CN109613519A - Pairing attitude-adjusting method based on more laser trackers measurement field - Google Patents
Pairing attitude-adjusting method based on more laser trackers measurement field Download PDFInfo
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- CN109613519A CN109613519A CN201910027885.7A CN201910027885A CN109613519A CN 109613519 A CN109613519 A CN 109613519A CN 201910027885 A CN201910027885 A CN 201910027885A CN 109613519 A CN109613519 A CN 109613519A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention provides a kind of pairing attitude-adjusting methods based on more laser trackers measurement field comprising step: S1 establishes ideal fit body Model；S2 constructs more laser tracker measurements field；S3 is iterated calculating using light-stream adjustment, finds out the homogeneous transition matrix between any two laser trackers；S4 calculates coordinate of each measurement auxiliary magnet under global coordinate system；Target workpiece tooling is assemblied in benchmark workpiece tool by S5.The position selection constraint for measuring auxiliary magnet is less, and more flexibly, the relative position avoided between measurement auxiliary magnet drifts about, and improves measurement accuracy.Turn station to calculate using the light-stream adjustment based on global optimization thought, the station that turns that can disposably complete between more laser trackers calculates, and improves and turns precision of standing.It carries out instructing posture adjustment using the measured data of laser tracker simultaneously, reduces influence of the target measurement point placement error to target measurement point position estimated result, improve measurement accuracy.
Description
Technical field
The present invention relates to digital measuring technique field more particularly to a kind of pairings based on more laser trackers measurement field
Attitude-adjusting method.
Background technique
Since the components such as the wing of large aircraft, fuselage often have the characteristics that area is big, rigidity is small, easily-deformable and big
The particularity of type aircraft working environment, thus in the assembling process of large aircraft component, it needs by multiple digitizers
(such as various locators, industrial robot) carry out auxiliary assembly.
In order in assembling process, guarantee accurate relative positional relationship between each digitizer, tooling and component, because
This needs to establish unified measurement field, and then establishes unified assembling coordinate system (i.e. global coordinate system).
Establish measuring device (such as laser tracker, iGPS, industry that unified measurement field relies primarily on large scale and high accuracy
Camera etc.).It wherein, is that aviation assembly is appointed since laser tracker has the characteristics that precision is high, removable, working range is wide
Common measuring instrument in business.
Currently, establishing the mode of unified measurement field are as follows: in working space, stablize motionless position (such as ground or
Fixing tool etc.) (Enhanced Reference System, is abbreviated as ERS, also referred to as enhances the multiple measurement auxiliary magnets of installation
Frame of reference) He Duotai laser tracker, every multiple measurement auxiliary magnet positions of laser tracker measurement, and component to be assembled
Assembling coordinate system measures auxiliary magnet as known to these spatial positions and determines.At this point, measurement auxiliary magnet is under assembling coordinate system
Coordinate value is regarded as changeless, but since the physical location of measurement auxiliary magnet can occur because of factors such as temperature, gravity
Variation, so that the change in coordinate axis direction and unit length that will lead in assembling coordinate system can change over time, in turn results in building
Measurement can have biggish measurement error in field, impact to the assembling quality of large component.
After assembling coordinate system determines, during turn station, svd algorithm or Best-fit algorithm are generallyd use, it is every
It is secondary only can determine that two laser trackers measurement coordinate system between relative position and attitude relationship, and apart from farther away instrument it
Between just can determine that by repeatedly turning station between relativeness, again by data unification under assembling coordinate system, thus easily
Cause biggish turn of station cumulative errors.
In pair of target workpiece tooling (being provided with target measurement point) and benchmark workpiece tool (being provided with basis points)
Attach together during matching, need first to measure the absolute fix of target measurement point and basis points, then by measurement data respectively with
Theoretical position in its ideal model is weighted and averaged, then fits the position of target workpiece tooling and benchmark workpiece tool respectively
Appearance, and with the pose data-driven posture adjustment.But since the measurement data for participating in fitting can be due to installation error and measurement error
There are biggish uncertainty, the pose for easily leading to the target workpiece tooling and benchmark workpiece tool that fit is inaccurate, Jin Erying
Ring assembling quality.
Summary of the invention
In view of the problems in the background art, it is an object of the present invention to provide one kind to be based on more laser trackers
The pairing attitude-adjusting method of field is measured, the position selection constraint of measurement auxiliary magnet is less, more flexibly, avoids measurement auxiliary magnet
Between relative position the problem of drifting about because of reasons such as temperature, gravity, improve the measurement of more laser trackers measurements field
Precision.
