CN111891379A - Stable attitude adjusting and mounting method for aero-engine based on interference pre-analysis - Google Patents

Stable attitude adjusting and mounting method for aero-engine based on interference pre-analysis Download PDF

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CN111891379A
CN111891379A CN202010597671.6A CN202010597671A CN111891379A CN 111891379 A CN111891379 A CN 111891379A CN 202010597671 A CN202010597671 A CN 202010597671A CN 111891379 A CN111891379 A CN 111891379A
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engine
scanning
coordinate system
camera
point cloud
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CN111891379B (en
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邓正平
郝飞
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Nanjing Institute of Technology
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Nanjing Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor

Abstract

The invention relates to an aeroengine steady pose adjusting installation method based on interference pre-analysis. The invention is characterized in that: compared with the scanning method adopting general large-size scanning equipment such as laser radar and the like, the scanning method has the advantages of high scanning efficiency, simple flow and greatly reduced equipment cost; the scanning precision is less influenced by temperature, airflow and air pressure. The installation interference of the engine can be predicted in advance, the attitude adjustment correction can be carried out, and the problem that the engine installation in a narrow space is difficult to observe is solved; the installation is safe by single operation, and a large amount of human resources are saved.

Description

Stable attitude adjusting and mounting method for aero-engine based on interference pre-analysis
Technical Field
The invention relates to the field of engine installation equipment and methods, in particular to an aeroengine steady attitude adjusting installation method based on interference pre-analysis.
Background
The engine, as the most important part of the airplane, needs to be periodically maintained, and the installation time and the safety of the engine directly influence the service performance of the airplane. At present, the device and the method for mounting the engine at home and abroad mainly comprise the following method (1), wherein the device and the method are applied to a 201610748915 patent, a 201910016417 patent, an engine automatic mounting vehicle and a 2010101515543 patent; the mounting vehicle and the corresponding mounting method have manual indication automatic attitude adjustment capability, but the engine compartment is deformed after flying due to the difference between the maintained engine and the theoretical appearance, the minimum fit clearance of the engine compartment and the theoretical appearance can be less than 10mm, the safety of the engine in a narrow space and in the insertion and assembly process of a depth of several meters can not be ensured on the premise of not determining the appearance deviation of the engine and the engine compartment, a plurality of panels are still required to be detached to provide a manual observation window in the actual mounting process as in the traditional mounting process, the total mounting time is extremely long, and the requirement of personnel is often more than ten. (2) The authors of the paper, "design and application of automatic attitude adjustment installation of aircraft engines", written by Zhao-Xin, propose a monitoring method in this paper for temporarily installing several cameras on an engine, but only the foremost end of the engine can be seen, the collision during the insertion of the subsequent structure is difficult to observe, and the number of cameras is large, and the time for preparation for installation is long. (3) The patent with the application number of 2010105453781 discloses an aircraft engine attitude adjusting installation system based on four numerical control positioners and a using method thereof, the method is too high in cost, long in construction and scanning time period of a measuring field, high in technical requirement on measuring operators, and greatly influenced by ambient temperature, humidity and the like in precision, so that the method is occasionally used in engine installation of an aircraft manufacturing department at present, but is not suitable for occasions with larger engine installation requirements such as armies, test flight stations and the like.
Therefore, in the field of engine installation, no device or method which can simultaneously meet the requirements of high intelligent level of installation, low cost and high efficiency and ensure safety exists at home and abroad at present. The engine mounting method and the engine mounting measuring device based on dynamic interference analysis, which are proposed by the applicant on the same day, realize dynamic interference analysis in the engine mounting process, and are suitable for dynamic efficient mounting under the condition of large design clearance or small shape deviation between an engine and an engine compartment. The invention provides an aeroengine steady attitude adjusting installation method based on interference preanalysis, and aims to overcome the defects in the prior art.
Disclosure of Invention
1. The technical problem to be solved is as follows:
aiming at the technical problem, the invention provides a stable attitude adjusting installation method of an aero-engine based on interference pre-analysis. According to the invention, through the efficient and low-cost engine appearance and the engine compartment inner wall full scanning, whether the engine is interfered during installation is analyzed in advance, so that the problem that the installation safety in the existing narrow space is difficult to guarantee is solved.
