CN103116668A - Communication method of iGPS measurement system and computer-graphics aided three-dimensional interactive application (CATIA) software data - Google Patents
Communication method of iGPS measurement system and computer-graphics aided three-dimensional interactive application (CATIA) software data Download PDFInfo
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Abstract
The invention provides a communication method of an iGPS measurement system and computer-graphics aided three-dimensional interactive application (CATIA) software data. The communication method includes the steps that a CAA is used for writing a virtual assembly module based on a CATIA assembling module, a virtual assembly is utilized to load virtual assembly part files, a middle software mysurveyor between a surveyor and a CATIA is developed, and the middle software mysurveyor provides real-time tracking measurement and single-point measurement according to request data content sent by the virtual assembly, combines measurement data with a model of a three-dimensional virtual assembly part, and reflects actual conditions of assembly sites into CATIA software by means of coordinate conversion. The communication method avoids the problems that the iGPS measurement system and the three-dimensional model are difficult to combine and communication between the CATIA software and external data is difficult, enables movable situations of the assembly part in the process of assembling to be observed in real time, and has certain reference value to airplane automatic assembly.
Description
Technical field
The invention belongs to areas of information technology, relate to a kind of method that iGPS measuring system is communicated by letter with the CATIA software data.
Background technology
In the Large Aircraft Components assembling, need datum mark with position and the attitude of adjustment assembly spare, and need to satisfy very high precision.Indoor measurement positioning system iGPS is a kind of novel three-dimensional digitized measurement technology, has that the range space is large, a whole measurement, multitask, high efficiency particular advantages, has mated well the airplane digital makeup and has matched in the demand of three-dimensional measurement technology.In advanced aircraft manufacturing technology, the iGPS measuring technique has become one of most important technological means in the digitizing assembling, shows application prospect wide and glamorous and value abroad.
The iGPS measuring system is comprised of laser transmitting set, receiver, receiving center and controller.When an iGPS system was arranged in calibrated environment, it can start before a new metering period begins easily.The probe of its receiver can be attached on object and also can be held towards object by the user, and a single-point only detects and needs just can complete several seconds.The vector bar connects with probe, the survey data that obtains is stored in a firm hand held controller, or sends wirelessly workstation to.
The iGPS system of Metris company supplies the fields such as space flight, shipbuilding, car industry more and uses, the software of Metris iGPS reading out data is Surveyor, Surveyor software provides SDK (Software Development Kit, SDK (Software Development Kit)) realize for the user function that oneself needs, its SDK supports the secondary development of Visual C Plus Plus, can realize according to user's demand different functions.
China Aviation Enterprise great majority adopt the CATIA software of Dassault company to realize the design of aeronautical product, modeling, emulation etc.CATIA software provides second development interface, can communicate by letter with external program by dual mode: outer application program (Out-Process Application) mode of in-process application program (In-process Application) mode and process.Under in-process application program mode, CATIA software and script operate in the same process address space, and such as grand mode (Macro), this mode is fairly simple, just can complete in the CATIA environment.Under the outer application program mode of process, CATIA moves in the different process address spaces from external application.In the situation that the CATIA operation, external progress can be controlled CATIA by interface, establishment, the data of revising CATIA environment and geometrical body, size etc., and support target connects and embedding (Object Linking and Enbedding, OLE) simultaneously.Secondary development based on the CATIA of CAAV5 belongs to the latter exactly, and its function is also more powerful.
In practical use, during being combined with, iGPS system and CATIA software comes with some shortcomings:
(1) the iGPS system is difficult to and the three-dimensional model combination
the aircraft product model of modern Aviation enterprise is realized modeling and assembling basically in CATIA V5, in the practical set process, need the distortion of observation practical set part, utilize the measurement data that Surveyor reads to be difficult to and the three-dimensional data model combination, although Suveyor can pass to data the process software that SA (Spatial Analyzer) etc. supports three-dimensional model, but must be converted to the form of its permission based on the digital-to-analogue of CATIA, be converted to the igs form as the form CATPart with the CATIA part, so just increased workload, and may lose some information in digital-to-analog conversion, be unfavorable for the combination of three-dimensional model and actual measurement data.
