CN109613519B - Alignment attitude adjustment method based on multi-laser tracker measurement field - Google Patents

Alignment attitude adjustment method based on multi-laser tracker measurement field Download PDF

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CN109613519B
CN109613519B CN201910027885.7A CN201910027885A CN109613519B CN 109613519 B CN109613519 B CN 109613519B CN 201910027885 A CN201910027885 A CN 201910027885A CN 109613519 B CN109613519 B CN 109613519B
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laser tracker
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CN109613519A (en
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张继文
郭九明
吴丹
陈恳
王国磊
石循磊
徐静
盖宇航
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Tsinghua University
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Abstract

本发明提供了一种基于多激光跟踪仪测量场的对合调姿方法，其包括步骤：S1，建立理想装配体模型；S2，构建出多激光跟踪仪测量场；S3，采用光束平差法进行迭代计算，求出任意两台激光跟踪仪之间的齐次转换矩阵；S4，计算出各测量辅助点在全局坐标系下的坐标；S5，将目标工件工装装配于基准工件工装。测量辅助点的位置选择约束较少，更为灵活，避免了测量辅助点之间的相对位置发生漂移，提高了测量精度。转站计算采用基于全局优化思想的光束平差法，其可一次性完成多台激光跟踪仪之间的转站计算，提高了转站精度。同时采用激光跟踪仪的实测数据进行指导调姿，减小了目标测量点放置误差对目标测量点位置估计结果的影响，提高了测量精度。

Figure 201910027885

The invention provides a method for alignment and attitude adjustment based on a multi-laser tracker measurement field, which comprises the steps of: S1, establishing an ideal assembly model; S2, building a multi-laser tracker measurement field; S3, using a beam adjustment method Iterative calculation is performed to obtain the homogeneous transformation matrix between any two laser trackers; S4, the coordinates of each measurement auxiliary point in the global coordinate system are calculated; S5, the target workpiece tooling is assembled on the reference workpiece tooling. The position selection of the auxiliary measurement points is less constrained and more flexible, which avoids the relative position drift between auxiliary measurement points and improves the measurement accuracy. The transfer station calculation adopts the beam adjustment method based on the global optimization idea, which can complete the transfer station calculation between multiple laser trackers at one time and improve the transfer station accuracy. At the same time, the measured data of the laser tracker is used to guide the attitude adjustment, which reduces the influence of the placement error of the target measurement point on the position estimation result of the target measurement point and improves the measurement accuracy.

Figure 201910027885

Description

基于多激光跟踪仪测量场的对合调姿方法Alignment attitude adjustment method based on multi-laser tracker measurement field

技术领域technical field

本发明涉及数字化测量技术领域，尤其涉及一种基于多激光跟踪仪测量场的对合调姿方法。The invention relates to the technical field of digital measurement, in particular to a method for adjusting the alignment and attitude based on the measurement field of a multi-laser tracker.

背景技术Background technique

由于大型飞机的机翼、机身等部件往往具有面积大、刚度小、易变形等特点以及大型飞机工作环境的特殊性，因而在大型飞机部件的装配过程中，需要借助多个数字化设备(如各种定位器、工业机器人等)进行辅助装配。Because the wings, fuselage and other parts of large aircraft often have the characteristics of large area, small rigidity, easy deformation, etc. and the particularity of the working environment of large aircraft, in the assembly process of large aircraft parts, it is necessary to use multiple digital equipment (such as Various positioners, industrial robots, etc.) for auxiliary assembly.

为了在装配过程中，保证各数字化设备、工装及部件之间准确的相对位置关系，因此需要建立统一的测量场，进而建立统一的装配坐标系(即全局坐标系)。In order to ensure the accurate relative positional relationship between digital equipment, tooling and components during the assembly process, it is necessary to establish a unified measurement field, and then establish a unified assembly coordinate system (ie, global coordinate system).

建立统一的测量场主要依赖大范围高精度的测量设备(如激光跟踪仪、iGPS、工业相机等)。其中，由于激光跟踪仪具有精度高、可移动、工作范围广等特点，其是航空装配任务中常用的测量仪器。The establishment of a unified measurement field mainly relies on large-scale high-precision measurement equipment (such as laser trackers, iGPS, industrial cameras, etc.). Among them, laser trackers are commonly used measuring instruments in aviation assembly tasks due to their high precision, mobility, and wide working range.

目前，建立统一的测量场的方式为：在工作空间内，在稳定不动的位置(如地面或固定工装等)安装多个测量辅助点(Enhanced Reference System，缩写为ERS，也称为增强参考系统)和多台激光跟踪仪，每台激光跟踪仪测量多个测量辅助点位置，而待装配部件的装配坐标系由这些空间位置已知的测量辅助点确定。此时，测量辅助点在装配坐标系下的坐标值可认为是固定不变的，但是由于测量辅助点的实际位置会因温度、重力等因素发生变化，从而会导致装配坐标系中的坐标轴方向和单位长度会随时间变化，进而造成构建的测量场中会存在较大的测量误差，对大型部件的装配质量造成影响。At present, the way to establish a unified measurement field is to install multiple measurement auxiliary points (Enhanced Reference System, abbreviated as ERS, also known as Enhanced Reference System) in a stable and immobile position (such as the ground or fixed tooling, etc.) in the workspace system) and multiple laser trackers, each laser tracker measures the positions of multiple measurement auxiliary points, and the assembly coordinate system of the component to be assembled is determined by these measurement auxiliary points whose spatial positions are known. At this time, the coordinate value of the auxiliary measurement point in the assembly coordinate system can be considered to be fixed, but the actual position of the auxiliary measurement point will change due to factors such as temperature and gravity, which will cause the coordinate axis in the assembly coordinate system. The direction and unit length will change with time, which will cause large measurement errors in the constructed measurement field, which will affect the assembly quality of large parts.

装配坐标系确定后，在进行转站过程中，通常采用SVD算法或Best-fit算法，其每次仅能确定两台激光跟踪仪的测量坐标系之间的相对位置姿态关系，而距离较远的仪器之间要经过多次转站才能确定彼此之间的相对关系、再将数据统一到装配坐标系下，由此易造成较大的转站累计误差。After the assembly coordinate system is determined, in the process of transferring stations, the SVD algorithm or the Best-fit algorithm is usually used, which can only determine the relative position and attitude relationship between the measurement coordinate systems of the two laser trackers each time, and the distance is long. The relative relationship between the two instruments needs to be transferred several times to determine the relative relationship between them, and then the data is unified into the assembly coordinate system, which is easy to cause a large cumulative error of transfer stations.

在目标工件工装(设置有目标测量点)与基准工件工装(设置有基准测量点)的对合装配过程中，需要先测量目标测量点和基准测量点的实测位置，然后将测量数据分别与其理想模型中的理论位置做加权平均，再分别拟合出目标工件工装和基准工件工装的位姿，并以该位姿数据驱动调姿。但是，由于参与拟合的测量数据会由于安装误差和测量误差存在较大的不确定度，易导致拟合出的目标工件工装和基准工件工装的位姿不准，进而影响装配质量。In the assembly process of the target workpiece tooling (set with the target measurement point) and the reference workpiece tooling (set with the reference measurement point), it is necessary to measure the measured positions of the target measurement point and the reference measurement point first, and then compare the measurement data to their ideal values. The theoretical positions in the model are weighted and averaged, and then the poses of the target workpiece tooling and the reference workpiece tooling are fitted respectively, and the pose adjustment is driven by the pose data. However, since the measurement data participating in the fitting will have large uncertainties due to installation errors and measurement errors, it is easy to lead to inaccurate positions of the fitted target workpiece tooling and the reference workpiece tooling, thereby affecting the assembly quality.

发明内容SUMMARY OF THE INVENTION

鉴于背景技术中存在的问题，本发明的一个目的在于提供一种基于多激光跟踪仪测量场的对合调姿方法，其测量辅助点的位置选择约束较少，更为灵活，避免了测量辅助点之间的相对位置因温度、重力等原因发生漂移的问题，提高了多激光跟踪仪测量场的测量精度。In view of the problems existing in the background technology, an object of the present invention is to provide a method for alignment and attitude adjustment based on the measurement field of a multi-laser tracker, which has less constraints on the position selection of auxiliary measurement points, is more flexible, and avoids measurement assistance. The relative position between points drifts due to temperature, gravity and other reasons, which improves the measurement accuracy of the multi-laser tracker measurement field.