2. The technical scheme is as follows:
an aeroengine steady attitude adjusting installation method based on interference preanalysis is characterized in that:
the engine installation measuring device comprises an engine automatic installation posture adjusting structure and a camera; the automatic installation and posture adjustment structure of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation posture adjusting platform is fixedly provided with a posture adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a horizontal guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm and used for collecting the point cloud of the internal shape of the engine compartment of the engine body; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the turnable upright post is arranged on the surface of the transportation posture adjusting platform through a 90-degree rotary joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform and are used for collecting point clouds on the outer surface of the engine.
The mounting method of the engine mounting measuring device comprises the following steps:
the method comprises the following steps: simulating a feed scanning engine profile; the engine and the transport attitude adjusting platform are in place before the rear part of the engine compartment, the rear scanning camera is opened, the engine simulates feeding, and the engine outline point cloud data is obtained; the specific method process comprises steps S11-S12:
s11 moving the engine from the initial position along the guide rail at a constant speed, triggering scanning according to the preset interval time, and measuring to obtain the point clouds of the left and right cameras on the M sections of the engine
Figure RE-GDA0002636082250000021
And simultaneously recording the engine position increment d corresponding to each scanningi. Setting the conversion relation between the left and right back-scanning cameras measuring coordinate system and the transportation attitude adjusting platform coordinate system calibrated in advanceAre respectively asPTbC_1、PTbC_2Converting the scanning point cloud to the coordinate system of the transportation attitude adjusting platform by the following formula
Figure RE-GDA0002636082250000022
Figure RE-GDA0002636082250000023
S12 returning the engine to the initial position after measurement, subtracting d from the coordinate of all M section point clouds along the guide rail directioniMerging to obtain the complete point cloud of the engine at the initial positionPpengine：
Figure RE-GDA0002636082250000024
Step two: scanning the inner wall of the engine compartment, namely positioning an engine behind the engine compartment of the body to prepare for installation, turning a front scanning camera to rotate a stand column to a vertical state, and collecting point cloud of the inner wall of the engine compartment of the body; the specific process is as follows:
the front camera is driven to move by adjusting the rotation of the rotary support arm until the front scanning camera scans the inner wall of the engine compartment by 360 degrees; according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the coordinate system of the tail end of the turnable upright post of the front cameraPTfVConversion relation between coordinate system of tail end of turnable upright post of front camera and measurement coordinate system of front scanning camera at zero anglefVTfC_0Measuring data of the camera coordinate system at zero angle
Figure RE-GDA0002636082250000031
Is converted to the coordinate system of the transportation attitude adjusting platform
Figure RE-GDA0002636082250000032
Conversion relation between the coordinate system of the tail end of the turnable upright post of the front camera at each angle omega and the measurement coordinate system of the front scanning camera except for zero anglefVTfC_ωMeasurement data at angle ω
Figure RE-GDA0002636082250000033
Conversion to platform coordinate system
Figure RE-GDA0002636082250000034
Final engine compartment scan data of
Figure RE-GDA0002636082250000035
Step three: the front camera can turn over the upright post to rotate to a horizontal state.