(2) CATIA software and extraneous data communication difficulty
CATIA software is based on the modularized program that the Windows Core API is write, its three-dimensional modeling, emulation, digital control processing etc. are very capable, between CATIA software inhouse disparate modules, its communication ability is also very strong, a unified interface but communicating by letter with CATIA, external program is not set, need designed, designed input interface or manual the importing, this just caused CATIA software and extraneous data communication more difficult, as the measurement data of iGPS is imported in CATIA, perhaps extract the information of three-dimensional model in CATIA software etc.
(3) assembling of iGPS system and aircraft lacks universal method in using
Present stage, in the Large Aircraft Components assembling process, often there is no unified software mounting plate, there is no unified data transmission method, the staff of different manufacturers tends to from the moving input of the data reading software expert of measuring equipment or automatically extracts, and not only efficient is low but also shortage versatility and portability.
Summary of the invention
For problems of the prior art, the present invention proposes a kind of method that iGPS measuring system is communicated by letter with the CATIA software data, the measurement pattern that real-time follow-up and spot measurement are followed the tracks of has been proposed in the inventive method, measurement data is combined with three-dimensional entity model, by coordinate conversion, the fact of erecting yard is reacted in CATIA software, finally assemble the calibration curve information of route with the form record of document.
The present invention proposes a kind of method that iGPS measuring system is communicated by letter with the CATIA software data, comprises following step:
The first step: load the product file.
Utilize the function library CAA (Component Application Architecture) of CATIA to write one based on the module of CATIA assembly environment, called after VirtualAsseambly.After entering the VirtualAsseambly module, load the product file of the virtual assembly parts of using in advance CATIA assembly environment editor.
Second step: set up virtual global coordinate system in the VirtualAssembly environment.
Utilize the iGPS datum mark to set up global coordinate system, reference point is arranged in fixing place, position in the making-up shop.The global coordinate system set up is passed to the VirtualAssembly module with respect to position and the corner of iGPS system coordinate system, set up the virtual global coordinate system of the global coordinate system at corresponding practical set scene in the VirtualAssembly environment, assembly environment coordinate system namely, the assembly environment coordinate system equals global coordinate system with respect to position and the corner of iGPS system coordinate system with respect to position and the corner of iGPS system coordinate system.
The 3rd step: the pose of the different assembly parts of initialization.
At first determine fixture, reference point is set respectively on fixture and assembly parts, and datum mark is also obtained the pose of fixture in global coordinate system, and pose comprises position and angle, the pose data of obtaining are passed to the VirtualAssembly module, upgrade the pose of virtual assembly parts.
The 4th step: judge whether it is real-time follow-up, if real-time follow-up was carried out for the 5th step, otherwise carried out for the 12 step.
The 5th step: obtain the reference point of setting in the 3rd step with respect to the relative position of receiver coordinate system.
Can utilize the iProbe spot measurement, obtain reference point with respect to the coordinate of receiver coordinate system through coordinate conversion again, also can be by the higher measuring equipment of other precision, measuring equipments such as laser tracker and joint arm, again that data are same under global coordinate system, carrying out coordinate conversion can obtain.
The 6th step: the request command that sends real-time stream to Surveyor.
The software MySurveyor between Surveyor and CATIA of SDK exploitation that utilizes Surveyor to provide, the VirtualAssembly module sends the request command of real-time stream to MySurveyor, MySurveyor is according to the request msg content, to data corresponding to Surveyor request.The request msg content comprises the title of request receiving device and the type of request msg, and the type of request msg refers to data flow data or one point data.
The 7th step: set up data flow path.
MySurveyor sets up a data circulation road between Surveyor and CATIA, the frequency that data send is set as required.
The 8th step: receiving data stream also obtains the pose of assembly parts design coordinate system in global coordinate system.