It is another object of the present invention to provide a kind of pairing attitude-adjusting methods based on more laser trackers measurement field, turn
Calculating of standing uses the light-stream adjustment based on global optimization thought, can disposably complete to turn station meter between more laser trackers
It calculates, so as to avoid error accumulation problem caused by the pose only determined between two laser trackers every time, improves and be based on
The measurement accuracy of more laser tracker measurements field.
It is yet a further object of the present invention to provide it is a kind of based on more laser trackers measurement field pairing attitude-adjusting method,
Posture adjustment is instructed using the measured data of laser tracker, avoids the measurement data to the target measurement point in target workpiece tooling
The process for being merged, being estimated target measurement point position respectively with its position in ideal digital-to-analogue, reduces target measurement point
Influence of the placement error to target measurement point position estimated result, improves measurement accuracy.
To achieve the goals above, the present invention provides a kind of pairing posture adjustment sides based on more laser trackers measurement field
Method comprising step S1-S5.
S1 establishes the threedimensional model of benchmark workpiece tool and target workpiece tooling respectively in three-dimensional software and completes to fill
Match, to obtain ideal fit body Model.
In real work space more laser trackers and multiple measurement auxiliary magnets is arranged, to construct more laser in S2
Tracker measures field, wherein every laser tracker has measurement coordinate system and at least measures the space bit of three measurement auxiliary magnets
It sets, respectively measure auxiliary magnet at least by two laser trackers measurements, and the measurement coordinate system of a wherein laser tracker is determined
Justice is global coordinate system.
S3 is changed based on different laser trackers to the measurement result of same measurement auxiliary magnet, using light-stream adjustment
In generation, calculates, and finds out the homogeneous transition matrix between any two laser trackers and each auxiliary magnet that measures under global coordinate system
Coordinate.
S4 based on each measurement result for measuring auxiliary magnet under the laser tracker for participating in measurement and participates in the sharp of measurement
Homogeneous transition matrix between optical tracker system and corresponding laser tracker calculates each measurement auxiliary magnet under global coordinate system
Coordinate.
Target workpiece tooling is assemblied in benchmark workpiece tool, the base in more laser tracker measurements field by S5
Multiple basis points are disposed in quasi- workpiece tool, the target workpiece tooling is disposed with multiple target measurement points, and S5 packet
Include step:
Target workpiece tooling and benchmark workpiece tool are oppositely arranged by S51, fixed reference workpiece tool, and target workpiece
Tooling is connected with automatic docking equipment；
S52, basis points are quantitatively h being quantitatively g, target measurement point, from the ideal in three-dimensional software
The theoretical position of the multiple basis points in benchmark workpiece tool is obtained on entire assembly modelAnd the theoretical position of the multiple target measurement point in target workpiece tooling
It setsWherein, i indicates the number of the multiple basis points, and j indicates institute
State the number of multiple target measurement points；
S53 passes through the mutual homogeneous conversion square of the more laser trackers and the more laser trackers
Battle arrayObtain absolute fix of the multiple basis points under global coordinate system in benchmark workpiece toolThe multiple target measurement point in target workpiece tooling is under global coordinate system
Absolute fix
S54, according to absolute fix of the multiple basis points under global coordinate system in benchmark workpiece toolEstablish the benchmark tooling coordinate system of benchmark workpiece tool and according to the institute in target workpiece tooling
State absolute fix of multiple target measurement points under global coordinate systemEstablish the mesh of target workpiece tooling
Mark tooling coordinate system；
S55 passes through the absolute fix of the multiple basis pointsAnd theoretical positionActual benchmark workpiece tool is found out between the ideal fit body Model into three-dimensional software
Homogeneous transform matrix T1And
S56 finds out ideal fit body Model in three-dimensional software to the homogeneous transformation between actual benchmark workpiece tool
Matrix T0And T0=(T1)-1；
S57 passes through the absolute fix of the multiple target measurement pointAnd theoretical positionActual target workpiece tooling is found out between the ideal fit body Model into three-dimensional software
Homogeneous transform matrix T2And
S58 calculates target workpiece tooling from current absolute fix to the homogeneous transform matrix T ideal position3
And T3=T0·T2=(T1)-1·T2, and the multiple target measurement point of target workpiece tooling is calculated in ideal assembled state
Under ideal position
S59, in real work space, automatic docking device drives target workpiece tooling completes homogeneous transform matrix T3
Defined Rigid Body In Space movement, is assemblied in benchmark workpiece tool for target workpiece tooling.