本发明的另一个目的在于提供一种基于多激光跟踪仪测量场的对合调姿方法，转站计算采用基于全局优化思想的光束平差法，可一次性完成多台激光跟踪仪之间的转站计算，从而避免了每次只确定两台激光跟踪仪之间的位姿造成的误差积累问题，提高了基于多激光跟踪仪测量场的测量精度。Another object of the present invention is to provide a method for alignment and attitude adjustment based on the measurement field of multiple laser trackers, and a beam adjustment method based on the idea of global optimization is adopted for the calculation of the transfer station, which can complete the adjustment between multiple laser trackers at one time. Station transfer calculation, thus avoiding the error accumulation problem caused by only determining the pose between two laser trackers each time, and improving the measurement accuracy based on the multi-laser tracker measurement field.

本发明的再一个目的在于提供一种基于多激光跟踪仪测量场的对合调姿方法，其采用激光跟踪仪的实测数据指导调姿，避免了对目标工件工装上的目标测量点的测量数据与其在理想数模中的位置分别进行融合、估计目标测量点位置的过程，减小了目标测量点放置误差对目标测量点位置估计结果的影响，提高了测量精度。Another object of the present invention is to provide a method for alignment attitude adjustment based on the measurement field of multiple laser trackers, which uses the measured data of the laser tracker to guide the attitude adjustment, and avoids the measurement data of the target measurement point on the target workpiece tooling. The process of merging and estimating the position of the target measurement point separately from the position in the ideal digital model reduces the influence of the placement error of the target measurement point on the estimation result of the target measurement point position, and improves the measurement accuracy.

为了实现上述目的，本发明提供了一种基于多激光跟踪仪测量场的对合调姿方法，其包括步骤S1-S5。In order to achieve the above-mentioned purpose, the present invention provides a method for alignment and attitude adjustment based on the measurement field of a multi-laser tracker, which includes steps S1-S5.

S1，在三维软件中分别建立基准工件工装和目标工件工装的三维模型并完成装配，以获得理想装配体模型。S1, respectively establish the 3D model of the reference workpiece tooling and the target workpiece tooling in the 3D software and complete the assembly to obtain an ideal assembly model.

S2，在实际工作空间内，设置多台激光跟踪仪和多个测量辅助点，以构建出多激光跟踪仪测量场，其中每台激光跟踪仪具有测量坐标系并至少测量三个测量辅助点的空间位置、各测量辅助点至少被两台激光跟踪仪测量，且将其中一台激光跟踪仪的测量坐标系定义为全局坐标系。S2, in the actual working space, set up multiple laser trackers and multiple measurement auxiliary points to construct a multi-laser tracker measurement field, in which each laser tracker has a measurement coordinate system and measures at least three measurement auxiliary points. The spatial position and each measurement auxiliary point are measured by at least two laser trackers, and the measurement coordinate system of one of the laser trackers is defined as the global coordinate system.

S3，基于不同激光跟踪仪对同一测量辅助点的测量结果、采用光束平差法进行迭代计算，求出任意两台激光跟踪仪之间的齐次转换矩阵以及各测量辅助点在全局坐标系下的坐标。S3: Based on the measurement results of different laser trackers on the same measurement auxiliary point, the beam adjustment method is used to iteratively calculate the homogeneous transformation matrix between any two laser trackers and the global coordinate system of each measurement auxiliary point. coordinate of.

S4，基于各测量辅助点在参与测量的激光跟踪仪下的测量结果以及参与测量的激光跟踪仪与对应的激光跟踪仪之间的齐次转换矩阵，计算出各测量辅助点在全局坐标系下的坐标。S4, based on the measurement results of each measurement auxiliary point under the laser tracker participating in the measurement and the homogeneous transformation matrix between the laser tracker participating in the measurement and the corresponding laser tracker, calculate each measurement auxiliary point in the global coordinate system. coordinate of.

S5，在所述多激光跟踪仪测量场中，将目标工件工装装配于基准工件工装，所述基准工件工装上布置有多个基准测量点、所述目标工件工装布置有多个目标测量点，且S5包括步骤：S5, in the multi-laser tracker measurement field, a target workpiece tooling is assembled on a reference workpiece tooling, the reference workpiece tooling is arranged with a plurality of reference measurement points, and the target workpiece tooling is arranged with a plurality of target measurement points, And S5 includes steps:

S51，固定基准工件工装、将目标工件工装与基准工件工装相对设置，且目标工件工装连接有自动化对接设备；S51, fixing the reference workpiece tooling, setting the target workpiece tooling and the reference workpiece tooling relative to each other, and the target workpiece tooling is connected with an automated docking device;

S52，基准测量点在在数量上为g、目标测量点在数量上为h，从三维软件中的理想装配体模型上获取基准工件工装上的所述多个基准测量点的理论位置

Figure BDA0001943166110000031
以及目标工件工装上的所述多个目标测量点的理论位置
Figure BDA0001943166110000032
其中，i表示所述多个基准测量点的编号，j表示所述多个目标测量点的编号；S52, the number of reference measurement points is g, and the number of target measurement points is h, and the theoretical positions of the plurality of reference measurement points on the reference workpiece tooling are obtained from the ideal assembly model in the three-dimensional software
Figure BDA0001943166110000031
and the theoretical positions of the multiple target measurement points on the target workpiece tooling
Figure BDA0001943166110000032
Wherein, i represents the number of the multiple reference measurement points, and j represents the number of the multiple target measurement points;

S53，通过所述多台激光跟踪仪以及所述多台激光跟踪仪相互之间的齐次转换矩阵

Figure BDA0001943166110000033
得到基准工件工装上的所述多个基准测量点在全局坐标系下的实测位置
Figure BDA0001943166110000034
目标工件工装上的所述多个目标测量点在全局坐标系下的实测位置
Figure BDA0001943166110000035
S53, through the multiple laser trackers and the homogeneous transformation matrix between the multiple laser trackers
Figure BDA0001943166110000033
Obtain the measured positions of the multiple reference measurement points on the reference workpiece tooling in the global coordinate system
Figure BDA0001943166110000034
The measured positions of the multiple target measurement points on the target workpiece tooling in the global coordinate system
Figure BDA0001943166110000035

S54，根据基准工件工装上的所述多个基准测量点在全局坐标系下的实测位置

Figure BDA0001943166110000036
建立基准工件工装的基准工装坐标系、以及根据目标工件工装上的所述多个目标测量点在全局坐标系下的实测位置
Figure BDA0001943166110000037
建立目标工件工装的目标工装坐标系；S54, according to the measured positions of the plurality of reference measurement points on the reference workpiece tooling under the global coordinate system
Figure BDA0001943166110000036
Establishing the reference tooling coordinate system of the reference workpiece tooling, and the measured positions of the multiple target measurement points on the target workpiece tooling under the global coordinate system
Figure BDA0001943166110000037
Establish the target tooling coordinate system of the target workpiece tooling;

S55，通过所述多个基准测量点的实测位置

Figure BDA0001943166110000038
和理论位置
Figure BDA0001943166110000039
求出实际的基准工件工装到三维软件中的理想装配体模型之间的齐次变换矩阵T1且
Figure BDA00019431661100000310
S55, passing the measured positions of the multiple reference measuring points
Figure BDA0001943166110000038
and theoretical position
Figure BDA0001943166110000039
Find the homogeneous transformation matrix T 1 between the actual reference workpiece tooling and the ideal assembly model in the 3D software and
Figure BDA00019431661100000310

S56，求出三维软件中的理想装配体模型到实际的基准工件工装之间的齐次变换矩阵T0且T0＝(T1)-1；S56, obtain the homogeneous transformation matrix T 0 between the ideal assembly model in the three-dimensional software and the actual reference workpiece tooling and T 0 =(T 1 ) −1 ;

