801 results about "Laser tracker" patented technology

The invention relates to a high-precision hand-eye calibration method for a robot system. The method comprises the following steps: planning a plurality of random robot poses; in the process of operating the pose of the robot, the coordinate value of a target ball point is measured through a laser tracker, an end effector tool coordinate system is constructed and converted into a robot base coordinate system, and an actual measurement rotation matrix and a displacement vector are obtained through calculation. In combination with the theoretical rotation matrix and the displacement vector, pose compensation is achieved through a rotation operator and a translation operator which are finely adjusted, and the target pose and displacement of the robot are adjusted; and after compensation, repeatedly measuring the actual measurement pose and calculating the residual error, and taking the residual error as a compensation value of next iteration until the residual error meets a preset precision threshold value or reaches the maximum number of iterations. And finally, recording the corresponding relation between the pose of the calibration plate in the 3D camera coordinate system and the theoretical pose of the robot to complete the robot hand-eye calibration process. According to the method, the calibration precision is improved, and the high-precision machining and assembling requirements are met.

The invention discloses a stress analysis method for bridge incremental launching construction, and particularly relates to the field of stress analysis. According to the method, a mechanical state matrix is generated by combining wavelet noise reduction and Kalman filtering through distributed optical fibers, a piezoelectric force sensor, a vibrating wire stress meter and other equipment and real-time data; a pushing system-temporary support-beam body coupling dynamic mechanical model is established, and a generalized alpha method is adopted for solving and Bayesian optimization calibration parameters are adopted; key parameters are identified on line through a three-level progressive framework, boundary conditions are dynamically updated in combination with a total station and a laser tracker, and supporting rigidity self-adaptive adjustment is achieved through fuzzy PID control. Model confidence evaluation adopts a residual norm-modal confidence criterion-Bayesian update three-level mechanism, finally, stress distribution, support reaction and displacement deviation are calculated based on a correction model, and a safety index, threshold alarm and risk analysis report is generated through a fuzzy comprehensive evaluation method and fed back to a construction control center in real time.

The invention relates to a common-field-of-view-free camera external parameter calibration method and system based on a laser tracker. The method comprises the following steps: firstly, setting a laser tracker and defining a global coordinate system based on calibration of external parameters of a common-field-of-view-free camera of the laser tracker; for each single camera, if no common view exists between the single camera and the tracker, the tracker is transferred to the position with the common view, a temporary calibration plate is arranged, and the pose relation between the temporary calibration plate and the global coordinate system is calculated; when a public view exists, a calibration plate with a target seat is arranged in the public view, a laser tracker is used for measuring coordinates of a target ball, a camera is used for measuring coordinates of a conversion ball, a target ball coordinate system and a conversion ball coordinate system are respectively established and unified, and therefore the pose relation between the camera and the calibration plate and the pose relation between the calibration plate and the global coordinate system are calculated; and finally, obtaining external parameters of the common-field-of-view-free camera by combining all pose relationships. Compared with the prior art, the method has the advantages that the external parameters of the camera can be accurately and efficiently acquired when the camera system without the public view field is processed, the anti-interference capability is strong, the efficiency is high and the like.

A motion information and visual information fused mechanical arm space pose self-adaptive estimation method comprises the steps that firstly, an internal reference matrix of a binocular camera is combined, and three-dimensional reconstruction of two-dimensional features of an image is achieved based on an epipolar constraint method; then, hand-eye calibration is completed in a laser tracker and binocular camera combined measurement mode, and the relative position relation between the machining tail end of the mechanical arm and the center of the workpiece is calculated based on the calibration relation; and finally, a self-adaptive extended Kalman filter is provided, a known binocular camera is combined to measure a noise covariance matrix, state noise covariance matrixes of the tail ends of the mechanical arms at different positions are adjusted in a self-adaptive mode, and smooth estimation of the tail end positions in the movement process of the mechanical arms is achieved. And finally, the tail end of the mechanical arm accurately moves to the effective view field range of the binocular camera. According to the method, the problem that the tail end position of the mechanical arm is difficult to accurately estimate under the complex working condition is solved, and self-adaptive accurate estimation of the tail end position of the mechanical arm can be achieved without priori accurate observation and motion noise covariance matrixes.