Go on foot according to the 3rd reference point and the iGPS receiver that sets, the data that Surveyor directly obtains are position and corners of the receiver coordinate system of receiver composition, go on foot according to the 5th the real-time coordinate that the relative position that determines obtains reference point, with respect to the theoretical value of design coordinate system, can utilize least square fitting to obtain the pose of assembly parts design coordinate system in global coordinate system according to the positional information of a plurality of reference points and reference point.
The 9th step: the pose that upgrades virtual assembly parts in CATIA software according to the pose in the 8th step.
The tenth goes on foot: judge whether to assemble and finish, go on foot the continuation execution if finish to return the 8th, if finish, turn the execution of the 11 step.
The 11 step: close data channel record assembling route, carried out for the 20 step.
The 12 step: determine whether spot measurement, if, carried out for the 13 step, carry out if not turned for the 20 step.
The 13 step: arrange iProbe.
IProbe is the hand-held receiver of Metris iGPS system, the position of its probe is with respect to the location aware of receiver coordinate system, therefore after datum arranges iProbe, just can obtain the position of probe place reference point according to the position that records the receiver coordinate system and attitude.
The 14 step: ask one point data by middleware software MySurveyor to Surveyor, obtain probe place reference point with respect to the coordinate of global coordinate system.
The 15 step: judging whether all reference points are all measured completes, if, carried out for the 16 step, if not, turn the execution of the 13 step.
The 16 step: obtain the pose in the relative global coordinate system of design coordinate system of assembly parts.
The 17 step: the pose that upgrades virtual assembly parts according to the pose that obtains.
The 18 step: judge whether to assemble and complete, do not return to the execution of the 13 step if complete, carried out for the 19 step if complete.
The 19 step: send and stop the data measuring command, and record assembling route.
The 20 step: withdraw from the VirtualAssembly module.
Advantage of the present invention and good effect are:
(1) the inventive method avoided the iGPS system to be difficult to and three-dimensional model in conjunction with and CATIA software and extraneous data communication hard problem, the iGPS measurement data can be directly delivered in CATIA V5 environment, realize practical set part and data model combination, but the deformation of assembly parts in the real-time monitored assembling process.
(2) the inventive method utilizes the environment of CATIA as the virtual platform of assembling, and can according to the online processing controls of measurement data and data, realize robotization control.
(3) the inventive method has been expanded the function of CATIA, is that the data communication between other measuring equipments and CATIA software proposes a kind of reference model simultaneously, has certain reference value.
Description of drawings
Fig. 1 is iGPS measuring system of the present invention and CATIA V5 data communications method process flow diagram;
Fig. 2 is the schematic diagram that middleware software MySurveyor realizes;
Fig. 3 is the process flow diagram that middleware software MySurveyor realizes the real time data stream communication.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
At first, the coordinate system that relates in the inventive method once is described:
Global coordinate system: refer at the on-the-spot coordinate system of setting up of practical set;
Assembly environment coordinate system: the virtual global coordinate system of the global coordinate system at the corresponding practical set scene that refers to set up in the VirtualAssembly environment;
IGPS system coordinate system: refer to the iGPS system coordinate system;
Receiver coordinate system: refer to the receiver coordinate system that the receiver by iGPS forms;
Design coordinate system: the coordinate system that refers to design accessory to be installed in the VirtualAssembly module.
The present invention proposes a kind of method that iGPS measuring system is communicated by letter with the CATIA software data, as shown in Figure 1, comprises following step:
The first step: load the product file.
Utilize the VirtualAsseambly module that CAA writes to be based on the CATIA assembly environment, therefore the functional equivalent of its acquiescence can directly load the product file in CATIA load module.In the product file, the in store prior virtual assembly parts that edit restriction relation with the CATIA assembly environment, will delete these restriction relations in the assembling process in later stage.Start CATIA, enter the VirtualAsseambly module, load the product file.Because the VirtualAsseambly module is based on the CATIA assembly environment, so can take full advantage of the function of CATIA assembly environment.
Second step: set up global coordinate system in the VirtualAssembly environment.
