coordinate along the scanning direction (X) and zi' being a coordinate along the transverse direction (Z).

[0059] The measurement of the profile of the fixed part 1 and the position of the profilometers 7 relative to this part makes it possible to generate the first target vector SI'.

[0060] Then, each profilometer 7 observes the moving part 2 and applies a processing to obtain a first measurement vector SI. The monitor of each profilometer 7 superimposes the reconstructed profile on the image of the raw profile and an operator validation is expected for safety. Visual validation is done by noting the correct superposition.

[0061] The first measurement vector SI is obtained in a measurement step 14, as illustrated in the diagram of Figure 3.

[0062] The docking method comprises the initialization step 8 during which the first target vector SI' is calculated from data relating to the profilometer model 7, the profile of the fixed part 1 and the geometry of the docking interface 6, the positions between the fixed part 1 and the profilometers 7 and the docking requirements, such as for example compliance with a distance, which is a few centimeters according to the scanning direction X and the transverse direction Z, for the presentation step.

[0063] The first measurement vector SI and the first target vector SI' are compared during a comparison operation 9 to determine a profile deviation between the target and the observed moving part 2.

[0064] The following proportional feedback law is used to calculate a desired velocity S in the measurement space: S = X (Si - S'i), where X is a positive gain factor. This vector is then normalized to respect a desired profile (bounded acceleration).

[0065] An interaction matrix Ls is then calculated. The interaction matrix is ​​the name usually given to designate the Jacobian linking the Cartesian kinematic torsor to the velocities in the measurement space.

[0066] A pseudo-inverse operation of the interaction matrix 11 is then applied to this velocity vector to obtain Cartesian velocities v with the law: S = Ls.v.

[0067] A multiplication operation by the inverse Jacobian matrix of the robot 3 (or actuators) 12 is applied to the Cartesian speeds to obtain a first movement instruction comprising a movement speed of the robot and in particular an articular speed.

[0068] The actuators move the moving part 2 towards the fixed part 1 according to the first movement instruction during a control step 13.

[0069] The step of overlapping the parts 1, 2 comprises the same operations as the presentation step. In the overlapping step, a second target vector S2' having coordinates (xz, Z2, «2') is generated, with (x2, Z2') designating the coordinates of a target point (A2') of a target profile and «2' the tangent to the target point (A2'), X2' being a coordinate along the scanning direction (X) and Z2' being a coordinate along the transverse direction (Z).

[0070] The measurement of the profile of the fixed part 1 and the position of the profilometers 7 relative to this part makes it possible to generate the second target vector S2'.

[0071] Then, each profilometer 7 observes the moving part 2 and applies a processing to obtain a second measurement vector S2 having coordinates (X2, Z2, «2). Validation for the operator is no longer necessary at this stage, the measurement being carried out by a tracking process.

[0072] The second measurement vector S2 is obtained in measurement step 14, as illustrated in the diagram of Figure 3.

[0073] The docking method comprises the initialization step 8 during which the second target vector S2' is calculated from data relating to the profilometer model 7, the profile of the fixed part 1 and the geometry of the docking interface 6, the positions between the fixed part 1 and the profilometers 7 and the docking requirements, such as for example compliance with a distance, for example of a few millimeters in the scanning direction X and a few centimeters in the transverse direction Z, for the overlapping step.

[0074] The second measurement vector S2 and the second target vector S2' are compared during the comparison operation 9 to determine a profile deviation between the target and the observed moving part 2.

[0075] A velocity vector is determined from this gap as in the docking process.

[0076] The pseudo-inverse operation of the interaction matrix 11 is then applied to the velocity profile to obtain Cartesian velocities.

[0077] The operation of multiplication by the inverse Jacobian matrix of the robot 3 (or actuators) 12 is applied to the Cartesian speeds to obtain a second movement instruction and in particular an articular speed.

[0078] The actuators move the moving part 2 towards the fixed part 1 according to the second movement instruction during a control step 13.

[0079] The part plating step also includes the same operations as the presentation and overlapping steps. In the plating step, a third target vector S3' having coordinates (xs', Z3', «3') is generated, with (X3', Z3') designating the coordinates of a target point (A3') of a target profile and 0C3' the tangent to the target point (A3'), X3' being a coordinate along the scanning direction (X) and Z3' being a coordinate along the transverse direction (Z).