Step four: an engine installation interference preanalysis method; specifically, steps S41 to S46 are included;
s41: dividing all point clouds of an engine cabin of a fuselage into N sections according to the matching clearance distribution condition of the engine and the engine cabin, and projecting all point clouds of the section i and the section i-1 point clouds in the rear part of the section i along a normal plane in the insertion direction due to different positions of the engine in the advancing process to obtain N two-dimensional plane strip-shaped point sets
Figure RE-GDA0002636082250000036
S42: extracting the outline point set of the strip-shaped point cloud based on the Canny operator to obtain
Figure RE-GDA0002636082250000037
S43: point cloud of engine
Figure RE-GDA0002636082250000038
Divided into N segments along the insertion direction, normal planar projection along the insertion direction, denoted
Figure RE-GDA0002636082250000039
S44: extracting an inner contour point set of the strip-shaped point cloud based on a Canny operator to obtain
Figure RE-GDA00026360822500000310
S45: computing the ith segment of structural point cloud
Figure RE-GDA00026360822500000311
Directed minimum distance of (d): the specific process is as follows:
first, calculate the two centroids OiThen is aligned with
Figure RE-GDA00026360822500000312
At any point in the middle
Figure RE-GDA00026360822500000313
Calculate it at
Figure RE-GDA00026360822500000314
Closest point of (1)
Figure RE-GDA00026360822500000315
And corresponding directed distance di,j
Figure RE-GDA00026360822500000316
(1) Where sgn is a sign function,
Figure RE-GDA00026360822500000317
di,jindicating the presence of a gap at a positive distance, di,jA negative distance indicates interference; according to calculation
Figure RE-GDA00026360822500000318
All K points and
Figure RE-GDA00026360822500000319
directed distance d ofi,j(j ═ 1,2, …, K), ordered to give
Figure RE-GDA00026360822500000320
Has a directed minimum distance min (d)i,j) (ii) a If min (d)i,j) Is greater than a preset gap safety threshold value,it indicates that the i-th structure of the engine is safe in propulsion, otherwise there is a risk of collision.
S46: repeating S45 to complete safety analysis in the propulsion of all N sections of structures; if the directed minimum distances of all the N sections of structural point clouds are larger than the gap safety threshold, the situation that the engine is propelled under the pose safely without interference is indicated; otherwise step five needs to be performed.
Step five: the method for optimizing the non-interference pose and calculating the pose adjusting driving quantity comprises the following steps:
s51: setting engine point cloud fine tuning position xi ═ tx,ty,tz,ωx,ωy,ωz) And then, transforming the coordinates of the point cloud after fine adjustment in the transportation attitude adjusting platform into:
Ppengine(ξ)＝RPpengine+T (2)
(2) wherein T is ═ Txtytz]TFor translational variables, R is a rotation matrix expressed in terms of small rotations
Figure RE-GDA0002636082250000041
Transforming the point cloud
Figure RE-GDA0002636082250000042
Divided into N segments along the insertion direction, normal planar projection along the insertion direction, denoted
Figure RE-GDA0002636082250000043
S52: extracting an inner contour point set of the strip-shaped point cloud based on a Canny operator to obtain
Figure RE-GDA0002636082250000044
S53: calculating the maximum distance between corresponding projection points of each segment based on a Hausdorff distance model
Figure RE-GDA0002636082250000045
Maximum calculation between projection points by using point set PA and PB Hausdorff distance modelThe distances are as follows:
H(PA,PB)＝max(h(PA,PB),h(PB,PA)) (3)
(3) in the formula
Figure RE-GDA0002636082250000046
The criterion is calculated for a one-way hausdorff distance.
S54: establishing a pose optimization equation which maximizes the minimum value of each segment of point cloud clearance as follows:
Figure RE-GDA0002636082250000047
performing a solution formula (4) by an optimization method, if the objective function f (xi) is solved to be greater than a preset gap safety threshold, indicating that a pose xi capable of being safely propelled is found, and calculating the driving quantity of each positioner based on the parallel mechanism kinematics principle; setting the coordinates of a spherical hinge at the i tail end of the positioner as
Figure RE-GDA0002636082250000048
Its motion vector
Figure RE-GDA0002636082250000049
Is calculated as
Figure RE-GDA00026360822500000410
The safe insertion can be ensured after the posture is adjusted based on the posture adjustment amount.
If the objective function f (xi) is not larger than the preset clearance safety threshold value after the solution, the large deviation exists in the appearance of the engine compartment or the engine, the insertion inevitably interferes, and the repair is needed.
After the installation method is programmed to data acquisition and control software installation, the potential interference of engine installation can be detected in advance, the interference-free pose and positioner driving quantity for ensuring the safety of the engine are automatically calculated, and the safe installation of the engine is realized.
3. Has the advantages that:
(1) compared with the scanning method adopting general large-size scanning equipment such as laser radar and the like, the method adopted by the invention has the advantages of high scanning efficiency, simple flow and low equipment cost.
(2) The scanning precision of the scanning by adopting the method of the invention is little influenced by temperature, airflow and air pressure.