Beneficial effects of the present invention are as follows:
The effect for measuring auxiliary magnet is no longer to constitute the benchmark of global coordinate system and be to aid in more laser trackers and determine
Mutual position orientation relation, thus the position selection constraint for measuring auxiliary magnet is less, more flexibly, avoids measurement auxiliary magnet
Between relative position the problem of drifting about because of reasons such as temperature, gravity, improve based on more laser trackers measurement field
Measurement accuracy avoids complicated backoff algorithm.Also, it calculates due to turning station using the bundle adjustment based on global optimization thought
Method, can disposably complete between more laser trackers turn station calculate, so as to avoid every time only determine two laser with
Error accumulation problem caused by pose between track instrument improves in more laser tracker measurements field and turns station precision.Simultaneously originally
Invention carries out instructing posture adjustment using the measured data of laser tracker, avoids to the target measurement point in target workpiece tooling
Measurement data is merged respectively with its position in ideal digital-to-analogue, is estimated the process of target measurement point position, reduces mesh
Influence of the measurement point placement error to target measurement point position estimated result is marked, to improve measurement accuracy.
Detailed description of the invention
Fig. 1 is the more laser tracking established in the pairing attitude-adjusting method of the invention based on more laser trackers measurement field
The schematic diagram of instrument measurement field.
Fig. 2 is the ideal fit body after the benchmark workpiece tool 1 established in three-dimensional software and the assembly of target workpiece tooling 2
Illustraton of model.
Fig. 3 is the main view of Fig. 2.
Fig. 4 is minute of basis points and target measurement point before benchmark workpiece tool 1 and target workpiece tooling 2 are assembled
Cloth schematic diagram.
Wherein, the reference numerals are as follows:
1 benchmark workpiece tool, 21 target measurement point
11 basis points M laser trackers
2 target workpiece tooling P measure auxiliary magnet
Specific embodiment
With reference to the accompanying drawings come be described in detail it is according to the present invention based on more laser trackers measurement field pairing posture adjustment side
Method.
Referring to figs. 1 to Fig. 4, it is of the invention based on more laser trackers measurement field pairing attitude-adjusting method include step S1,
S2, S3, S4 and S5.
S1 establishes the threedimensional model of benchmark workpiece tool 1 and target workpiece tooling 2 respectively in three-dimensional software and completes to fill
Match, thus to obtain ideal fit body Model (as shown in Figure 2).
More laser tracker M and multiple measurement auxiliary magnet P are arranged in the real work space of erecting yard in S2, with
Construct more laser tracker measurements field (as shown in Figure 1).Wherein, every laser tracker M has the measurement coordinate system of itself
(i.e. local coordinate system) and the spatial position of three measurement auxiliary magnet P, each measurement auxiliary magnet P are at least measured at least by two laser
Tracker M measurement, so that forming a kind of netted figure between the more laser tracker M and multiple measurement auxiliary magnet P
Connection relationship.Also, the measurement coordinate system of a wherein laser tracker M can be defined as to global coordinate system and with O-XYZ table
Show, and the measurement coordinate system of other laser tracker M is indicated with O'-X'Y'Z'.
S3 is carried out based on different laser tracker M to the measurement result of same measurement auxiliary magnet P, using light-stream adjustment
Iterative calculation, finds out the homogeneous transition matrix between any two laser tracker M (between i.e. any two laser tracker M
Homogeneous transition matrix solution procedure be turn station a calculating process).
Here, based on step S2 and S3 it is found that the effect of measurement auxiliary magnet P is no longer the benchmark for constituting global coordinate system
(i.e. global coordinate system not with measurement auxiliary magnet P binding) and be to aid in more laser tracker M and determine that mutual pose closes
System, thus the position for measuring auxiliary magnet P is not necessarily to guarantee not change for a long time (to put down without being fixed on ground or work
Specific position on platform), only need to guarantee as far as possible simultaneously it is visible by more laser tracker M, establishing more laser trackers
Measurement field step section remains stationary.Therefore, the position selection constraint for measuring auxiliary magnet P is less, more flexibly, avoids measurement
The problem of relative position between auxiliary magnet P drifts about because of reasons such as temperature, gravity is improved and is surveyed based on more laser trackers
The measurement accuracy for measuring field avoids complicated backoff algorithm.
Also, in step s3, calculate due to turning station using the light-stream adjustment based on global optimization thought, it can be primary
Property complete between more laser tracker M turn station calculate, so as to avoid every time only determine two laser tracker M between
Error accumulation problem caused by pose improves in more laser tracker measurements field and turns station precision.
In addition, more laser trackers measurement field that the present invention constructs extends compared to the building mode of traditional measurement field
Working range, improves the flexibility of precision and work, can provide a set of system for the measurement task under related application scene
The building and working method of system.
It is quantitatively b that measurement auxiliary magnet P, which is quantitatively a, laser tracker M, in step s3, it may include step
S31, S32, S33, S34, S35, S36 and S37.