The invention relates to a method for measuring the spatial pointing precision of a panoramic camera turntable, which comprises the following steps of: firstly, establishing an initial coordinate system for an azimuth axis and a pitch axis, performing data measurement on the two axes during rotary motion through a laser tracker, and calculating circle center coordinates and circular surface direction vectors of the two rotary axes through a spatial circle fitting method of sphere fitting and plane fitting; the actual position relation of the two coordinate systems can be obtained, then the offset and the angular deviation between the two coordinate systems can be calculated through the actual position relation of the two coordinate systems, and calibration parameters are obtained; and solving a transformation matrix between the reference coordinate system and the measurement coordinate system by using the actual position relation of the two coordinate systems, obtaining a coordinate vector of a measured point in the reference coordinate system, and solving a space included angle between the two vectors according to the coordinate vector and a theoretical position coordinate vector of the measured point to obtain a space pointing error. The method adopts a space coordinate calculation mode of a robotization method, not only has universal significance, but also can be popularized to precision measurement of other two-axis universal two-dimensional space pointing mechanisms.

A multi-view-vision-based method for measuring the pose of a curved surface component without clear positioning characteristics comprises the steps that a multi-view-vision measuring system for the pose of the curved surface component is constructed, and meanwhile, four circular reflective mark points are pasted on the upper surface of the curved surface component to serve as pose control points; fitting a Gaussian curve by using a sampling point gray scale gradient value in an edge pixel point gradient direction to obtain a sub-pixel edge, and performing ellipse fitting through an improved random sampling consistency algorithm; external parameter calibration between the two binocular vision subsystems without overlapping view fields is realized through a laser tracker; based on coordinates of four pose control points under a curved surface component coordinate system and a visual measurement coordinate system, pose solving of the curved surface component without clear positioning features is achieved through SVD decomposition. According to the invention, the pose measurement of the component which has no clear positioning characteristic and is mostly a curved surface and a curve in appearance is realized, the problem that a view field is shielded by a robot end execution mechanism in the measurement process is solved, and pose information is provided for automatic assembly of the robot.

The present invention provides a large-scale structure spatial posture online compensation system based on multiple laser trackers, including a numerical control positioner, a laser tracker, a reflective target ball, a ball joint and a large structure; one laser tracker corresponds to one reflective target ball and is installed close to the transmitting target ball; the numerical control positioner is connected to the large structure through a ball joint; the reflective target balls are provided in multiple numbers and are dispersedly installed on the large structure; wherein the numerical control positioner and the laser tracker are provided with at least 3 groups. At the same time, a method of the above system is also provided, which can avoid the low efficiency caused by single-point measurement and iterative posture adjustment in the traditional large-scale structure posture adjustment and positioning method, and at the same time, the posture adjustment trajectory can be detected and compensated in real time, thereby ensuring the positioning accuracy of the large structure.

The invention relates to a method and device for calibrating a mechanical arm and a mechanical arm control system. The method comprises the following steps that a target ball is installed at a target ball installation joint shaft and used for receiving laser emitted by a laser tracker; the motion constraint condition of the mechanical arm is input into a mathematical model formed based on the nominal parameters of the mechanical arm to generate a sampling point set, multiple calibration points are screened out from the sampling point set, and whether sampling points can serve as the multiple calibration points or not is judged based on the performance evaluation standard of all the sampling points; enabling the mechanical arm to move to each calibration point, and at each calibration point, after locking of the target ball by the laser is completed, collecting joint shaft angle values of a base joint shaft, a target ball mounting joint shaft and each joint shaft of the mechanical arm between the two joint shafts and target ball position coordinates of the target ball under a laser tracker coordinate system; and calibration is carried out based on the joint axis angle values and the target ball position coordinates collected under all the calibration points.

The invention belongs to the technical field of measurement and positioning, and particularly relates to an aircraft manufacturing measurement and positioning method, which deeply combines an interference networking measurement method and a space coordinate measurement method of a laser tracker, adopts interference networking to construct a global coordinate system # imgabs0 # by reference control TB points in a small amount of open space, and performs re-system by reference control TB points in an effective distance measurement range. According to the method, an expanded reference ERS point is expanded, a local expanded reference system # imgabs1 # is established to measure and position a local measurement object, the sequence and boundary of global measurement and local measurement in the measurement process according to size chain superposition are defined, and the method has high measurement precision.