(3) The scanning method provided by the invention can predict the engine installation interference in advance and correct the attitude, and solves the problem that the engine installation in a narrow space is difficult to observe.
(4) The scanning method provided by the invention can realize safe installation by one person, and save a large amount of human resources.
Drawings
FIG. 1 is a schematic diagram of the engine safety installation measurement device composition and interference pre-analysis main process of the present invention;
FIG. 2 is a schematic diagram of a coordinate system of an engine safety installation measuring device and an installation vehicle body according to the present invention;
fig. 3 is a schematic diagram of a calculation process of an interference-free pose in the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in attached figures 1 and 2, the invention discloses an aeroengine steady attitude adjusting installation method based on interference pre-analysis, and relates to a hardware device which is additionally provided with a scanning device besides the main structures of a common engine installation vehicle, namely an attitude adjusting positioner, a propelling guide rail, a supporting sliding table, an attitude adjusting platform and a transportation attitude adjusting platform, wherein the scanning device comprises a front scanning camera, a rear scanning camera (left/right), a front camera turnable upright post, a rotary support arm, a motor for driving the rotary support arm and a rear camera upright post (left/right). In the figure, 1 is an engine, 2 is an inner wall of an engine cabin, 3 is a transportation attitude adjusting platform, 4 is an attitude adjusting positioner fixedly installed on 3, 5 is an attitude adjusting moving platform, 6 is a supporting sliding table, 7 is a horizontal guide rail, 8 is a front scanning camera, 9 is a rotating support arm, 10 is a reversible upright post, 11 is a motor for driving the rotating support arm, 12 and 13 are rear scanning cameras distributed on two sides of the engine, 14 and 15 are rear scanning camera upright posts, 16 is a point cloud of the inner wall of the engine cabin, and 17 is an engine appearance point cloud. The coordinate system referred to in the present application is labeled in fig. 2, 18 is a measurement coordinate system of a front scanning camera at zero angle of a rotary arm, 19 is a measurement coordinate system of a front scanning camera at w angle of the rotary arm, 20 is a coordinate system of the tail end of a reversible upright post, 21 and 22 are measurement coordinate systems of a rear scanning camera, 23 is an engine coordinate system, 24 to 27 are coordinate systems of four attitude adjusting positioners, and 28 is a base coordinate system of a transportation attitude adjusting platform.
As shown in the attached drawings 1 to 3, the stable attitude adjusting installation method of the aero-engine based on the interference pre-analysis is characterized in that:
the engine installation measuring device comprises an engine automatic installation posture adjusting structure and a camera; the automatic installation and posture adjustment structure of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation posture adjusting platform is fixedly provided with a posture adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a horizontal guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm and used for collecting the point cloud of the internal shape of the engine compartment of the engine body; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the turnable upright post is arranged on the surface of the transportation posture adjusting platform through a 90-degree rotary joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform and are used for collecting point clouds on the outer surface of the engine.
The mounting method of the engine mounting measuring device comprises the following steps:
the method comprises the following steps: simulating a feed scanning engine profile; the engine and the transport attitude adjusting platform are in place before the rear part of the engine compartment, the rear scanning camera is opened, the engine simulates feeding, and the engine outline point cloud data is obtained; the specific method process comprises steps S11-S12:
s11 moving the engine from the initial position along the guide rail at a constant speed, triggering scanning according to the preset interval time, and measuring to obtain the point clouds of the left and right cameras on the M sections of the engine
Figure RE-GDA0002636082250000061