B platform laser tracker M and a measurement auxiliary magnet P are numbered S31 respectively, then f (f=1,2 ... a) a surveys
Auxiliary magnet P is measured at least by m (m=1,2 ... b) platform laser tracker M and the n-th (n=1,2 ... b, n ≠ m) platform laser tracker M
Measurement.
S32 measures reality of the auxiliary magnet P at m platform laser tracker M and n-th laser tracker M measurement for f-th
Border measurement result Pfm=(xfm,yfm,zfm)、Pfn=(xfn,yfn,zfn) it is converted to spherical coordinates P' respectivelyfm=(rfm,αfm,βfm)、
P'fn=(rfn,αfn,βfn)。
S33, by the range error parameter u of laser tracker Mr, pitch angle error parameter uαWith azimuth angle error parameter uβStructure
Build weight matrixWherein, ur、uαAnd uβIt can be directly obtained by product manual.
S34, if the homogeneous transition matrix between m platform laser tracker M and n-th laser tracker M is Tm n, and it is described
Homogeneous transition matrix Tm nIncluding turning station parameter RmnAnd tmn, wherein RmnFor 3 × 3 matrix and indicate m platform laser tracker M
Measure rotation amount, the t between coordinate system and the measurement coordinate system of n-th laser tracker MmnMatrix and expression m for 3 × 1
Translational movement between the measurement coordinate system of platform laser tracker M and the measurement coordinate system of n-th laser tracker M, then it is all to swash
Optical tracker system M mutual homogeneous transition matrix is { Tm n}={ T1 2,T1 3…T2 3,T2 4…T3 4..., and { Tm nCorresponding turn
Parameter of standing { Rmn}={ R12,R13…R23,R24…R34…}、{tmn}={ t12,t13…t23,t24…t34…}。
S35 measures actual measured results of the auxiliary magnet P at n-th laser tracker M according to f-th, estimates f
Estimated result of a measurement auxiliary magnet P at m platform laser tracker M
S36 is based on mahalanobis distance, constructs all measurement auxiliary magnet P re-projection error vector E (target i.e. to be optimized),
And the expression formula of E are as follows:
S37 gives R using light-stream adjustmentmnAnd tmnInitial value, or else break adjustment RmnAnd tmnSize, until E obtain
Minimum value stops iteration, and corresponding turn of the minimum value of E station parameter is required { R at this timemnAnd { tmn}。
S4, measurement result and participation survey based on each measurement auxiliary magnet P at the laser tracker M for participating in measurement
Homogeneous transition matrix between the laser tracker M of amount and corresponding laser tracker M calculates each measurement auxiliary magnet P complete
Coordinate under office's coordinate system.Specifically, for each measurement auxiliary magnet P:
When global coordinate system is to participate in the measurement coordinate system of the laser tracker M of measurement measurement auxiliary magnet P, the measurement
Coordinate of the auxiliary magnet P under global coordinate system are as follows: be defined as the measurement result of the laser tracker M of global coordinate system；
When global coordinate system is to have neither part nor lot in the measurement coordinate system of the laser tracker M of measurement measurement auxiliary magnet P, the survey
Measure coordinate of the auxiliary magnet P under global coordinate system are as follows: participate in the measurement result of the laser tracker M of measurement directly multiplied by the ginseng
Homogeneous transition matrix between the laser tracker of measurement and the laser tracker M for being defined as global coordinate system is (i.e. primary to turn
It stands under global coordinate system)；Alternatively, the measurement result for participating in the laser tracker M of measurement first participates in swashing for measurement multiplied by described
Homogeneous transition matrix between optical tracker system M and another laser tracker M, multiplied by another laser tracker M and definition
Homogeneous transition matrix between the laser tracker M of global coordinate system (under i.e. secondary turn station to global coordinate system).
Certainly, in some cases, the measurement result for participating in the laser tracker M of measurement can also be by turning to stand more than twice
To under global coordinate system.
Target workpiece tooling 2 is assemblied in benchmark workpiece tool 1 in more laser tracker measurements field by S5, described
Multiple basis points 11 are disposed in benchmark workpiece tool 1, the target workpiece tooling 2 is disposed with multiple target measurement points 21
(as shown in Figure 4), and S5 includes step S51-S59.
Target workpiece tooling 2 and benchmark workpiece tool 1 are oppositely arranged by S51, fixed reference workpiece tool 1, and target work
Part tooling 2 is connected with automatic docking equipment (not shown).