S57，通过所述多个目标测量点的实测位置

Figure BDA0001943166110000041
和理论位置
Figure BDA0001943166110000042
求出实际的目标工件工装到三维软件中的理想装配体模型之间的齐次变换矩阵T2且
Figure BDA0001943166110000043
S57, through the measured positions of the multiple target measurement points
Figure BDA0001943166110000041
and theoretical position
Figure BDA0001943166110000042
Find the homogeneous transformation matrix T 2 between the actual target workpiece tooling and the ideal assembly model in the 3D software and
Figure BDA0001943166110000043

S58，计算出目标工件工装从当前的实测位置到理想位置之间的齐次变换矩阵T3且T3＝T0·T2＝(T1)-1·T2，并计算出目标工件工装的所述多个目标测量点在理想装配状态下的理想位置

Figure BDA0001943166110000044
S58, calculate the homogeneous transformation matrix T 3 between the target workpiece tooling from the current measured position to the ideal position and T 3 =T 0 ·T 2 =(T 1 ) -1 ·T 2 , and calculate the target workpiece tooling The ideal positions of the plurality of target measurement points in the ideal assembled state
Figure BDA0001943166110000044

S59，在实际工作空间内，自动化对接设备驱动目标工件工装完成齐次变换矩阵T3所定义的空间刚体运动，以将目标工件工装装配于基准工件工装。S59, in the actual working space, the automated docking device drives the target workpiece tooling to complete the space rigid body motion defined by the homogeneous transformation matrix T3, so as to assemble the target workpiece tooling on the reference workpiece tooling.

本发明的有益效果如下：The beneficial effects of the present invention are as follows:

测量辅助点的作用不再是构成全局坐标系的基准、而是帮助多台激光跟踪仪确定相互之间的位姿关系，因而测量辅助点的位置选择约束较少，更为灵活，避免了测量辅助点之间的相对位置因温度、重力等原因发生漂移的问题，提高了基于多激光跟踪仪测量场的测量精度，避免了复杂的补偿算法。并且，由于转站计算采用基于全局优化思想的光束平差法，其可一次性完成多台激光跟踪仪之间的转站计算，从而避免了每次只确定两台激光跟踪仪之间的位姿造成的误差积累问题，提高了多激光跟踪仪测量场中的转站精度。同时本发明采用激光跟踪仪的实测数据进行指导调姿，避免了对目标工件工装上的目标测量点的测量数据与其在理想数模中的位置分别进行融合、估计目标测量点位置的过程，减小了目标测量点放置误差对目标测量点位置估计结果的影响，从而提高了测量精度。The function of the measurement auxiliary point is no longer the datum of the global coordinate system, but to help multiple laser trackers determine the position and attitude relationship between them. Therefore, the position selection of the measurement auxiliary point is less constrained and more flexible, avoiding the need for measurement The relative position between the auxiliary points drifts due to temperature, gravity and other reasons, which improves the measurement accuracy of the measurement field based on the multi-laser tracker and avoids complex compensation algorithms. Moreover, because the beam adjustment method based on the global optimization idea is used in the transfer calculation, it can complete the transfer calculation between multiple laser trackers at one time, thereby avoiding the need to determine only the position between two laser trackers each time. The problem of error accumulation caused by the attitude is improved, and the accuracy of the station transfer in the measurement field of the multi-laser tracker is improved. At the same time, the present invention uses the measured data of the laser tracker to guide the attitude adjustment, which avoids the process of separately fusing the measurement data of the target measurement point on the target workpiece tooling and its position in the ideal digital model, and estimating the position of the target measurement point. The influence of the placement error of the target measurement point on the position estimation result of the target measurement point is reduced, thereby improving the measurement accuracy.

附图说明Description of drawings

图1是在本发明的基于多激光跟踪仪测量场的对合调姿方法中建立的多激光跟踪仪测量场的示意图。FIG. 1 is a schematic diagram of a multi-laser tracker measurement field established in the multi-laser tracker measurement field-based involution attitude adjustment method of the present invention.

图2是在三维软件中建立的基准工件工装1与目标工件工装2装配后的理想装配体模型图。FIG. 2 is a model diagram of an ideal assembly after the reference workpiece tooling 1 and the target workpiece tooling 2 are assembled in the 3D software.

图3是图2的主视图。FIG. 3 is a front view of FIG. 2 .

图4是在基准工件工装1与目标工件工装2装配前，基准测量点与目标测量点的分布示意图。FIG. 4 is a schematic diagram of the distribution of the reference measurement points and the target measurement points before the reference workpiece tooling 1 and the target workpiece tooling 2 are assembled.

其中，附图标记说明如下：Among them, the reference numerals are described as follows:

1基准工件工装 21目标测量点1 Reference workpiece tooling 21 Target measuring points

11基准测量点 M激光跟踪仪11 reference measuring points M laser tracker

2目标工件工装 P测量辅助点2 Target workpiece tooling P measurement auxiliary point

具体实施方式Detailed ways

下面参照附图来详细说明根据本发明的基于多激光跟踪仪测量场的对合调姿方法。The method for adjusting the alignment and attitude based on the measurement field of the multi-laser tracker according to the present invention will be described in detail below with reference to the accompanying drawings.

参照图1至图4，本发明的基于多激光跟踪仪测量场的对合调姿方法包括步骤S1、S2、S3、S4以及S5。Referring to FIG. 1 to FIG. 4 , the method for alignment attitude adjustment based on the measurement field of the multi-laser tracker of the present invention includes steps S1 , S2 , S3 , S4 and S5 .

S1，在三维软件中分别建立基准工件工装1和目标工件工装2的三维模型并完成装配，由此获得理想装配体模型(如图2所示)。S1 , in the three-dimensional software, respectively establish three-dimensional models of the reference workpiece tooling 1 and the target workpiece tooling 2 and complete the assembly, thereby obtaining an ideal assembly model (as shown in FIG. 2 ).

S2，在装配现场的实际工作空间内，设置多台激光跟踪仪M和多个测量辅助点P，以构建出多激光跟踪仪测量场(如图1所示)。其中，每台激光跟踪仪M具有自身的测量坐标系(即局部坐标系)并至少测量三个测量辅助点P的空间位置、各测量辅助点P至少被两台激光跟踪仪M测量，由此使得所述多台激光跟踪仪M与多个测量辅助点P之间形成一种网状的图连接关系。并且，可将其中一台激光跟踪仪M的测量坐标系定义为全局坐标系且用O-XYZ表示，而其它台的激光跟踪仪M的测量坐标系用O'-X'Y'Z'表示。S2, in the actual working space of the assembly site, multiple laser trackers M and multiple measurement auxiliary points P are set to construct a multi-laser tracker measurement field (as shown in FIG. 1 ). Wherein, each laser tracker M has its own measurement coordinate system (ie, a local coordinate system) and measures the spatial positions of at least three auxiliary measurement points P, and each auxiliary measurement point P is measured by at least two laser trackers M, thus A network-like graph connection relationship is formed between the plurality of laser trackers M and the plurality of measurement auxiliary points P. Moreover, the measurement coordinate system of one of the laser trackers M can be defined as a global coordinate system and represented by O-XYZ, while the measurement coordinate systems of the other laser trackers M can be represented by O'-X'Y'Z' .

S3，基于不同激光跟踪仪M对同一测量辅助点P的测量结果、采用光束平差法进行迭代计算，求出任意两台激光跟踪仪M之间的齐次转换矩阵(即任意两台激光跟踪仪M之间的齐次转换矩阵的求解过程即为转站计算过程)。S3, based on the measurement results of the same measurement auxiliary point P by different laser trackers M, the beam adjustment method is used for iterative calculation, and the homogeneous transformation matrix between any two laser trackers M (that is, any two laser tracking The solution process of the homogeneous transformation matrix between instruments M is the transfer calculation process).