Utilize the iGPS datum mark to set up global coordinate system, the method for setting up coordinate system has multiple, has based on methods such as bikini, four-points, and these reference points should be arranged in fixing place, position in the making-up shop.After setting up global coordinate system, global coordinate system is passed to the VirtualAssembly module with respect to position and the corner of iGPS system coordinate system, set up corresponding assembly environment coordinate system in the VirtualAssembly environment, make virtual global coordinate system with respect to position and the corner of iGPS system coordinate system, equal global coordinate system with respect to position and the corner of iGPS system coordinate system.
The 3rd step: the pose of the different assembly parts of initialization.
The product file that loads in the first step is the virtual confined state of setting up in the CATIA assembly environment in advance, at first determine fixture, reference point is set respectively on fixture and assembly parts, datum mark also obtains the pose of fixture in global coordinate system, the pose data are passed to the VirtualAssembly module, upgrade the pose of assembly parts three-dimensional model.
The 4th step: judge whether it is real-time follow-up, if real-time follow-up turns the execution of the 5th step, otherwise turn the execution of the 12 step.
The 5th step: obtain the reference point of setting in the 3rd step with respect to the relative position of receiver coordinate system.
Can utilize the iProbe spot measurement, then obtain through coordinate conversion, also can be by the higher measuring equipment of other precision, measuring equipments such as laser tracker and joint arm, then data are same under global coordinate system, carrying out coordinate conversion can obtain.
The 6th step: the request command that sends real-time stream to Surveyor.
Surveyor provides for user's secondary development SDK, utilizes software MySurveyor between Surveyor and CATIA of SDK exploitation.The VirtualAssembly module sends the real-time stream request to MySurveyor, and MySurveyor is according to the request msg content, to data corresponding to Surveyor request.The request msg content comprises the title of request receiving device and the type of request msg, and the type of request msg refers to data flow data or one point data.
The 7th step: set up data flow path.
The data type that MySurveyor judges request is real-time stream, sets up a data circulation road between Surveyor and CATIA, and the frequency that data send is set as required.
The 8th step: receive data also calculates pose.
According to the reference point that sets in the 3rd step and the receiver of iGPS, the data that Surveyor directly obtains are position and corners of the receiver coordinate system of receiver composition, go on foot according to the 5th the real-time coordinate that the relative position that obtains can obtain reference point, with respect to the theoretical value of design coordinate system, can utilize least square fitting to calculate the pose of assembly parts design coordinate system in global coordinate system according to the positional information of a plurality of reference points and reference point.
The 9th step: go on foot the pose that the pose that obtains upgrades virtual assembly parts in the VirtualAssembly environment according to the 8th.The position of the global coordinate system that assembly parts in VirtualAsseambly environment design coordinate system is set up with respect to second step and angle are set to position and the angle that the 9th step obtained, and the pose of virtual like this assembly parts in the VirtualAssembly environment just can real-time update.
The VirtualAssembly module is to inherit CATIA assembly environment all functions, can set the design coordinate system of accessory to be installed with respect to position and the corner of assembly environment coordinate system in assembling process, so just accessory to be installed can be positioned in virtual assembly environment.
The tenth step: judge whether that assembling finishes, if do not finish to return the 8th step, if finish, turned for the 11 step.
The 11 step: close data channel record assembling route, turned for the 20 step.
The 12 step: determine whether spot measurement, if turned for the 13 step, if not turned for the 20 step.
The 13 step: arrange iProbe in datum.
IProbe is the hand-held receiver of Metris iGPS system, the position of its probe is with respect to the location aware of receiver coordinate system, therefore record the position of receiver coordinate system and attitude and can try to achieve the position of probe place reference point, but due to it by hand-held location, so unavoidably shake to some extent, the data precision of measuring can be influenced, so must fix the position of iProbe before measuring.
The 14 step: ask one point data by middleware software MySurveyor to Surveyor, obtain probe place reference point with respect to the coordinate of global coordinate system.