S52, it is quantitatively h that basis points 11, which are quantitatively g, target measurement point 21, from the reason in three-dimensional software
Think the theoretical position that the multiple basis points 11 in benchmark workpiece tool 1 are obtained on entire assembly modelAnd the theory of the multiple target measurement point 21 in target workpiece tooling 2
PositionWherein, i indicates the number of the multiple basis points 11, j table
Show the number of the multiple target measurement point 21.
S53 passes through the mutual homogeneous conversion of the more laser tracker M and more laser tracker M
Matrix { Tm n, obtain absolute fix of the multiple basis points 11 under global coordinate system in benchmark workpiece tool 1The multiple target measurement point 21 in target workpiece tooling 2 is in world coordinates
Absolute fix under system
S54, according to absolute fix of the multiple basis points 11 under global coordinate system in benchmark workpiece tool 1Establish the benchmark tooling coordinate system of benchmark workpiece tool 1 and according in target workpiece tooling 2
Absolute fix of the multiple target measurement point 21 under global coordinate systemEstablish target workpiece tooling
2 target tooling coordinate system.
In assembling process, the relative pose between benchmark tooling coordinate system and target tooling coordinate system is for characterizing benchmark
Relative position between workpiece tool 1 and target workpiece tooling 2.Here, since benchmark tooling coordinate system is to pass through target measurement
It is that the measured data of point 21 is established rather than only (foundation of target tooling coordinate system is also by target measurement point 21 itself
Similar), so as to avoid benchmark workpiece tool 1 and target workpiece tooling 2 due to by gravity, deformation occurs caused by coordinate system
Offset error thereby ensures that the accuracy of the relative position between benchmark workpiece tool 1 and target workpiece tooling 2.
S55 passes through the absolute fix of the multiple basis points 11With
Theoretical positionActual benchmark workpiece tool 1 is found out into three-dimensional software
Homogeneous transform matrix T between ideal fit body Model1And
S56 finds out ideal fit body Model in three-dimensional software to the homogeneous transformation between actual benchmark workpiece tool 1
Matrix T0And T0=(T1)-1。
S57 passes through the absolute fix of the multiple target measurement point 21With
Theoretical positionActual target workpiece tooling 2 is found out into three-dimensional software
Homogeneous transform matrix T between ideal fit body Model2And
S58 calculates target workpiece tooling 2 from current absolute fix to the homogeneous transform matrix T ideal position3
And T3=T0·T2=(T1)-1·T2, and the multiple target measurement point 21 of target workpiece tooling 2 is calculated in ideal fit
Ideal position under state
S59, in real work space, automatic docking device drives target workpiece tooling 2 completes homogeneous transform matrix
T3Defined Rigid Body In Space movement, is assemblied in benchmark workpiece tool 1 for target workpiece tooling 2.In other words, it was assembling
Cheng Zhong, the target tooling coordinate system of target workpiece tooling 2 is according to T3Defined Rigid Body In Space is moved.
Based on step S5 it is found that the pairing attitude-adjusting method of the invention based on more laser trackers measurement field, use swash more
The measured data of laser tracker M in optical tracker system measurement field carries out instructing posture adjustment, avoids in target workpiece tooling 2
The measurement data of target measurement point 21 is merged respectively with its position in ideal digital-to-analogue, estimates 21 position of target measurement point
Process, influence of 21 placement error of target measurement point to 21 location estimation result of target measurement point is reduced, to improve
Measurement accuracy.
Specifically, in step S59, it may include step: S591, in three-dimensional software, by benchmark workpiece tool 1
Absolute fix of the multiple basis points 11 under global coordinate systemEstablish benchmark workpiece tool
1 pre-assembled model passes through actual measurement position of the multiple target measurement point 21 under global coordinate system in target workpiece tooling 2
It setsThe pre-assembled model of target workpiece tooling 2 is established, and passes through homogeneous transform matrix T3It is defined
Virtual pre-assembled is completed in Rigid Body In Space movement, to obtain virtual pre-assembled model；S592, by compare virtual pre-assembled model with
The ideal fit model established in step S1 finds out interference region point { D on the pre-assembled model of target workpiece tooling 2j}；
S593 finds out ideal fit body Model to the homogeneous transform matrix T between actual target workpiece tooling 24And T4=(T2)-1, then
Interference region point { DjInterference region position in actual target workpiece tooling 2 isS594 is right
Interference region in actual target workpiece tooling 2 is processed, to prevent from generating collision or gap during practical set；
S595, automatic docking device drives target workpiece tooling 2 complete homogeneous transform matrix T3Defined Rigid Body In Space movement, with
Target workpiece tooling 2 is assemblied in benchmark workpiece tool 1.
It should be noted that step can also be saved if the machining accuracy of target workpiece tooling 2 meets matching requirements
S591-S594, directly execution S595.