这里，基于步骤S2和S3可知，测量辅助点P的作用不再是构成全局坐标系的基准(即全局坐标系未与测量辅助点P绑定)、而是帮助多台激光跟踪仪M确定相互之间的位姿关系，因而测量辅助点P的布置位置无需保证长时间不发生变化(即无需固定在地面或工作平台上的特殊位置)，只需保证尽可能同时被较多的激光跟踪仪M可见、在建立多激光跟踪仪测量场阶段保持不动即可。因此，测量辅助点P的位置选择约束较少，更为灵活，避免了测量辅助点P之间的相对位置因温度、重力等原因发生漂移的问题，提高了基于多激光跟踪仪测量场的测量精度，避免了复杂的补偿算法。Here, based on steps S2 and S3, it can be seen that the role of the measurement auxiliary point P is no longer the reference to form the global coordinate system (that is, the global coordinate system is not bound to the measurement auxiliary point P), but to help multiple laser trackers M determine mutual Therefore, the arrangement position of the measurement auxiliary point P does not need to be guaranteed to be unchanged for a long time (that is, it does not need to be fixed in a special position on the ground or on the working platform), and it only needs to ensure that as many laser trackers as possible are used at the same time. M can be seen, and it can be kept still during the stage of establishing the multi-laser tracker measurement field. Therefore, the position selection of the measurement auxiliary point P is less constrained and more flexible, which avoids the problem that the relative position between the measurement auxiliary points P drifts due to temperature, gravity, etc., and improves the measurement based on the multi-laser tracker measurement field. precision, avoiding complex compensation algorithms.

并且，在步骤S3中，由于转站计算采用基于全局优化思想的光束平差法，其可一次性完成多台激光跟踪仪M之间的转站计算，从而避免了每次只确定两台激光跟踪仪M之间的位姿造成的误差积累问题，提高了多激光跟踪仪测量场中的转站精度。In addition, in step S3, since the beam adjustment method based on the global optimization idea is used in the calculation of the station transfer, it can complete the station transfer calculation between multiple laser trackers M at one time, thus avoiding the need to determine only two lasers each time. The error accumulation problem caused by the poses between the trackers M improves the accuracy of the station transfer in the measurement field of the multi-laser trackers.

此外，相比于传统测量场的构建方式，本发明构建出的多激光跟踪仪测量场扩展了工作范围，提高了精度和工作的灵活性，能够为相关应用场景下的测量任务提供一套系统的构建和工作方法。In addition, compared with the construction method of the traditional measurement field, the multi-laser tracker measurement field constructed by the present invention expands the working range, improves the accuracy and the work flexibility, and can provide a set of systems for measurement tasks in relevant application scenarios build and work methods.

测量辅助点P在数量上为a、激光跟踪仪M在数量上为b，在步骤S3中，可包括步骤S31、S32、S33、S34、S35、S36以及S37。The number of measurement auxiliary points P is a, and the number of laser trackers M is b. In step S3, steps S31, S32, S33, S34, S35, S36, and S37 may be included.

S31，将b台激光跟踪仪M和a个测量辅助点P分别进行编号，则第f(f＝1,2…a)个测量辅助点P至少被第m(m＝1,2…b)台激光跟踪仪M和第n(n＝1,2…b,n≠m)台激光跟踪仪M测量。S31: Numbering the b laser trackers M and the a measurement auxiliary point P respectively, then the f (f=1, 2...a) measurement auxiliary point P is at least the mth (m=1, 2...b) A laser tracker M and an nth (n=1, 2...b, n≠m) laser tracker M measure.

S32，将第f个测量辅助点P在第m台激光跟踪仪M和第n台激光跟踪仪M测量下的实际测量结果Pfm＝(xfm,yfm,zfm)、Pfn＝(xfn,yfn,zfn)分别转化成球坐标P'fm＝(rfm,αfm,βfm)、P'fn＝(rfn,αfn,βfn)。S32, the actual measurement result P fm =(x fm , y fm , z fm ), P fn =( x fn , y fn , z fn ) are transformed into spherical coordinates P' fm =(r fm , α fm , β fm ), P' fn =(r fn , α fn , β fn ), respectively.

S33，由激光跟踪仪M的测距误差参数ur、俯仰角误差参数uα和方位角误差参数uβ构建权重矩阵

Figure BDA0001943166110000061
其中，ur、uα以及uβ可通过产品手册直接获得。S33, construct a weight matrix from the ranging error parameter ur , the pitch error parameter u α and the azimuth error parameter u β of the laser tracker M
Figure BDA0001943166110000061
Among them, ur , u α and u β can be obtained directly from the product manual.

S34，设第m台激光跟踪仪M与第n台激光跟踪仪M之间的齐次转换矩阵为Tm n，且所述齐次转换矩阵Tm n包括转站参数Rmn和tmn，其中Rmn为3×3的矩阵且表示第m台激光跟踪仪M的测量坐标系与第n台激光跟踪仪M的测量坐标系之间的旋转量、tmn为3×1的矩阵且表示第m台激光跟踪仪M的测量坐标系与第n台激光跟踪仪M的测量坐标系之间的平移量，则所有激光跟踪仪M相互之间的齐次转换矩阵为{Tm n}＝{T1 2,T1 3…T2 3,T2 4…T3 4…}，且{Tm n}对应的转站参数{Rmn}＝{R12,R13…R23,R24…R34…}、{tmn}＝{t12,t13…t23,t24…t34…}。S34, let the homogeneous transformation matrix between the mth laser tracker M and the nth laser tracker M be T m n , and the homogeneous transformation matrix T m n includes the transfer station parameters R mn and t mn , where R mn is a 3×3 matrix and represents the rotation between the measurement coordinate system of the mth laser tracker M and the measurement coordinate system of the nth laser tracker M, and t mn is a 3×1 matrix and represents The amount of translation between the measurement coordinate system of the mth laser tracker M and the measurement coordinate system of the nth laser tracker M, then the homogeneous transformation matrix between all laser trackers M is {T m n }= {T 1 2 ,T 1 3 ...T 2 3 ,T 2 4 ...T 3 4 ...}, and the transfer parameters corresponding to {T m n }{R mn }={R 12 ,R 13 ...R 23 ,R 24 ... R 34 ... }, {t mn } = {t 12 , t 13 ... t 23 , t 24 ... t 34 ... }.

S35，根据第f个测量辅助点P在第n台激光跟踪仪M下的实际测量结果，估算出第f个测量辅助点P在第m台激光跟踪仪M下的估计结果

Figure BDA0001943166110000071
S35, according to the actual measurement result of the f-th measurement auxiliary point P under the n-th laser tracker M, estimate the estimation result of the f-th measurement auxiliary point P under the m-th laser tracker M
Figure BDA0001943166110000071

S36，基于马氏距离，构建出所有测量辅助点P重投影误差向量E(即待优化目标)，且E的表达式为：S36, based on the Mahalanobis distance, construct the reprojection error vector E (ie the target to be optimized) of all the measurement auxiliary points P, and the expression of E is:

Figure BDA0001943166110000072
Figure BDA0001943166110000072

S37，采用光束平差法，给定Rmn和tmn初始值、再不断调整Rmn和tmn的大小，直至E取得最小值，停止迭代，此时E的最小值对应的转站参数为所求的{Rmn}和{tmn}。S37, the beam adjustment method is used, the initial values of R mn and t mn are given, and the sizes of R mn and t mn are continuously adjusted until the minimum value of E is obtained, and the iteration is stopped. At this time, the transfer station parameter corresponding to the minimum value of E is: The desired {R mn } and {t mn }.