When data request command arrives MySurveyor software, MySurveyor can open up an independent thread for the client of current request data and come processes data requests, during the single-point request msg, obtaining of each point needs to send request, is responsible for obtaining Data Concurrent from Surveyor by the data processing threads of opening up before and gives client.
The 15 step: whether judgment standard point is measured is completed, and turns for the 16 step if complete, and does not return to for the 13 step if do not complete.
The 16 step: the pose of design coordinate system in global coordinate system that obtains assembly parts.
When spot measurement is followed the tracks of, need to complete after the measurement of a plurality of reference points in position and the angle of design coordinate system in global coordinate system of determining assembly parts, be different from the dynamic data flow measurement, data that can a plurality of points of Real-time Obtaining, then position and the corner of assembly parts design coordinate system obtained in the position by reference point, and suitable algorithm.
The 17 step: the pose that upgrades virtual assembly parts in the product file.The position of the global coordinate system that assembly parts in VirtualAsseambly environment design coordinate system is set up with respect to second step and angle are set to position and the angle that the 16 step obtained, and make the pose of assembly parts can real-time update.
The 18 step: judge whether to assemble and complete, do not return to for the 13 step if complete, turned for the 19 step if complete.
The 19 step: send and stop data measuring command and record assembling route.
The 20 step: withdraw from the VirtualAssembly module.
The principle of middleware software MySurveyor as shown in Figure 2.The interface that Surveyor program SDK provides a lot of data to read, be included in the Surveyor program inner, interlude MySurveyor main thread reads measurement data and message communicating from Surveyor, the MySurveyor main thread creates a thread of waiting for request of data simultaneously, when the thread of waiting for request of data is received data request command, data processing threads of client establishment for CATIA carries out data flow communication by data processing threads and CATIA client.Realize that data flow communication mainly is divided into the following steps, as shown in Figure 3:
Step 1: initialization MySurveyor software.
The initialization serve end program is mainly that MySurveyor obtains the system information of some iGPS from Surveyor, comprises the number of transmitter, and the number of receiver and the name information of receiver are for reading out data is prepared.
Step 2: judge whether Surveyor software is opened, do not open the Surveyor program and return to step 1 if open reminding user, turn step 3 if open.
Step 3: read configuration documentation.The conversion coefficient of using when recording the data unit that reads in Surveyor software in configuration documentation and carrying out Conversion of measurement unit, and the angular transition coefficient of MySurveyor software needs etc.
The data that read in Surveyor software are take inch as unit, convert millimeter unit to and need to multiply by conversion coefficient, MySurveyor also needs the parameters such as angular transition coefficient simultaneously, the above-mentioned information of configuration documentation essential record, this step is mainly these parameters that read in configuration documentation, processes to be used for data.
Step 4: judged whether data request command, if execution in step 5 is arranged, do not waited for if continue.
Step 5: create new data processing threads and come processes data requests.
Step 6: judge whether the data processing finishes, carry out if finish to return to step 4, if finish execution in step 7.
Step 7: the log file also withdraws from service end.