Precision between the absolute fix of target workpiece tooling 2 and ideal absolute fix is ε, in order to improve target workpiece work
The assembly precision between 2 and benchmark workpiece tool 1 is filled, the pairing attitude-adjusting method based on more laser tracker M measurement field is also
May include step:
S6 obtains target work by more laser tracker M after target workpiece tooling 2 is assemblied in benchmark workpiece tool 1
Current absolute fix of the multiple target measurement point 21 under global coordinate system in part tooling 2And calculate current absolute fixWith ideal positionBetween
Difference
S7, ERWhen > ε, step S5-S6 is repeated, until ER< ε, completing assembly, (i.e. target workpiece tooling 2 has been fitted into reason
Think position)；
S8, ERWhen < ε, complete assembly (i.e. target workpiece tooling 2 has been fitted into ideal position).
In step S55, specifically comprise the following steps:
S551, if
The absolute fix coordinate of S552, any basis points 11 isIt is with theoretical position coordinateChoose the absolute fix coordinate of at least four basis points 11 and at least four basis points 11
Multi-group data is constituted with theoretical position coordinate, i.e. any one group of data meet following equation group:
S553, all equation groups that multi-group data described in simultaneous is constituted, finds out T1In each parameter.
Similarly, in step S57, include the following steps:
S571, if
The absolute fix coordinate of S572, arbitrary target measurement point 21 isIt is with theoretical position coordinateChoose the absolute fix coordinate of 1 target measurement points 21 and at least four target measurements point 21
Multi-group data is constituted with theoretical position coordinate, i.e. any one group of data meet following equation group:
S573, all equation groups that multi-group data described in simultaneous is constituted, finds out T2In each parameter.
In one embodiment, the pairing attitude-adjusting method of the invention based on more laser trackers measurement field is applied to large-scale fly
In the horizontal assembly of machine wing, wherein wing boxes of wings skeleton is as benchmark workpiece tool 1, upper covering and its conformal tooling as target
The automatic docking equipment that workpiece tool 2, target workpiece tooling 2 connect is made of 4 three number of coordinates control appearance positioning devices
Adjusting parallel platform.
Before upper covering and its conformal tooling are assemblied in wing boxes of wings skeleton, base is arranged on wing boxes of wings skeleton first
Locating tab assembly point (at the pre-connection hole preferably, being arranged on watchfully rib machine and spar) is pacified on upper covering and its conformal tooling
(rigidity that preferably, target measurement point should be arranged in covering and its conformal tooling is preferable, close outer for dress target measurement point
Side, the position easily measured by more laser tracker M)；Then using more laser in more laser trackers measurement field
Tracker measures the absolute fix of M measuring basis measurement point and target measurement point under global coordinate system；Pass through above-mentioned side later
The target workpiece tooling 2 that method obtains is from current absolute fix to the homogeneous transform matrix T theoretical position3。
In specific assembling process, wing boxes of wings skeleton is remained stationary, and upper covering and its conformal tooling are sat at 4 three
Under the drive for marking adjusting parallel platform composed by numerical control posture adjustment positioning device, according to T3Defined Rigid Body In Space movement carries out
Movement, so as to by upper covering and its conformal tooling accurate pairing to wing boxes of wings skeleton so that upper covering and
Its conformal tooling is aligned and is bonded with wing boxes of wings skeleton.