S4，基于各测量辅助点P在参与测量的激光跟踪仪M下的测量结果以及所述参与测量的激光跟踪仪M与对应的激光跟踪仪M之间的齐次转换矩阵，计算出各测量辅助点P在全局坐标系下的坐标。具体地，对于各测量辅助点P来说：S4, based on the measurement results of each measurement auxiliary point P under the laser tracker M participating in the measurement and the homogeneous transformation matrix between the laser tracker M participating in the measurement and the corresponding laser tracker M, calculate each measurement auxiliary point P The coordinates of point P in the global coordinate system. Specifically, for each measurement auxiliary point P:

当全局坐标系为参与测量该测量辅助点P的激光跟踪仪M的测量坐标系时，该测量辅助点P在全局坐标系下的坐标为：定义为全局坐标系的激光跟踪仪M的测量结果；When the global coordinate system is the measurement coordinate system of the laser tracker M participating in the measurement of the auxiliary measurement point P, the coordinates of the auxiliary measurement point P in the global coordinate system are: the measurement result of the laser tracker M defined as the global coordinate system ;

当全局坐标系为未参与测量该测量辅助点P的激光跟踪仪M的测量坐标系时，该测量辅助点P在全局坐标系下的坐标为：参与测量的激光跟踪仪M的测量结果直接乘以所述参与测量的激光跟踪仪与定义为全局坐标系的激光跟踪仪M之间的齐次转换矩阵(即一次转站到全局坐标系下)；或者，参与测量的激光跟踪仪M的测量结果先乘以所述参与测量的激光跟踪仪M与另一激光跟踪仪M之间的齐次转换矩阵、再乘以所述另一激光跟踪仪M与定义为全局坐标系的激光跟踪仪M之间的齐次转换矩阵(即二次转站到全局坐标系下)。When the global coordinate system is the measurement coordinate system of the laser tracker M that does not participate in the measurement of the auxiliary measurement point P, the coordinates of the auxiliary measurement point P in the global coordinate system are: the measurement result of the laser tracker M participating in the measurement is directly multiplied by Take the homogeneous transformation matrix between the laser tracker M that participates in the measurement and the laser tracker M defined as the global coordinate system (that is, one transfer station to the global coordinate system); or, the measurement of the laser tracker M that participates in the measurement The result is first multiplied by the homogeneous transformation matrix between the laser tracker M participating in the measurement and another laser tracker M, and then multiplied by the other laser tracker M and the laser tracker M defined as a global coordinate system The homogeneous transformation matrix between (ie, the second transfer to the global coordinate system).

当然，在某些情况下，参与测量的激光跟踪仪M的测量结果也可通过两次以上转站到全局坐标系下。Of course, in some cases, the measurement results of the laser tracker M participating in the measurement can also be transferred to the global coordinate system through two or more transfers.

S5，在所述多激光跟踪仪测量场中，将目标工件工装2装配于基准工件工装1，所述基准工件工装1上布置有多个基准测量点11、所述目标工件工装2布置有多个目标测量点21(如图4所示)，且S5包括步骤S51-S59。S5, in the multi-laser tracker measurement field, the target workpiece tooling 2 is assembled on the reference workpiece tooling 1, and the reference workpiece tooling 1 is arranged with a plurality of reference measurement points 11, and the target workpiece tooling 2 is arranged with multiple target measurement points 21 (as shown in FIG. 4 ), and S5 includes steps S51-S59.

S51，固定基准工件工装1、将目标工件工装2与基准工件工装1相对设置，且目标工件工装2连接有自动化对接设备(未示出)。S51 , the reference workpiece tooling 1 is fixed, and the target workpiece tooling 2 is set opposite to the reference workpiece tooling 1 , and the target workpiece tooling 2 is connected with an automated docking device (not shown).

S52，基准测量点11在数量上为g、目标测量点21在数量上为h，从三维软件中的理想装配体模型上获取基准工件工装1上的所述多个基准测量点11的理论位置

Figure BDA0001943166110000081
以及目标工件工装2上的所述多个目标测量点21的理论位置
Figure BDA0001943166110000082
其中，i表示所述多个基准测量点11的编号，j表示所述多个目标测量点21的编号。S52, the number of reference measurement points 11 is g, and the number of target measurement points 21 is h, and the theoretical positions of the plurality of reference measurement points 11 on the reference workpiece tooling 1 are obtained from the ideal assembly model in the three-dimensional software
Figure BDA0001943166110000081
and the theoretical positions of the plurality of target measurement points 21 on the target workpiece tooling 2
Figure BDA0001943166110000082
Wherein, i represents the number of the plurality of reference measurement points 11 , and j represents the number of the plurality of target measurement points 21 .

S53，通过所述多台激光跟踪仪M以及所述多台激光跟踪仪M相互之间的齐次转换矩阵{Tm n}，得到基准工件工装1上的所述多个基准测量点11在全局坐标系下的实测位置

Figure BDA0001943166110000083
目标工件工装2上的所述多个目标测量点21在全局坐标系下的实测位置
Figure BDA0001943166110000084
S53, through the multiple laser trackers M and the homogeneous transformation matrix {T m n } between the multiple laser trackers M, obtain the multiple reference measurement points 11 on the reference workpiece tooling 1 at Measured position in global coordinate system
Figure BDA0001943166110000083
The measured positions of the multiple target measurement points 21 on the target workpiece tooling 2 under the global coordinate system
Figure BDA0001943166110000084

S54，根据基准工件工装1上的所述多个基准测量点11在全局坐标系下的实测位置

Figure BDA0001943166110000085
建立基准工件工装1的基准工装坐标系、以及根据目标工件工装2上的所述多个目标测量点21在全局坐标系下的实测位置
Figure BDA0001943166110000086
建立目标工件工装2的目标工装坐标系。S54, according to the actual measured positions of the plurality of reference measurement points 11 on the reference workpiece tooling 1 under the global coordinate system
Figure BDA0001943166110000085
Establish the reference tooling coordinate system of the reference workpiece tooling 1, and the measured positions of the multiple target measurement points 21 on the target workpiece tooling 2 under the global coordinate system
Figure BDA0001943166110000086
The target tooling coordinate system of target workpiece tooling 2 is established.

在装配过程中，基准工装坐标系与目标工装坐标系之间的相对位姿用于表征基准工件工装1与目标工件工装2之间的相对位置。这里，由于基准工装坐标系是通过目标测量点21的实测数据进行建立的、而不是仅通过目标测量点21本身(目标工装坐标系的建立亦是类似)，从而避免了基准工件工装1和目标工件工装2因受重力发生形变而造成的坐标系偏移误差，由此保证了基准工件工装1与目标工件工装2之间的相对位置的准确性。During the assembly process, the relative pose between the reference tooling coordinate system and the target tooling coordinate system is used to represent the relative position between the reference workpiece tooling 1 and the target workpiece tooling 2 . Here, since the reference tooling coordinate system is established through the measured data of the target measuring point 21, rather than only through the target measuring point 21 itself (the establishment of the target tooling coordinate system is also similar), thus avoiding the reference workpiece tooling 1 and the target The coordinate system offset error caused by the deformation of the workpiece tooling 2 due to gravity ensures the accuracy of the relative position between the reference workpiece tooling 1 and the target workpiece tooling 2 .

S55，通过所述多个基准测量点11的实测位置

Figure BDA0001943166110000087
和理论位置
Figure BDA0001943166110000088
求出实际的基准工件工装1到三维软件中的理想装配体模型之间的齐次变换矩阵T1且
Figure BDA0001943166110000089
S55, passing through the actual measured positions of the plurality of reference measuring points 11
Figure BDA0001943166110000087
and theoretical position
Figure BDA0001943166110000088
Find the homogeneous transformation matrix T1 between the actual reference workpiece tooling 1 and the ideal assembly model in the 3D software and
Figure BDA0001943166110000089

S56，求出三维软件中的理想装配体模型到实际的基准工件工装1之间的齐次变换矩阵T0且T0＝(T1)-1。S56, obtain the homogeneous transformation matrix T 0 between the ideal assembly model in the three-dimensional software and the actual reference workpiece tooling 1 and T 0 =(T 1 ) -1 .