The invention discloses a tracking scanning measurement system and platform, the tracking scanning measurement system comprises a two-dimensional angle measurement driving device, a contact laser tracker, a non-contact laser scanner and a control device, and the control device is connected with the contact laser tracker, the non-contact laser scanner and the two-dimensional angle measurement driving device. The system is used for controlling a two-dimensional angle measurement driving device to drive a laser tracker to track a set tracking cooperative target in real time in a tracking coordinate measurement mode, obtaining coordinate data of a contact point of the tracking cooperative target and the to-be-measured surface through combination of two-dimensional angle measurement and laser interference distance measurement data, and scanning the to-be-measured surface in a scanning measurement mode. The two-dimensional angle measurement driving device is controlled to drive the non-contact laser scanner to scan a to-be-measured surface, and the scanning point cloud data of the to-be-measured surface is obtained through the combination of two-dimensional angle measurement and absolute distance measurement data. According to the invention, high-precision tracking coordinate measurement and high-efficiency scanning measurement can be realized through one instrument, and the detection efficiency is remarkably improved.

A portable supporting stand for supporting a portable metrology device, such as a laser tracker device, at a predefined height includes at least one leg having an elongated member, where, in a deployed state, the portable supporting stand is a substantially rigid support stand that is arranged to substantially rigidly support the portable metrology device on a floor surface. The portable supporting stand also includes a vibration damper unit for reducing vibrations of the portable supporting stand.

The invention provides an attitude measurement camera coordinate system calibration method, apparatus and device, and a storage medium, which can be applied to the technical field of measurement calibration. The method comprises the steps that a calibration plate is constructed, a conversion target seat and at least one reflective mark point are arranged on the calibration plate, the conversion target seat is used for placing a cube-corner prism target ball and a photogrammetry target ball, the cube-corner prism target ball and the photogrammetry target ball are the same in diameter, and the calibration plate is placed at different positions in a view field of an attitude measurement camera; the method comprises the following steps: acquiring three-dimensional coordinates of a cube-corner prism target ball by using a laser tracker, replacing a photogrammetric target ball, shooting an image of a calibration plate by using an attitude measurement camera to obtain the three-dimensional coordinates and a plurality of images of the cube-corner prism target ball in a laser tracker coordinate system, and calculating the three-dimensional coordinates of the cube-corner prism target ball according to the three-dimensional coordinates and the plurality of images of the cube-corner prism target ball in the laser tracker coordinate system. And calibrating a coordinate system of the attitude measurement camera. The extraction precision of the two-dimensional image coordinates of the target spot can be improved, and then the calibration precision of the coordinate system is improved.

The invention discloses a precision adjusting method of a rotary coiling machine. The precision adjusting method comprises the following steps: arranging target point units at at least three calibration positions of a coiling block; measuring the coordinates of the target ball by adopting a laser tracker, then rotating the winding drum for at least two times, and measuring the coordinates of the target ball; obtaining a circle center coordinate of the calibration position; based on the circle center coordinates, the coaxiality of the winding drum is obtained; after the coaxiality is adjusted, the rotation device is controlled to rotate, and the circle center coordinates of the calibration position are determined again; and determining a rotation surface of the rotation device based on the circle center coordinates of the calibration position determined for multiple times to obtain the perpendicularity of the winding drum, and carrying out assembly adjustment until the perpendicularity of the winding drum is smaller than a second threshold value. The precision adjusting efficiency of the rotary recoiling machine is improved, and the assembling efficiency, the production efficiency and the assembling precision of the recoiling machine are improved.

The invention discloses a coordinate system conversion calibration method for a 3D laser contourgraph. The method comprises the following steps: firstly, building a calibration device; the calibration device is provided with four calibration balls with adjustable spatial positions, the four calibration balls are enabled to intersect with a laser surface emitted by the contourgraph through adjustment, and the centers of the balls are not coplanar. Then, a world coordinate system is established through a laser tracker, and the center coordinates of all the calibration balls in the world coordinate system are obtained; and further, acquiring a circle center coordinate and a circular arc radius corresponding to the circular arc on the spherical surface of the calibration ball through a contourgraph to obtain a sphere center coordinate of each positioning ball under the contourgraph. And finally, according to the obtained coordinates of the sphere center under the two coordinate systems, carrying out transformation matrix parameter solving to obtain a transformation matrix, and selecting an optimal result. According to the method, the relative attitude of the 3D laser contourgraph can be accurately obtained, rigid body transformation parameters are completely solved, the parameter solving precision is high, and calibration of multiple coordinate systems can be achieved.