Claims (8)
1. a kind of pairing attitude-adjusting method based on more laser trackers measurement field, comprising steps of
S1 establishes the threedimensional model of benchmark workpiece tool (1) and target workpiece tooling (2) respectively in three-dimensional software and completes to fill
Match, to obtain ideal fit body Model；
More laser trackers (M) and multiple measurement auxiliary magnets (P) is arranged in real work space in S2, is swashed with constructing more
Optical tracker system measures field, wherein every laser tracker (M) has measurement coordinate system and at least measures three measurement auxiliary magnets (P)
Spatial position, respectively measurement auxiliary magnet (P) is at least measured by two laser trackers (M), and will a wherein laser tracker
(M) measurement coordinate system is defined as global coordinate system；
S3 is carried out based on different laser trackers (M) to the measurement result of same measurement auxiliary magnet (P), using light-stream adjustment
Iterative calculation, finds out the homogeneous transition matrix between any two laser trackers (M)；
S4 based on each measurement result for measuring auxiliary magnet (P) under the laser tracker (M) for participating in measurement and participates in measurement
Homogeneous transition matrix between laser tracker (M) and corresponding laser tracker (M) calculates each measurement auxiliary magnet (P) and exists
Coordinate under global coordinate system；
Target workpiece tooling (2) is assemblied in benchmark workpiece tool (1) by S5 in more laser tracker measurements field, described
Multiple basis points (11) are disposed in benchmark workpiece tool (1), the target workpiece tooling (2) is disposed with multiple targets and surveys
Measure point (21), and S5 comprising steps of
Target workpiece tooling (2) and benchmark workpiece tool (1) are oppositely arranged by S51, fixed reference workpiece tool (1), and target
Workpiece tool (2) is connected with automatic docking equipment；
S52, basis points (11) are quantitatively h being quantitatively g, target measurement point (21), from three-dimensional software
The theoretical position of the multiple basis points (11) on benchmark workpiece tool (1) is obtained on ideal fit body ModelAnd the multiple target measurement point (21) in target workpiece tooling (2)
Theoretical positionWherein, i indicates the multiple basis points (11)
Number, j indicate the number of the multiple target measurement point (21)；
S53 passes through the mutual homogeneous conversion of the more laser trackers (M) and the more laser trackers (M)
Matrix { Tm n, obtain actual measurement position of the multiple basis points (11) under global coordinate system on benchmark workpiece tool (1)
It setsThe multiple target measurement point (21) in target workpiece tooling (2) is complete
Absolute fix under office's coordinate system
S54, according to absolute fix of the multiple basis points (11) under global coordinate system on benchmark workpiece tool (1)Establish the benchmark tooling coordinate system of benchmark workpiece tool (1) and according to target workpiece tooling (2)
On absolute fix of the multiple target measurement point (21) under global coordinate systemEstablish target work
The target tooling coordinate system of part tooling (2)；
S55 passes through the absolute fix of the multiple basis points (11)And theoretical positionFind out ideal fit body Model of the actual benchmark workpiece tool (1) into three-dimensional software it
Between homogeneous transform matrix T1And
S56 finds out ideal fit body Model in three-dimensional software to the homogeneous transformation square between actual benchmark workpiece tool (1)
Battle array T0And T0=(T1)-1；
S57 passes through the absolute fix of the multiple target measurement point (21)And theoretical positionActual target workpiece tooling (2) is found out between the ideal fit body Model into three-dimensional software
Homogeneous transform matrix T2And
S58 calculates target workpiece tooling (2) from current absolute fix to the homogeneous transform matrix T ideal position3And
T3=T0·T2=(T1)-1·T2, and the multiple target measurement point (21) for calculating target workpiece tooling (2) fills in ideal
With the ideal position under state
S59, in real work space, automatic docking device drives target workpiece tooling (2) completes homogeneous transform matrix T3Institute
The Rigid Body In Space of definition moves, and target workpiece tooling (2) is assemblied in benchmark workpiece tool (1).
2. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that measurement
It is quantitatively b that auxiliary magnet (P), which is quantitatively a, laser tracker (M), in step s3, comprising steps of
B platform laser tracker (M) and a measurement auxiliary magnet (P) are numbered S31 respectively, then f (f=1,2 ... a) a surveys
Auxiliary magnet (P) is measured at least to be tracked by m (m=1,2 ... b) platform laser tracker (M) and the n-th (n=1,2 ... b, n ≠ m) platform laser
Instrument (M) measurement；
S32, by f-th of measurement auxiliary magnet (P) under m platform laser tracker (M) and n-th laser tracker (M) measurement
Actual measured results Pfm=(xfm,yfm,zfm)、Pfn=(xfn,yfn,zfn) it is converted to spherical coordinates P' respectivelyfm=(rfm,αfm,βfm)、
P'fn=(rfn,αfn,βfn)；
S33, by the range error parameter u of laser tracker (M)r, pitch angle error parameter uαWith azimuth angle error parameter uβBuilding
Weight matrix
S34, if the homogeneous transition matrix between m platform laser tracker (M) and n-th laser tracker (M) is Tm n, and it is described
Homogeneous transition matrix Tm nIncluding turning station parameter RmnAnd tmn, wherein RmnMatrix and expression m platform laser tracker (M) for 3 × 3
Measurement coordinate system and n-th laser tracker (M) measurement coordinate system between rotation amount, tmnMatrix and expression for 3 × 1
Translational movement between the measurement coordinate system of m platform laser tracker (M) and the measurement coordinate system of n-th laser tracker (M), then