Claims (2)
1. the method that the iGPS measuring system is communicated by letter with the CATIA software data, is characterized in that, comprises the steps:
The first step: utilize the function library CAA of CATIA to write module VirtualAsseambly based on the CATIA assembly environment, enter the VirtualAsseambly module, load the product file with CATIA assembly environment editor's virtual assembly parts;
Second step: utilize the iGPS datum mark to set up global coordinate system, reference point is arranged in fixing place, position in the making-up shop, the global coordinate system set up is passed to the VirtualAssembly module with respect to position and the corner of iGPS system coordinate system, set up the assembly environment coordinate system of the global coordinate system at corresponding practical set scene in the VirtualAssembly environment, the assembly environment coordinate system equals global coordinate system with respect to position and the corner of iGPS system coordinate system with respect to position and the corner of iGPS system coordinate system;
The 3rd step: determine fixture, reference point is set respectively on fixture and assembly parts, datum mark is also obtained the pose of fixture in global coordinate system, the pose data of obtaining are passed to the VirtualAssembly module, upgrade the pose of virtual assembly parts in the VirtualAssembly environment;
The 4th step: judge whether it is real-time follow-up, if real-time follow-up was carried out for the 5th step, otherwise carried out for the 12 step;
The 5th step: obtain the reference point of setting in the 3rd step with respect to the relative position of receiver coordinate system;
The 6th step: the software MySurveyor between Surveyor and CATIA of SDK (Software Development Kit) SDK exploitation that utilizes Surveyor to provide, the VirtualAssembly module sends the request command of real-time stream to MySurveyor, MySurveyor is according to the request msg content, to data corresponding to Surveyor request;
The 7th step: MySurveyor sets up a data circulation road between Surveyor and CATIA, and the frequency that data send is set as required;
The 8th step: go on foot reference point and the iGPS receiver that sets according to the 3rd, Surveyor directly obtains position and the corner of the receiver coordinate system that is comprised of receiver, the position that the relative position that obtains according to the 5th step obtains reference point, with respect to the theoretical value of design coordinate system, utilize least square fitting to obtain position and the angle of assembly parts design coordinate system in global coordinate system according to the position of reference point and reference point;
The 9th step: the pose that upgrades virtual assembly parts according to the pose that obtains;
The tenth step: judge whether that assembling finishes, if do not finish, carried out for the 7th step, if finish, carried out for the 11 step;
The 11 step: close data channel, record assembling route carried out for the 20 step;
The 12 step: determine whether spot measurement, if, carried out for the 13 step, if not, carried out for the 20 step;
The 13 step: arrange the hand-held receiver iProbe of Metris iGPS system in datum, obtain the position of probe place reference point according to the position that records the receiver coordinate system and attitude;
The 14 step: ask one point data by middleware software MySurveyor to Surveyor, obtain probe place reference point with respect to the coordinate of global coordinate system;
The 15 step: judging whether all reference points are all measured completes, if complete, carries out for the 16 step, otherwise, carry out the 13 and go on foot;
The 16 step: obtain the position in the relative global coordinate system of design coordinate system of assembly parts;
The 17 step: the pose that upgrades virtual assembly parts according to the pose that obtains;
The 18 step: judge whether to assemble and complete, do not turn the execution of the 13 step if complete, otherwise carried out for the 19 step;
The 19 step: send and stop the data measuring command, and record assembling route;
The 20 step: withdraw from the VirtualAssembly module.
2. a kind of iGPS measuring system according to claim 1 method of communicating by letter with the CATIA software data, it is characterized in that, described software MySurveyor, its main thread reads measurement data and message communicating from Surveyor, main thread creates a thread of waiting for request of data simultaneously, when the thread of waiting for request of data is received data request command, MySurveyor is that the client of CATIA creates a data processing threads, carry out data flow communication by data processing threads and CATIA client, set up data flow path in concrete the 7th step, the step that realizes real-time data communication is as follows:
Step 1: initialization MySurveyor software, MySurveyor obtain the system information of iGPS from Surveyor, comprise the number of transmitter, the number of receiver and the title of receiver;
Step 2: judge whether Surveyor software is opened, do not open the Surveyor program and return to step 1 if open reminding user, if open execution in step 3;
Step 3: read configuration documentation, record in configuration documentation: the conversion coefficient of using when the data unit that reads in Surveyor software and Conversion of measurement unit, the angular transition coefficient that MySurveyor software needs;
Step 4: judged whether data request command, if execution in step 5 is arranged, otherwise continued to wait for;
Step 5: create new data processing threads and come processes data requests;
Step 6: judge whether the data processing finishes, carry out if finish to return to step 4, if finish execution in step 7;
Step 7: the log file also withdraws from service end.
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| CN112066877A (en) * | 2020-08-28 | 2020-12-11 | 浙江西子势必锐航空工业有限公司 | Method for assembling and adjusting airplane type frame |
| CN112066877B (en) * | 2020-08-28 | 2022-02-18 | 浙江西子势必锐航空工业有限公司 | Method for assembling and adjusting airplane type frame |
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