The invention relates to the technical field of coupler correction, and discloses a coupler coaxiality calibration and adjustment method which comprises the steps of data acquisition, data processing and the like. A laser tracker is used for collecting data of a related shaft structure of a coupler and fitting the data to obtain a center line of the shaft structure, then a plurality of center points are defined on the shaft structure, a three-dimensional coordinate system is established, and the laser tracker is used for collecting data of the shaft structure and fitting the data in the three-dimensional coordinate system to obtain a three-dimensional coordinate system; according to the method, the deviation condition of the vertical horizontal height of the shaft structure and the deviation condition of horizontal misalignment in the pitching direction can be visually obtained, then accurate adjustment can be conducted in a targeted mode, and the calibration progress and the adjustment efficiency are effectively guaranteed.

The present invention discloses a position error calibration device and a calibration method for an industrial robot. The position error calibration device in the present invention includes a laser ranging component for measuring the three-dimensional coordinates of the target ball at the end of the robot. The laser ranging component includes a laser interferometer, a beam splitter, a two-dimensional position sensitive detector, and a housing; a two-dimensional moving platform for moving the laser ranging component in the X-axis and Y-axis directions. The two-dimensional moving platform includes a lead screw slider module and a grating scale in the X-axis and Y-axis directions; a supporting device for fixing and supporting the two-dimensional moving platform so that it can work stably in three-dimensional space. Compared with a laser tracker, the present invention does not require transformation between a spherical coordinate system and a rectangular coordinate system, thereby avoiding the amplification effect of the angle error of the inner circle grating in the laser tracker. The present invention can directly measure the three-dimensional coordinate values of the reflecting target ball in the measurement coordinate system, has a good calibration effect, and can meet the calibration requirements of industrial robots.

The utility model discloses a height detection tool for a spherical screw, which comprises a laser tracker and a detection sleeve, the detection sleeve is provided with a central blind hole, the spherical screw can be inserted into the central blind hole, and the outer end face of the closed end of the detection sleeve is provided with a ball placing groove for placing a target ball. By using the detection tool, only the first spherical screw needs to be subjected to multi-point measurement, then other spherical screws directly adjust the height according to the coordinates of the target sphere, multi-point measurement does not need to be carried out one by one, time consumption is low, operation is convenient, stability is good, working efficiency is improved, and the problem that the efficiency of detecting the height of the spherical screw is low is solved.

The invention discloses an intelligent laser cladding system and method for a stainless steel plate of a bridge support, and aims to realize accurate and efficient cladding processing and improve the surface performance of a material. The system comprises a six-axis multi-joint robot, a laser tracker, a laser cladding head, a wire feeding mechanism and an electrical control system. The robot controls the laser cladding head to move, the laser tracker monitors and adjusts the cladding process, the laser cladding head provides laser energy, the wire feeding mechanism supplies cladding wires, and the electric control system coordinates all the components to work. The method comprises the steps of matrix pretreatment, cladding system parameter setting, intelligent laser cladding and cladding layer finish machining and polishing treatment. By accurately controlling conveying of laser beams and metal wires and motion parameters of all parts, intelligent high-quality cladding machining of workpieces made of different materials and in different shapes is achieved, and the device is suitable for cladding of stainless steel plates with planes, convex surfaces and concave surfaces. According to the system and the method, the cladding precision and efficiency are improved, the cost is reduced, and the system and the method have wide industrial application prospects.

The utility model discloses an aircraft single wallboard assembly fixture which comprises a main frame, a clamping plate assembly, a stringer end positioner, a stringer axis surface positioner, a stringer puller, a K hole positioner, a skin supporting block, a floating frame presser and a bandage, and the main frame comprises a frame, an adjustable support, a clamping plate support and a laser tracker target ball positioning seat. The laser tracker target ball mounting seat and the frame are fixedly mounted, the clamping plate supports are located at the upper end and the lower end of the frame, the adjustable support is arranged at the bottom of the frame, and the long honing and the floating frame can be conveniently fixed.

The invention discloses a full-closed-loop control method for high-precision drilling of a robot, and the method is based on an industrial robot, a laser tracker pose measurement system, a tail end drilling actuator system, and an integrated cooperative control upper computer. And the theoretical values of the points to be machined are updated and corrected, and the measured value of a laser tracker pose measurement system serves as the real-time pose feedback quantity of a tail end hole forming actuator to achieve closed-loop pose control of the robot. And based on the normal vector measurement function of the tail end hole making system, normal vector correction compensation at the position of a hole to be machined of the tail end hole making system is achieved, and full-closed-loop machining of the hole making technology of the machined part is completed. According to the method, through the position and posture correction and compensation treatment in different stages in the process of hole making process preparation and process execution, the full-closed loop of the hole making process is formed while the hole making precision of robot machining is improved, the machining efficiency is improved, and the hole making precision requirement of industrial robot machining is better met.