And simultaneously recording the engine position increment d corresponding to each scanningi. The conversion relation between the measurement coordinate system of the left and right back scanning cameras calibrated in advance and the coordinate system of the transportation attitude adjusting platform is set asPTbC_1、PTbC_2Converting the scanning point cloud to the coordinate system of the transportation attitude adjusting platform by the following formula
Figure RE-GDA0002636082250000062
Figure RE-GDA0002636082250000063
S12 returning the engine to the initial position after measurement, subtracting d from the coordinate of all M section point clouds along the guide rail directioniMerging to obtain the complete point cloud of the engine at the initial positionPpengine：
Figure RE-GDA0002636082250000064
Step two: scanning the inner wall of the engine compartment, namely positioning an engine behind the engine compartment of the body to prepare for installation, turning a front scanning camera to rotate a stand column to a vertical state, and collecting point cloud of the inner wall of the engine compartment of the body; the specific process is as follows:
the front camera is driven to move by adjusting the rotation of the rotary support arm until the front scanning camera scans the inner wall of the engine compartment by 360 degrees; according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the coordinate system of the tail end of the turnable upright post of the front cameraPTfVConversion relation between coordinate system of tail end of turnable upright post of front camera and measurement coordinate system of front scanning camera at zero anglefVTfC_0Measuring data of the camera coordinate system at zero angle
Figure RE-GDA0002636082250000071
Is converted to the coordinate system of the transportation attitude adjusting platform
Figure RE-GDA0002636082250000072
Conversion relation between the coordinate system of the tail end of the turnable upright post of the front camera at each angle omega and the measurement coordinate system of the front scanning camera except for zero anglefVTfC_ωMeasurement data at angle ω
Figure RE-GDA0002636082250000073
Conversion to platform coordinate system
Figure RE-GDA0002636082250000074
Final engine compartment scan data of
Figure RE-GDA0002636082250000075
Step three: the front camera can turn over the upright post to rotate to a horizontal state.
Step four: an engine installation interference preanalysis method; specifically, steps S41 to S46 are included.
S41: dividing all point clouds of an engine cabin of a fuselage into N sections according to the matching clearance distribution condition of the engine and the engine cabin, and projecting all point clouds of the section i and the section i-1 point clouds in the rear part of the section i along a normal plane in the insertion direction due to different positions of the engine in the advancing process to obtain N two-dimensional plane strip-shaped point sets
Figure RE-GDA0002636082250000076
S42: extracting the outline point set of the strip-shaped point cloud based on the Canny operator to obtain
Figure RE-GDA0002636082250000077
S43: point cloud of engine
Figure RE-GDA0002636082250000078
Divided into N segments along the insertion direction, normal planar projection along the insertion direction, denoted
Figure RE-GDA0002636082250000079
S44: extracting an inner contour point set of the strip-shaped point cloud based on a Canny operator to obtain
Figure RE-GDA00026360822500000710
S45: computing the ith segment of structural point cloud
Figure RE-GDA00026360822500000711
Directed minimum distance of (d): the specific process is as follows:
first, calculate the two centroids OiThen is aligned with
Figure RE-GDA00026360822500000712
At any point in the middle
Figure RE-GDA00026360822500000713
Calculate it at
Figure RE-GDA00026360822500000714
Closest point of (1)
Figure RE-GDA00026360822500000715
And corresponding directed distance di,j
Figure RE-GDA00026360822500000716
(1) Where sgn is a sign function,
Figure RE-GDA00026360822500000717
di,jindicating the presence of a gap at a positive distance, di,jA negative distance indicates interference; according to calculation
Figure RE-GDA00026360822500000718
All K points and
Figure RE-GDA00026360822500000719
directed distance d ofi,j(j ═ 1,2, …, K), ordered to give
Figure RE-GDA00026360822500000720
Has a directed minimum distance min (d)i,j) (ii) a If min (d)i,j) And if the clearance is larger than the preset clearance safety threshold value, the structure of the ith section of the engine is safe in propulsion, otherwise, the collision risk exists.
S46: repeating S45 to complete safety analysis in the propulsion of all N sections of structures; if the directed minimum distances of all the N sections of structural point clouds are larger than the gap safety threshold, the situation that the engine is propelled under the pose safely without interference is indicated; otherwise step five needs to be performed.