S57，通过所述多个目标测量点21的实测位置

Figure BDA0001943166110000091
和理论位置
Figure BDA0001943166110000092
求出实际的目标工件工装2到三维软件中的理想装配体模型之间的齐次变换矩阵T2且
Figure BDA0001943166110000093
S57, through the measured positions of the multiple target measurement points 21
Figure BDA0001943166110000091
and theoretical position
Figure BDA0001943166110000092
Find the homogeneous transformation matrix T 2 between the actual target workpiece tooling 2 and the ideal assembly model in the 3D software and
Figure BDA0001943166110000093

S58，计算出目标工件工装2从当前的实测位置到理想位置之间的齐次变换矩阵T3且T3＝T0·T2＝(T1)-1·T2，并计算出目标工件工装2的所述多个目标测量点21在理想装配状态下的理想位置

Figure BDA0001943166110000094
S58, calculate the homogeneous transformation matrix T 3 between the target workpiece tooling 2 from the current measured position to the ideal position and T 3 =T 0 ·T 2 =(T 1 ) -1 ·T 2 , and calculate the target workpiece The ideal positions of the plurality of target measurement points 21 of the tooling 2 in the ideal assembled state
Figure BDA0001943166110000094

S59，在实际工作空间内，自动化对接设备驱动目标工件工装2完成齐次变换矩阵T3所定义的空间刚体运动，以将目标工件工装2装配于基准工件工装1。换句话说，在装配过程中，目标工件工装2的目标工装坐标系按照T3所定义的空间刚体运动进行运动。S59 , in the actual working space, the automated docking device drives the target workpiece tooling 2 to complete the space rigid body motion defined by the homogeneous transformation matrix T3 , so as to assemble the target workpiece tooling 2 on the reference workpiece tooling 1 . In other words, during the assembly process, the target tooling coordinate system of the target workpiece tooling 2 moves according to the space rigid body motion defined by T3.

基于步骤S5可知，本发明的基于多激光跟踪仪测量场的对合调姿方法，采用多激光跟踪仪测量场中的激光跟踪仪M的实测数据进行指导调姿，避免了对目标工件工装2上的目标测量点21的测量数据与其在理想数模中的位置分别进行融合、估计目标测量点21位置的过程，减小了目标测量点21放置误差对目标测量点21位置估计结果的影响，从而提高了测量精度。Based on step S5, it can be seen that the method for alignment attitude adjustment based on the multi-laser tracker measurement field of the present invention uses the measured data of the laser tracker M in the multi-laser tracker measurement field to guide the attitude adjustment, avoiding the need for the target workpiece tooling 2 The process of fusing the measurement data of the target measurement point 21 and its position in the ideal digital model to estimate the position of the target measurement point 21 reduces the influence of the placement error of the target measurement point 21 on the position estimation result of the target measurement point 21, Thus, the measurement accuracy is improved.

具体地，在步骤S59中，可包括步骤：S591，在三维软件中，通过基准工件工装1上的所述多个基准测量点11在全局坐标系下的实测位置

Figure BDA0001943166110000095
建立基准工件工装1的预装配模型、通过目标工件工装2上的所述多个目标测量点21在全局坐标系下的实测位置
Figure BDA0001943166110000096
建立目标工件工装2的预装配模型，并通过齐次变换矩阵T3所定义的空间刚体运动完成虚拟预装配，以获得虚拟预装配模型；S592，通过比对虚拟预装配模型与步骤S1中建立的理想装配模型，在目标工件工装2的预装配模型上找出干涉区域点{Dj}；S593，求出理想装配体模型到实际的目标工件工装2之间的齐次变换矩阵T4且T4＝(T2)-1，则干涉区域点{Dj}在实际的目标工件工装2上的干涉区域位置为
Figure BDA0001943166110000097
S594，对实际的目标工件工装2上的干涉区域进行加工，以防止在实际装配过程中产生碰撞或间隙；S595，自动化对接设备驱动目标工件工装2完成齐次变换矩阵T3所定义的空间刚体运动，以将目标工件工装2装配于基准工件工装1。Specifically, in step S59, it may include the step: S591, in the three-dimensional software, through the actual measured positions of the plurality of reference measurement points 11 on the reference workpiece tooling 1 in the global coordinate system
Figure BDA0001943166110000095
Establish a pre-assembled model of the reference workpiece tooling 1, through the measured positions of the multiple target measurement points 21 on the target workpiece tooling 2 under the global coordinate system
Figure BDA0001943166110000096
Establish a pre-assembly model of the target workpiece tooling 2, and complete the virtual pre-assembly through the space rigid body motion defined by the homogeneous transformation matrix T 3 to obtain a virtual pre-assembly model; S592, by comparing the virtual pre-assembly model and the virtual pre-assembly model. For the ideal assembly model established in step S1, find out the interference area point {D j } on the pre-assembled model of the target workpiece tooling 2; S593, find out the homogeneity between the ideal assembly model and the actual target workpiece tooling 2 Transformation matrix T 4 and T 4 =(T 2 ) -1 , then the interference area position of the interference area point {D j } on the actual target workpiece tooling 2 is
Figure BDA0001943166110000097
S594, the interference area on the actual target workpiece tooling 2 is processed to prevent collisions or gaps in the actual assembly process; S595, the automated docking device drives the target workpiece tooling 2 to complete the space rigid body defined by the homogeneous transformation matrix T3 Movement to assemble the target workpiece tooling 2 to the reference workpiece tooling 1 .

需要说明的是，如果目标工件工装2的加工精度符合装配要求，也可省去步骤S591-S594，直接执行S595即可。It should be noted that, if the machining accuracy of the target workpiece tooling 2 meets the assembly requirements, steps S591-S594 can also be omitted, and S595 can be directly executed.

目标工件工装2的实测位置与理想实测位置之间的精度为ε，为了提高目标工件工装2与基准工件工装1之间的装配精度，所述基于多激光跟踪仪M测量场的对合调姿方法还可包括步骤：The accuracy between the measured position of the target workpiece tooling 2 and the ideal measured position is ε. In order to improve the assembly accuracy between the target workpiece tooling 2 and the reference workpiece tooling 1, the alignment and attitude adjustment based on the measurement field of the multi-laser tracker M is described. The method may also include the steps of:

S6，在目标工件工装2装配于基准工件工装1后，通过多台激光跟踪仪M获取目标工件工装2上的所述多个目标测量点21在全局坐标系下的当前的实测位置

Figure BDA0001943166110000101
并计算出当前的实测位置
Figure BDA0001943166110000102
与理想位置
Figure BDA0001943166110000103
之间的差值
Figure BDA0001943166110000104
S6, after the target workpiece tooling 2 is assembled on the reference workpiece tooling 1, obtain the current measured positions of the multiple target measurement points 21 on the target workpiece tooling 2 under the global coordinate system through multiple laser trackers M
Figure BDA0001943166110000101
and calculate the current measured position
Figure BDA0001943166110000102
with ideal location
Figure BDA0001943166110000103
difference between
Figure BDA0001943166110000104

S7，ER＞ε时，重复步骤S5-S6，直至ER＜ε，完成装配(即目标工件工装2已装配到理想位置)；S7, when E R >ε, repeat steps S5-S6 until E R <ε, and complete the assembly (that is, the target workpiece tooling 2 has been assembled to the ideal position);

S8，ER＜ε时，完成装配(即目标工件工装2已装配到理想位置)。S8, when E R <ε, the assembly is completed (that is, the target workpiece tooling 2 has been assembled to the ideal position).

在步骤S55中，具体包括如下步骤：In step S55, it specifically includes the following steps:

S551，设

Figure BDA0001943166110000105
S551, set
Figure BDA0001943166110000105

S552，任意基准测量点11的实测位置坐标为

Figure BDA0001943166110000106
和理论位置坐标为
Figure BDA0001943166110000107
选取至少四个基准测量点11且所述至少四个基准测量点11的实测位置坐标和理论位置坐标构成多组数据，即任意一组数据满足如下方程组：S552, the measured position coordinates of any reference measuring point 11 are:
Figure BDA0001943166110000106
and the theoretical position coordinates are
Figure BDA0001943166110000107
Select at least four reference measurement points 11 and the measured position coordinates and theoretical position coordinates of the at least four reference measurement points 11 constitute multiple sets of data, that is, any set of data satisfies the following equations:

Figure BDA0001943166110000111
Figure BDA0001943166110000111

S553，联立所述多组数据构成的所有方程组，求出T1中的各参数。S553: Simultaneously combine all the equation sets formed by the multiple sets of data, and obtain each parameter in T1.