The mutual homogeneous transition matrix of all laser trackers (M) is { Tm n}={ T1 2,T1 3…T2 3,T2 4…T3 4..., and it is all
Homogeneous transition matrix { Tm nCorresponding turn of station parameter { Rmn}={ R12,R13…R23,R24…R34…}、{tmn}={ t12,t13…
t23,t24…t34…}；
S35 measures the actual measured results of auxiliary magnet (P) under n-th laser tracker (M) according to f-th, estimates f-th
Measure the estimated result of auxiliary magnet (P) under m platform laser tracker (M)
S36 is based on mahalanobis distance, constructs all measurement auxiliary magnet (P) re-projection error vector E, it may be assumed that
S37 first gives R using light-stream adjustmentmnAnd tmnInitial value, or else break adjustment RmnAnd tmnSize, until E obtain most
Small value stops iteration, and corresponding turn of the minimum value of E station parameter is required { R at this timemnAnd { tmn}。
3. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that in step
In rapid S59, comprising steps of
S591, in three-dimensional software, by the multiple basis points (11) on benchmark workpiece tool (1) in world coordinates
Absolute fix under systemIt establishes the pre-assembled model of benchmark workpiece tool (1), lead to
Cross absolute fix of the multiple target measurement point (21) under global coordinate system on target workpiece tool (2)The pre-assembled model of target workpiece tooling (2) is established, and passes through homogeneous transformation square
Battle array T3Defined Rigid Body In Space movement completes virtual pre-assembled to complete virtual pre-assembled model；
S592, by comparing the ideal fit model established in virtual pre-assembled model and step S1, in target workpiece tooling (2)
Pre-assembled model on find out interference region point { Dj}；
S593 finds out ideal fit body Model to the homogeneous transform matrix T between actual benchmark workpiece tool (1)4And T4=
(T2)-1, then interference region point { DjInterference region position on actual target workpiece tooling (2)
S594 processes the interference region on actual target workpiece tooling (2)；
S595, automatic docking device drives target workpiece tooling (2) complete homogeneous transform matrix T3Defined Rigid Body In Space fortune
It is dynamic, target workpiece tooling (2) is assemblied in benchmark workpiece tool (1).
4. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that target
Precision between the absolute fix of workpiece tool (2) and ideal absolute fix is ε, described to be measured based on more laser trackers (M)
The pairing attitude-adjusting method of field further comprises the steps of:
S6 obtains target by more laser trackers (M) after target workpiece tooling (2) is assemblied in benchmark workpiece tool (1)
Current absolute fix of the multiple target measurement point (21) under global coordinate system in workpiece tool (2)And calculate current absolute fixWith ideal positionBetween
Difference
S7, ERWhen > ε, step S5-S6 is repeated, until ER< ε completes assembly；
S8, ERWhen < ε, assembly is completed.
5. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that in step
In rapid S55, comprising steps of
S551, if
The absolute fix coordinate of S552, any basis points (11) isIt is with theoretical position coordinateChoose the absolute fix of at least four basis points (11) and at least four basis points (11)
Coordinate and theoretical position coordinate constitute multi-group data, i.e. any one group of data meet following equation group:
S553, all equation groups that multi-group data described in simultaneous is constituted, finds out T1In each parameter.
6. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that in step
In rapid S57, comprising steps of
S571, if
The absolute fix coordinate of S572, arbitrary target measurement point (21) isIt is with theoretical position coordinateChoose the absolute fix of 1 target measurement points (21) and at least four target measurements point (21)
Coordinate and theoretical position coordinate constitute multi-group data, i.e. any one group of data meet following equation group:
S573, all equation groups that multi-group data described in simultaneous is constituted, finds out T2In each parameter.
7. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that in step
In rapid S4, for each measurement auxiliary magnet (P):
When global coordinate system is to participate in measuring the measurement coordinate system of the laser tracker (M) of the measurement auxiliary magnet (P), the measurement
Coordinate of the auxiliary magnet (P) under global coordinate system are as follows: be defined as the measurement result of the laser tracker (M) of global coordinate system；
When global coordinate system is the measurement coordinate system for having neither part nor lot in the laser tracker (M) for measuring the measurement auxiliary magnet (P), the survey
Measure the coordinate of auxiliary magnet (P) under global coordinate system are as follows:
The measurement result of the laser tracker (M) of participation measurement directly multiplied by the laser tracker (M) for participating in measurement and is determined
Justice is the homogeneous transition matrix between the laser tracker (M) of global coordinate system；Or
Participate in measurement laser tracker (M) measurement result first multiplied by it is described participate in measurement laser tracker (M) with it is another
Homogeneous transition matrix between laser tracker (M) multiplied by another laser tracker (M) and is defined as global coordinate system
Laser tracker (M) between homogeneous transition matrix.
8. the pairing attitude-adjusting method according to claim 1 based on more laser trackers measurement field, which is characterized in that benchmark
Workpiece tool (1) is wing boxes of wings skeleton, and target workpiece tooling (2) is upper covering and its conformal tooling.
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