The invention discloses an industrial robot calibration method based on a DH model and a neural network. The industrial robot calibration method comprises the following steps: controlling an industrial robot to run to a specified pose, measuring an actual pose of the industrial robot through a laser tracker, obtaining a theoretical pose of the industrial robot through the DH model, and calculating to obtain an error before calibration; establishing a kinematic error model through the DH model to obtain a model parameter error value, compensating the obtained error value back to the model parameter, and calculating an error between the pose calibrated by the DH model and the actual pose; the six-axis angle of the industrial robot serves as input of a neural network, the actual pose serves as a target value, the pose calibrated by the DH model serves as prior, a neural network model combining DH model calibration and neural network calibration is obtained, and the pose of the industrial robot is predicted through the neural network model. According to the method, the model error and the non-model error can be comprehensively compensated, so that the working precision of the industrial robot is greatly improved.

The invention relates to a global measurement field construction method for a complex scene, and the method comprises the steps: fixedly arranging a plurality of target seats which are suitable for the placement of laser reflection target balls of a laser tracker in the scene, and enabling the target seats to serve as visual reference points; laying a laser tracker station; measuring three-dimensional coordinate values of the laser tracker stations and the visual reference point and laser interference ranging values of the laser tracker stations and the visual reference point, and obtaining measurement data of the visual reference point under different laser tracker stations; the method comprises the following steps: constructing a spatial transformation relationship among station coordinate systems of laser trackers, converting measurement data of the laser trackers to a global coordinate system, and constructing a global measurement field; and carrying out adjustment optimization on the obtained global measurement field. According to the method provided by the invention, high-precision measurement field construction oriented to large-size complex-structure parts is realized, the precision and robustness of coordinate calculation are improved, and the problem that traditional measurement field construction in a complex scene is easy to block is effectively solved.

The invention discloses a method and a device for detecting errors of a rotary table and a rotary shaft of an overall measurement light path connected upper rotary shaft type laser tracker, and belongs to the technical field of laser tracking measurement. The device comprises a microscope, a fluorescent microsphere, a substrate and a six-dimensional precision calibration displacement table, the microscope is located above the fluorescent microsphere, and the six-dimensional precision calibration displacement table is located above the substrate. The fluorescent microspheres are fixed on the substrate, and the substrate is fixed on the six-dimensional precise calibration displacement table. By combining the fluorescence microscope with the astigmatism imaging function, the precise displacement table, space coordinate calculation and other operations, the determination of the axis space linear equation of the upper and lower rotary tables of the whole measurement light path connected upper rotary shaft type laser tracker and the detection of the shaft radial runout in a complete rotation period are realized under one coordinate system; a necessary technical foundation is laid for realizing error compensation of the rotary table and the rotary shaft of the rotary shaft type laser tracker connected with an overall measurement light path and improving the tracking precision and the stability of the laser tracker.

A fixed-measurement-point-free pose adjustment and positioning method for large-scale three-dimensional assembly. According to the method, by using a fixed-measurement-point-free mode, the need for the step of arranging measurement points on each plane of a three-dimensional part (3) in the early stage is eliminated, improving the measurement efficiency for the three-dimensional part (3) while mitigating the impact of over-constrained point positions, providing a fixed-measurement-point-free pose adjustment and positioning approach, and ensuring the full-process assembly efficiency for the three-dimensional part (3); moreover, a global coordinate system is established by means of laser trackers (1), improving the measurement precision and ensuring the measurement reliability.

The invention relates to a robot grinding and polishing self-adaptive compensation method based on multi-line laser, and relates to the field of robot positioning precision. According to the technical scheme, online high-resolution measurement of the workpiece is achieved through the multi-line laser scanning sensor, hand-eye parameters are dynamically updated in combination with multi-view calibration and data fusion, the tail end pose of the robot is corrected in real time through the mixed error model fusing MDH kinematics and machine learning, and the grinding and polishing precision and consistency are guaranteed. Wherein the MDH model is responsible for coarse positioning to guarantee interpretability of a kinematic structure, the machine learning model captures nonlinear dynamic errors such as thermal expansion and abrasion, and the MDH model and the machine learning model are combined to achieve self-adaptive real-time compensation of a complex error source. The error compensation precision is improved from the millimeter level to the submillimeter level, the cost of the line laser measurement system is only tens of thousands of yuan, the size is small, installation is easy, and compared with a laser tracker, the cost and the installation difficulty are greatly reduced.