类似地，在步骤S57中，包括如下步骤：Similarly, in step S57, the following steps are included:

S571，设

Figure BDA0001943166110000112
S571, set
Figure BDA0001943166110000112

S572，任意目标测量点21的实测位置坐标为

Figure BDA0001943166110000113
和理论位置坐标为
Figure BDA0001943166110000114
选取至少四个目标测量点21且所述至少四个目标测量点21的实测位置坐标和理论位置坐标构成多组数据，即任意一组数据满足如下方程组：S572, the measured position coordinates of any target measurement point 21 are
Figure BDA0001943166110000113
and the theoretical position coordinates are
Figure BDA0001943166110000114
Select at least four target measurement points 21 and the measured position coordinates and theoretical position coordinates of the at least four target measurement points 21 form multiple sets of data, that is, any set of data satisfies the following equations:

Figure BDA0001943166110000121
Figure BDA0001943166110000121

S573，联立所述多组数据构成的所有方程组，求出T2中的各参数。S573: Simultaneously combine all the equation sets formed by the multiple sets of data, and obtain each parameter in T 2 .

在一实施例中，本发明的基于多激光跟踪仪测量场的对合调姿方法应用于大型飞机机翼卧式装配中，其中机翼翼盒骨架作为基准工件工装1、上蒙皮及其保形工装作为目标工件工装2、目标工件工装2连接的自动化对接设备为4个三坐标数控调姿定位装置所组成的并联调姿机构。In one embodiment, the method for alignment and attitude adjustment based on the multi-laser tracker measurement field of the present invention is applied to the horizontal assembly of large aircraft wings, wherein the wing box skeleton is used as the reference workpiece tooling 1, the upper skin and its protection. The shape tooling is used as the target workpiece tooling 2, and the automatic docking equipment connected to the target workpiece tooling 2 is a parallel attitude adjustment mechanism composed of four three-coordinate numerical control attitude adjustment and positioning devices.

在上蒙皮及其保形工装装配于机翼翼盒骨架之前，首先在机翼翼盒骨架上布置基准测量点(优选地，布置在机翼翼肋和翼梁上的预连接孔处)、在上蒙皮及其保形工装上安装目标测量点(优选地，目标测量点应布置在上蒙皮及其保形工装上的刚性较好、靠近外侧、易被较多台激光跟踪仪M测量到的位置)；然后采用多激光跟踪仪测量场中的多台激光跟踪仪测量M测量基准测量点和目标测量点在全局坐标系下的实测位置；之后通过上述方法得到的目标工件工装2从当前的实测位置到理论位置之间的齐次变换矩阵T3。Before the upper skin and its conformal tooling are assembled on the wing box frame, firstly, a reference measurement point is arranged on the wing box frame (preferably, at the pre-connection holes on the wing rib and spar), on the upper The target measurement point is installed on the skin and its conformal tooling (preferably, the target measuring point should be arranged on the upper skin and its conformal tooling, which has good rigidity, is close to the outside, and is easy to be measured by many laser trackers M. Then use multiple laser trackers in the multi-laser tracker measurement field to measure the measured positions of the reference measurement point and the target measurement point in the global coordinate system; then the target workpiece tooling 2 obtained by the above method is changed from the current The homogeneous transformation matrix T 3 between the measured position and the theoretical position of .

在具体装配过程中，机翼翼盒骨架保持固定不动，上蒙皮及其保形工装在4个三坐标数控调姿定位装置所组成的并联调姿机构的带动下，按照T3所定义的空间刚体运动进行运动，从而能够将上蒙皮及其保形工装精确的对合到机翼翼盒骨架上，由此使得上蒙皮及其保形工装与机翼翼盒骨架对齐并贴合。During the specific assembly process, the wing box skeleton remains fixed, and the upper skin and its conformal tooling are driven by the parallel attitude adjustment mechanism composed of four three -coordinate numerical control attitude adjustment and positioning devices. The spatial rigid body motion moves, so that the upper skin and its conformal tooling can be accurately aligned with the wing box frame, so that the upper skin and its conformal tooling can be aligned and fitted with the wing box frame.

Claims (8)