Step five: the method for optimizing the non-interference pose and calculating the pose adjusting driving quantity comprises the following steps:
s51: setting engine point cloud fine tuning position xi ═ tx,ty,tz,ωx,ωy,ωz) And then, transforming the coordinates of the point cloud after fine adjustment in the transportation attitude adjusting platform into:
Ppengine(ξ)＝RPpengine+T (2)
(2) wherein T is ═ Txtytz]TFor translational variables, R is a rotation matrix expressed in terms of small rotations
Figure RE-GDA0002636082250000081
Transforming the point cloud
Figure RE-GDA0002636082250000082
Divided into N segments along the insertion direction, normal planar projection along the insertion direction, denoted
Figure RE-GDA0002636082250000083
S52: extracting an inner contour point set of the strip-shaped point cloud based on a Canny operator to obtain
Figure RE-GDA0002636082250000084
S53: computing each segment pair based on Hausdorff distance modelMaximum distance between projected points
Figure RE-GDA0002636082250000085
The maximum distance between projection points calculated by the point set PA and PB Hausdorff distance model is as follows:
H(PA,PB)＝max(h(PA,PB),h(PB,PA)) (3)
(3) in the formula
Figure RE-GDA0002636082250000086
The criterion is calculated for a one-way hausdorff distance.
S54: establishing a pose optimization equation which maximizes the minimum value of each segment of point cloud clearance as follows:
Figure RE-GDA0002636082250000087
performing a solution formula (4) by an optimization method, if the objective function f (xi) is solved to be greater than a preset gap safety threshold, indicating that a pose xi capable of being safely propelled is found, and calculating the driving quantity of each positioner based on the parallel mechanism kinematics principle; setting the coordinates of a spherical hinge at the i tail end of the positioner as
Figure RE-GDA0002636082250000088
Its motion vector
Figure RE-GDA0002636082250000089
Is calculated as
Figure RE-GDA00026360822500000810
The safe insertion can be ensured after the posture is adjusted based on the posture adjustment amount.
If the objective function f (xi) is not larger than the preset clearance safety threshold value after the solution, the large deviation exists in the appearance of the engine compartment or the engine, the insertion inevitably interferes, and the repair is needed.
After the installation method is programmed to data acquisition and control software installation, the potential interference of engine installation can be detected in advance, the interference-free pose and positioner driving quantity for ensuring the safety of the engine are automatically calculated, and the safe installation of the engine is realized.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (1)

1. An aeroengine steady attitude adjusting installation method based on interference preanalysis is characterized in that:
the engine installation measuring device comprises an engine automatic installation posture adjusting structure and a camera; the automatic installation and posture adjustment structure of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation posture adjusting platform is fixedly provided with a posture adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a horizontal guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm and used for collecting the point cloud of the internal shape of the engine compartment of the engine body; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the turnable upright post is arranged on the surface of the transportation posture adjusting platform through a 90-degree rotary joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform and are used for collecting point clouds on the outer surface of the engine;
the mounting method of the engine mounting measuring device comprises the following steps:
the method comprises the following steps: simulating a feed scanning engine profile; the engine and the transport attitude adjusting platform are in place before the rear part of the engine compartment, the rear scanning camera is opened, the engine simulates feeding, and the engine outline point cloud data is obtained; the specific method process comprises steps S11-S12:
s11 moving the engine from the initial position along the guide rail at uniform speed, triggering scanning at preset intervals, and measuring to obtain M engine sectionsLeft and right camera point clouds of a surface
Figure RE-FDA0002636082240000015
Figure RE-FDA0002636082240000011
And simultaneously recording the engine position increment d corresponding to each scanningi(ii) a The conversion relation between the measurement coordinate system of the left and right back scanning cameras calibrated in advance and the coordinate system of the transportation attitude adjusting platform is set asPTbC_1、PTbC_2Converting the scanning point cloud to the coordinate system of the transportation attitude adjusting platform by the following formula
Figure RE-FDA0002636082240000012
Figure RE-FDA0002636082240000013
S12 returning the engine to the initial position after measurement, subtracting d from the coordinate of all M section point clouds along the guide rail directioniMerging to obtain the complete point cloud of the engine at the initial positionPpengine：