The invention relates to the technical field of optical equipment testing, in particular to a radiation therapy laser positioning system performance testing method, which comprises the following steps of: testing first positioning data of optical positioning equipment in a load state, constructing a body weight-optical response correlation model, and analyzing the body weight-optical response correlation model to obtain static optical equipment testing data; a tester slightly moves along a preset track, a response signal of the laser photosensitive sensor and space coordinates of the laser tracker are collected to generate second optical positioning data, and a motion-optical response coupling model is constructed to analyze the second optical positioning data to obtain dynamic optical equipment test data; a multi-factor deviation prediction model is constructed to analyze optical interference signals, phase detection data and environment temperature and humidity parameters to generate optical equipment compensation parameters, and static optical equipment test data, dynamic optical equipment test data and the optical equipment compensation parameters are analyzed; and calculating and generating an optical calibration scene fitness score, a positioning precision quantization matrix and an optical equipment acceptance reference value comprehensive evaluation report.

The invention provides an elevator guide rail digital installation method based on a laser tracker and a motion capture system, which comprises the following steps that: A1, a shaft global coordinate system is constructed, a shaft local measurement network is formed, and a lifting operation platform is provided with a guide structure matched with an installed guide rail; a2, after multiple sets of target ball space coordinate data are collected, the conversion relation between a motion capture camera array coordinate system and a laser tracker coordinate system is calculated through an optimization method based on rigid body distance constraint; a3, through a coordinate transformation and projection correction algorithm, the installation position data of the elevator guide rail support is converted into a two-dimensional projection image, and the two-dimensional projection image is projected to the well wall face through projection equipment; a4, acquiring three-dimensional coordinate data of the installed guide rail reflection marker through the motion capture camera array, and calculating a deviation matrix of an actual installation position and the design model so as to correct the installation deviation of the guide rail; and A5, the steps A2 to A4 are executed again to install the next section of guide rail, and the benchmark accumulative error is eliminated through recalibration.

The invention belongs to the technical field of aircraft assembly measurement, and particularly relates to an aircraft assembly tool measurement field measurement reference point spacing laser tracker measurement method, which comprises the following steps of: calibrating and constructing a distance measurement coordinate system by adding an alignment measurement point to be combined with a reference measurement point and utilizing an absolute distance measurement function of a laser tracker; and a multi-degree-of-freedom precision adjustment structure of the articulated arm robot is utilized to position the laser tracker on an epitaxial line of the reference measurement points, so that the high-precision measurement of the distance between the two reference measurement points is realized, the networking measurement error of the laser interferometer can be corrected in a high-precision manner, and the high-precision measurement of a large aircraft assembly site is realized.

The invention discloses a rotating mirror type laser tracker system calibration method based on kinematics error compensation. Establishing a kinematics relation model with errors of the rotating mirror type laser tracker system in a computer, and further establishing a light path tracking measurement relation model with error compensation of the rotating mirror type laser tracker system; and setting point locations with known nominal length relations for measurement and operation to obtain optimal error parameters, and substituting the optimal error parameters to realize calibration and calibration of the rotating mirror type laser tracker system. The mechanical shafting error and the optical path structure error of the rotating mirror type laser tracker system are subjected to comprehensive modeling, accurate compensation of the errors can be achieved, the space coordinate measurement accuracy of the laser tracker is improved, and the method is suitable for precise measurement of large-size and space pose parameters in the fields of aerospace and high-end equipment manufacturing.

The invention relates to the technical field of oversized component in-situ machining, and discloses an on-site measuring, positioning and machining method for large spherical shell assembly machining, which comprises the following steps: building a rotary arched on-site machining system and establishing a three-dimensional space coordinate system of a large spherical shell assembly; an external laser tracker of the large spherical shell assembly establishes direct connection with a three-dimensional space coordinate system through the transfer station measuring points, and the external laser tracker guides a robot to complete trepanning machining of the large spherical shell assembly; counting the trepanning form of the large spherical shell assembly and carrying out overall machining planning; and performing trepanning processing according to the overall processing plan, and synchronously adopting an iterative sphere center fitting method. According to the technical scheme, the direct relation with the coordinate system is established through the transfer station measuring points, trepanning of the spherical shell is completed, then the influences of different trepanning positions and trepanning shapes under the gravity field are comprehensively considered, overall planning of trepanning is conducted, and the reliability of the machining process of the large spherical shell assembly and the accuracy of a finished product are ensured.