1. A involution attitude adjusting method based on a multi-laser tracker measuring field comprises the following steps:
s1, respectively establishing three-dimensional models of a reference workpiece tool (1) and a target workpiece tool (2) in three-dimensional software and completing assembly to obtain an ideal assembly body model;
s2, arranging a plurality of laser trackers (M) and a plurality of measurement auxiliary points (P) in an actual working space to construct a multi-laser-tracker measurement field, wherein each laser tracker (M) is provided with a measurement coordinate system and measures the spatial positions of at least three measurement auxiliary points (P), each measurement auxiliary point (P) is measured by at least two laser trackers (M), and the measurement coordinate system of one laser tracker (M) is defined as a global coordinate system;
s3, based on the measurement results of different laser trackers (M) to the same measurement auxiliary point (P), iterative computation is carried out by adopting a beam adjustment method, and a homogeneous conversion matrix between any two laser trackers (M) is solved;
s4, calculating the coordinates of each measurement auxiliary point (P) in the global coordinate system based on the measurement result of each measurement auxiliary point (P) in the laser tracker (M) participating in the measurement and the homogeneous conversion matrix between the laser tracker (M) participating in the measurement and the corresponding laser tracker (M);
s5, in the multi-laser tracker measurement field, assembling a target workpiece tool (2) on a reference workpiece tool (1), wherein a plurality of reference measurement points (11) are arranged on the reference workpiece tool (1), a plurality of target measurement points (21) are arranged on the target workpiece tool (2), and S5 comprises the following steps:
s51, fixing a reference workpiece tool (1), arranging a target workpiece tool (2) opposite to the reference workpiece tool (1), and connecting the target workpiece tool (2) with automatic butt joint equipment;
s52, g reference measuring points (11) and h target measuring points (21) in number, and obtaining theoretical positions { P) of the reference measuring points (11) on the reference workpiece tool (1) from an ideal assembly body model in three-dimensional softwarei M}＝{P1 M,P2 M,P3 M... } (i ═ 1,2,3.. g), and theoretical positions of the plurality of target measurement points (21) on the target workpiece tool (2)
Figure FDA0002480868100000011
Wherein i denotes the number of the plurality of reference measurement points (11) and j denotes the number of the plurality of target measurement points (21);
s53, through the multiple laser trackers (M) and the homogeneous conversion matrix { T between the multiple laser trackers (M)m nObtaining the actual measurement positions of the plurality of reference measurement points (11) on the reference workpiece tool (1) under the global coordinate system
Figure FDA0002480868100000012
Actual measurement positions of the target measurement points (21) on the target workpiece tool (2) in the global coordinate system
Figure FDA0002480868100000021
S54, according to the actual measurement positions { P) of the plurality of reference measurement points (11) on the reference workpiece tool (1) in the global coordinate systemi I}＝{P1 I,P2 I,P3 I.., establishing a reference tool coordinate system of a reference workpiece tool (1) and according to the actual measurement positions of the target measurement points (21) on the target workpiece tool (2) in the global coordinate system
Figure FDA0002480868100000022
Establishing a target tool coordinate system of a target workpiece tool (2);
s55, passing through the measured position { P) of the plurality of reference measurement points (11)i I}＝{P1 I,P2 I,P3 I.., and theoretical position Pi M}＝{P1 M,P2 M,P3 M.., solving a homogeneous transformation matrix T between the actual reference workpiece tool (1) and an ideal assembling body model in three-dimensional software1And is
Figure FDA0002480868100000023
S56, calculating a homogeneous transformation matrix T from an ideal assembly body model in three-dimensional software to an actual reference workpiece tool (1)0And T0＝(T1)-1；
S57, passing the measured positions of the target measuring points (21)
Figure FDA0002480868100000024
And theoretical position
Figure FDA0002480868100000025
Solving a homogeneous transformation matrix T between an actual target workpiece tool (2) and an ideal assembling body model in three-dimensional software2And is
Figure FDA0002480868100000026
S58, calculating a homogeneous transformation matrix T between the current actual measurement position and the ideal position of the target workpiece tool (2)3And T3＝T0·T2＝(T1)-1·T2And calculating the ideal positions of the target measuring points (21) of the target workpiece tool (2) in the ideal assembly state
Figure FDA0002480868100000027
S59, in the actual working space, the automatic butt joint equipment drives the target workpiece tool (2) to complete homogeneous transformation matrix T3And the defined space rigid body moves so as to assemble the target workpiece tool (2) to the reference workpiece tool (1).
2. The multi-laser-tracker-field-based involution pose alignment method according to claim 1, wherein the measurement auxiliary points (P) are a in number and the laser trackers (M) are b in number, and in step S3, the method comprises the steps of:
s31, numbering the b-th laser tracker (M) and the a-th measurement auxiliary points (P), respectively, such that the f-th (f is 1,2 … a) measurement auxiliary point (P) is measured by at least the M-th (M is 1,2 … b) laser tracker (M) and the n-th (n is 1,2 … b, n is not equal to M) laser tracker (M);
s32, the actual measurement result P of the f-th measurement auxiliary point (P) under the measurement of the M-th laser tracker (M) and the n-th laser tracker (M)fm＝(xfm,yfm,zfm)、Pfn＝(xfn,yfn,zfn) Are respectively converted into ball coordinate P'fm＝(rfm,αfm,βfm)、P'fn＝(rfn,αfn,βfn)；
S33, measuring the distance error parameter u by the laser tracker (M)rPitch angle error parameter uαAnd an azimuth error parameter uβConstructing a weight matrix
Figure FDA0002480868100000031
S34, setting the homogeneous conversion matrix between the mth laser tracker (M) and the nth laser tracker (M) as Tm nAnd said homogeneous transition matrix Tm nIncluding a transfer parameter RmnAnd tmnWherein R ismnIs a 3 x 3 matrix and represents the amount of rotation, t, between the measurement coordinate system of the mth laser tracker (M) and the measurement coordinate system of the nth laser tracker (M)mnIs a 3 x 1 matrix and represents the translation amount between the measurement coordinate system of the mth laser tracker (M) and the measurement coordinate system of the nth laser tracker (M), the homogeneous conversion matrix of all the laser trackers (M) is { T }m n}＝{T1 2,T1 3…T2 3,T2 4…T3 4…, and all homogeneous transformation matrices Tm nCorresponding transfer station parameter { R }mn}＝{R12,R13…R23,R24…R34…}、{tmn}＝{t12,t13…t23,t24…t34…}；
S35, estimating the estimation result of the f-th auxiliary measuring point (P) under the M-th laser tracker (M) according to the actual measurement result of the f-th auxiliary measuring point (P) under the n-th laser tracker (M)
Figure FDA0002480868100000032
Wherein g is a functional relationship;
s36, based on the Mahalanobis distance, constructing a reprojection error vector E of all the measurement auxiliary points (P), namely:
Figure FDA0002480868100000033
wherein, W in the formula E is the weight matrix W;
s37, using light beam adjustment method to give RmnAnd tmnInitial value, continuously adjusting RmnAnd tmnUntil E obtains the minimum value, stopping iteration, wherein the station transfer parameter corresponding to the minimum value of E is the solved { R }mnAnd tmn}。
3. The method for adjusting the combined attitude based on the multiple laser tracker measurement fields according to claim 1, wherein in step S59, the method comprises the steps of:
591, in the three-dimensional software, according to the actual measurement positions { P) of the plurality of reference measurement points (11) on the reference workpiece tool (1) in the global coordinate systemi I}＝{P1 I,P2 I,P3 I.., (i 1,2,3.. g) establishing a pre-assembly model of the reference workpiece tool (1), and passing the actual measurement positions of the target measurement points (21) on the target workpiece tool (2) in the global coordinate system
Figure FDA0002480868100000041
Establishing a preassembly model of a target workpiece tool (2), and transforming a matrix T by homogeneous times3The defined space rigid body motion completes virtual preassembly to complete a virtual preassembly model;
s592, finding out an interference area point { D ] on the pre-assembly model of the target workpiece tool (2) by comparing the virtual pre-assembly model with the ideal assembly model established in the step S1j}；
S593, solving a homogeneous transformation matrix T from the ideal assembling body model to the actual reference workpiece tool (1)4And T4＝(T2)-1Then interference region point { DjThe position of an interference area on an actual target workpiece tool (2)
Figure FDA0002480868100000042
S594, processing an interference area on the actual target workpiece tool (2);
s595, driving the target workpiece fixture (2) to complete homogeneous transformation matrix T by the automatic docking equipment3And the defined space rigid body moves so as to assemble the target workpiece tool (2) to the reference workpiece tool (1).
4. The multi-laser-tracker-measurement-field-based involutory posture adjustment method according to claim 1, wherein the accuracy between the measured position and the ideal measured position of the target workpiece fixture (2) is as follows, and the multi-laser-tracker-measurement-field-based involutory posture adjustment method further comprises the steps of:
s6, after the target workpiece tool (2) is assembled on the reference workpiece tool (1), current actual measurement positions of the target measurement points (21) on the target workpiece tool (2) in the global coordinate system are obtained through a plurality of laser trackers (M)
Figure FDA0002480868100000043
And calculating the current measured position
Figure FDA0002480868100000044
And the ideal position
Figure FDA0002480868100000045
Difference between them
Figure FDA0002480868100000046
S7，ERIf > S5-S6 are repeated until ER<, completing the assembly;
S8，ERif yes, the assembly is completed.
5. The method for adjusting the combined attitude based on the multiple laser tracker measurement fields according to claim 1, wherein in step S55, the method comprises the steps of:
s551, providing
Figure FDA0002480868100000051
S552, the actual measurement position coordinate of any reference measurement point (11) is
Figure FDA0002480868100000052
And theoretical position coordinates of
Figure FDA0002480868100000053
Selecting at least four reference measuring points (11), wherein the measured position coordinates and the theoretical position coordinates of the at least four reference measuring points (11) form a plurality of groups of data, namely, any group of data meets the following equation set:
Figure FDA0002480868100000054
s553, all the equation sets formed by the multiple data sets are combined to calculate T1Of (2) is performed.
6. The method for adjusting the combined attitude based on the multiple laser tracker measurement fields according to claim 1, wherein in step S57, the method comprises the steps of:
s571, setting
Figure FDA0002480868100000055
S572, the coordinate of the actual measurement position of the arbitrary target measurement point 21 is
Figure FDA0002480868100000056
And theoretical position coordinates of
Figure FDA0002480868100000061
Selecting at least four target measuring points (21), wherein the actual measurement position coordinates and the theoretical position coordinates of the at least four target measuring points (21) form a plurality of groups of data, namely anyOne set of data satisfies the following system of equations:
Figure FDA0002480868100000062
s573, simultaneously establishing all equation sets formed by the multiple groups of data to obtain T2Of (2) is performed.
7. The method for adjusting the attitude of a pair based on multiple laser tracker measurement fields according to claim 1, wherein in step S4, for each measurement auxiliary point (P):
when the global coordinate system is the measurement coordinate system of the laser tracker (M) participating in measuring the measurement auxiliary point (P), the coordinates of the measurement auxiliary point (P) under the global coordinate system are: -measurement of a laser tracker (M) defined as a global coordinate system;
when the global coordinate system is the measurement coordinate system of the laser tracker (M) which does not participate in measuring the measurement auxiliary point (P), the coordinates of the measurement auxiliary point (P) under the global coordinate system are:
directly multiplying the measurement result of the laser tracker (M) participating in the measurement by a homogeneous conversion matrix between the laser tracker (M) participating in the measurement and the laser tracker (M) defined as a global coordinate system; or
The measurement result of the laser tracker (M) involved in the measurement is multiplied by a homogeneous conversion matrix between the laser tracker (M) involved in the measurement and another laser tracker (M), and then multiplied by a homogeneous conversion matrix between the another laser tracker (M) and the laser tracker (M) defined as a global coordinate system.
8. The multi-laser-tracker-measurement-field-based involution attitude adjusting method according to claim 1, wherein the reference workpiece fixture (1) is a wing box framework of a wing, and the target workpiece fixture (2) is an upper skin and a shape-preserving fixture thereof.
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