[0080] The measurement of the profile of the fixed part 1 and the position of the profilometers 7 relative to this part makes it possible to generate the third target vector S3'.

[0081] Then, each profilometer 7 observes the moving part 2 and applies a processing to obtain a third measurement vector S3 having coordinates (X3, Z3, «3).

[0082] The third measurement vector S3 is obtained in measurement step 14, as shown in the diagram in Figure 3.

[0083] The docking method comprises the initialization step 8 during which the third target vector S3' is calculated from data relating to the model of profilometer 7, the profile of the fixed part 1 and the geometry of the docking interface 6, the positions between the fixed part 1 and the profilometers 7 and the docking requirements, such as for example a real contact or a distance of 2 mm between the parts 1, 2 in the transverse direction Z, for the plating step.

[0084] The third measurement vector S3 and the third target vector S3' are compared during the comparison operation 9 to determine a profile deviation between the target and the observed moving part 2.

[0085] A velocity vector is determined from this deviation during a velocity profile calculation operation 10.

[0086] The pseudo-inverse operation of the interaction matrix 11 is then applied to the velocity vector to obtain Cartesian velocities.

[0087] The operation of multiplication by the inverse Jacobian matrix of the robot 3 (or actuators) 12 is applied to the Cartesian speeds to obtain a third movement instruction.

[0088] The actuators move the moving part 2 towards the fixed part 1 according to the third movement instruction during control step 13.

[0089] These calculations are made possible despite the uncertain position of the profilometers 7, but under the assumption that parts 1, 2 must be aligned. The tangent a for the moving part 2 and the tangent a” for the fixed part 1 are therefore equal.

[0090] The calculation of the interaction matrix, at each instant, requires knowing (at least approximately) which point A is detected in the plane (X, Z) of the profilometer 7, as well as the plane tangent to the moving part 2 at point A, which is made possible via the chain of transformations: position of the profilometers 7 relative to the fixed part 1, position of the fixed part 1 relative to the fixed base of the actuators and position of the fixed part 15 of the actuators relative to the moving part 2.

[0091] As said before, during the presentation, overlapping and plating stages, the gap between the target and the moving part 2 generates the direction of a velocity vector. The standard is then calculated so that it follows a velocity profile ensuring smooth and uniform acceleration until reaching a maximum speed, as well as uniform deceleration. However, close to the target (distance less than 1 mm), the constraint on deceleration is lifted to avoid making the control unstable.

[0092] The stopping criterion applied at each stage is a maximum deviation in the X or Z direction of 1.2 mm. This relatively large value absorbs the geometry errors of the part as well as the deformations added to them and which would make the setpoint inconsistent with a smaller criterion. The consequence would be a lack of convergence and the system would oscillate around an unattainable setpoint. Nevertheless, the averaging effect on the n profilometers 7 and the lever arm obtained by their spacing allows a much better repeatability of the process than the stopping criterion, of the order of 0.2 mm.

[0093] Naturally, the invention is described in the foregoing by way of example. It is understood that those skilled in the art are able to carry out different variant embodiments of the invention without departing from the scope of the invention.

[0094] It is emphasized that all features, as they emerge for a person skilled in the art from this description, the drawings and the attached claims, even if they have been specifically described only in relation to other specific features, both individually and in any combinations, may be combined with other features or groups of features disclosed herein, provided that this has not been expressly excluded or that technical circumstances make such combinations impossible or meaningless.

Claims

CLAIMS Method for automated docking of a fixed part (1) with a moving part (2) capable of being moved towards the fixed part by a robot (3), the fixed part (1) and the moving part (2) each comprising an end (4, 5), the two ends (4, 5) forming a docking interface (6), characterized in that it comprises the steps of: positioning several profilometers (7) around the docking interface (6) so that the docking interface (6) is located in the field of vision of the profilometers (7), the profilometers (7) being fixed relative to the fixed part (1), determining a target profile of the end (5) of the moving part (2), measuring a profile of the end (5) of the moving part (2) by the profilometers (7), comparing the target profile and the measured profile generating a displacement instruction based on a difference between the target profile and the measured profile,and moving the moving part (2) towards the fixed part (1) by the robot (3) from the movement instruction. Docking method according to claim 1, characterized in that, during the step of measuring a profile of the end (5) of the moving part (2), each profilometer (7) carries out a measurement at a point (A) of the end (5) of the moving part (2) generating a measurement vector (x, z, a), with (x, z) designating the coordinates of a point (A) of the profile at the end (5) of the moving part (2) and a the tangent to the profile at point (A), x being a coordinate along a scanning direction (X) of the profilometer (7), approximately parallel to the direction of advance of the moving part (2) and z being a coordinate along a transverse direction (Z) perpendicular to the scanning direction (X)., Docking method according to any one of claims 1 or 2, characterized in that target vectors (x', z', a') are generated when determining a target profile of the end (5) of the moving part (2), with (x', z') designating the coordinates of a target point (A') of a target profile and a' the tangent to the target point (A'), x' being a coordinate along the scanning direction (X) parallel to the direction of advance of the moving part (2) and z' being a coordinate along the transverse direction (Z).Docking method according to claim 3, characterized in that the measurement vectors (x, z, a) are compared with the target vectors (x', z', a') to determine, from their difference, a speed vector in the sensor space, a pseudo-inverse operation of the interaction matrix being applied to this speed vector to obtain Cartesian speeds and a multiplication by the inverse Jacobian matrix of the robot (3) being applied to the Cartesian speeds to obtain a movement setpoint.Docking method according to any one of claims 3 or 4, characterized in that it comprises an initialization step in which the position of the fixed part (1) relative to the profilometers (7) is determined to be able to generate three target vectors including a first target vector (x'i, z'i, a'i) for a step of presenting the parts (1, 2), a second target vector (x'2, z'2, a'2) for a step of overlapping the parts (1, 2) and a third target vector (x'3, z'3, a'3) for a step of plating the parts (1, 2).Docking method according to claim 5, characterized in that it comprises, after the initialization step, three successive control loops of the profiles of the end (5) of the moving part (2) by the profilometers (7), obtained thanks to the approximate position of the moving part (2) relative to the robot (3) and the approximate position of the profilometers (7) and of the fixed part (1) relative to the robot (3), making it possible to generate movement speeds of the robot (3) achieving the desired speeds in the measurement space. Docking method according to claim 6, characterized in that the control loops each comprise a profile measurement operation at. point (A) of the end (5) of the moving part (2) by the profilometers (7) generating a measurement vector (x, z, a) during the step of presenting the parts (1, 2), the step of overlapping the parts (1, 2) and the step of plating the parts (1, 2).

8. Docking method according to any one of claims 5 to 7, characterized in that during the step of presenting the parts (1, 2), the distances between the two parts (1, 2) in the scanning direction (X) and the transverse direction (Z) are a few centimeters, during the overlapping step, the movable part (2) translates towards the fixed part (1) in the scanning direction (X) up to a distance less than a few millimeters in the scanning direction (X) and maintaining a distance of a few centimeters from the fixed part (1) along the transverse direction (Z), during the plating step, the moving part (2) translates relative to the fixed part (1) in the transverse direction (Z) until the two parts (1, 2) are in contact.

9. Automated docking device for a moving part (2) to a fixed part (1) implementing a docking method as defined according to any one of claims 1 to 8, the fixed part (1) and the moving part (2) each comprising an end (4, 5), the two ends (4, 5) forming a docking interface (6), characterized in that it comprises: several profilometers (7) distributed at different points of the interface and configured to measure the profile of the end (5) of the moving part (2) and the profile of the end (4) of the fixed part (1), a processing means configured to generate a displacement instruction for the moving part (2) relative to the fixed part (1) from the measurements of the profile of the end (5) of the moving part (2) and the profile of the end (4) of the fixed part (1) made by the profilometers (7), and a robot (3) configured to move the moving part (2) relative to the fixed part (1) to the fixed part (1) according to the movement instruction. Docking device according to claim 9, characterized in that the profilometers (7) are laser profilometers distributed regularly around the docking interface (6). Docking device according to any one of claims 9 or 10, characterized in that the profilometers (7) are integral with a fixed part (15) of the robot (3).

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