Figure RE-FDA0002636082240000014
Step two: scanning the inner wall of the engine compartment, namely positioning an engine behind the engine compartment of the body to prepare for installation, turning a front scanning camera to rotate a stand column to a vertical state, and collecting point cloud of the inner wall of the engine compartment of the body; the specific process is as follows:
the front camera is driven to move by adjusting the rotation of the rotary support arm until the front scanning camera scans the inner wall of the engine compartment by 360 degrees; according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the coordinate system of the tail end of the turnable upright post of the front cameraPTfVConversion relation between coordinate system of tail end of turnable upright post of front camera and measurement coordinate system of front scanning camera at zero anglefVTfC_0At an angle of zeroMeasurement data of camera coordinate system
Figure RE-FDA0002636082240000021
Is converted to the coordinate system of the transportation attitude adjusting platform
Figure RE-FDA0002636082240000022
Conversion relation between the coordinate system of the tail end of the turnable upright post of the front camera at each angle omega and the measurement coordinate system of the front scanning camera except for zero anglefVTfC_ωMeasurement data at angle ω
Figure RE-FDA0002636082240000023
Conversion to platform coordinate system
Figure RE-FDA0002636082240000024
Final engine compartment scan data of
Figure RE-FDA0002636082240000025
Step three: the front camera can turn over the upright post and rotate to a horizontal state;
step four: an engine installation interference preanalysis method; specifically, steps S41 to S46 are included;
s41: dividing all point clouds of an engine cabin of a fuselage into N sections according to the matching clearance distribution condition of the engine and the engine cabin, and projecting all point clouds of the section i and the section i-1 point clouds in the rear part of the section i along a normal plane in the insertion direction due to different positions of the engine in the advancing process to obtain N two-dimensional plane strip-shaped point sets
Figure RE-FDA0002636082240000026
Figure RE-FDA0002636082240000027
S42: extracting the outline point set of the strip-shaped point cloud based on the Canny operator to obtain
Figure RE-FDA0002636082240000028
S43: point cloud of engine
Figure RE-FDA0002636082240000029
Divided into N segments along the insertion direction, normal planar projection along the insertion direction, denoted
Figure RE-FDA00026360822400000210
S44: extracting an inner contour point set of the strip-shaped point cloud based on a Canny operator to obtain
Figure RE-FDA00026360822400000211
S45: computing the ith segment of structural point cloud
Figure RE-FDA00026360822400000212
Directed minimum distance of (d): the specific process is as follows:
first, calculate the two centroids OiThen is aligned with
Figure RE-FDA00026360822400000213
At any point in the middle
Figure RE-FDA00026360822400000214
Calculate it at
Figure RE-FDA00026360822400000215
Closest point of (1)
Figure RE-FDA00026360822400000216
And corresponding directed distance di,j
Figure RE-FDA00026360822400000217
(1) In the formula sgn is a function of the sign of the symbol,
Figure RE-FDA00026360822400000218
di,jindicating the presence of a gap at a positive distance, di,jA negative distance indicates interference; according to calculation
Figure RE-FDA00026360822400000219
All K points and
Figure RE-FDA00026360822400000220
directed distance d ofi,j(j ═ 1,2, …, K), ordered to give
Figure RE-FDA00026360822400000221
Has a directed minimum distance min (d)i,j) (ii) a If min (d)i,j) If the clearance is larger than the preset clearance safety threshold, the structure of the ith section of the engine is safe in propulsion, otherwise, the collision risk exists;
s46: repeating S45 to complete safety analysis in the propulsion of all N sections of structures; if the directed minimum distances of all the N sections of structural point clouds are larger than the gap safety threshold, the situation that the engine is propelled under the pose safely without interference is indicated; otherwise, the step five is needed;
step five: the method for optimizing the non-interference pose and calculating the pose adjusting driving quantity comprises the following steps:
s51: setting engine point cloud fine tuning position xi ═ tx,ty,tz,ωx,ωy,ωz) And then, transforming the coordinates of the point cloud after fine adjustment in the transportation attitude adjusting platform into:
Ppengine(ξ)＝RPpengine+T (2)
(2) wherein T is ═ Txtytz]TFor translational variables, R is a rotation matrix expressed in terms of small rotations
Figure RE-FDA0002636082240000031
Will becomePoint cloud after conversion
Figure RE-FDA0002636082240000032
Divided into N segments along the insertion direction, normal planar projection along the insertion direction, denoted
Figure RE-FDA0002636082240000033
S52: extracting an inner contour point set of the strip-shaped point cloud based on a Canny operator to obtain
Figure RE-FDA0002636082240000034
S53: calculating the maximum distance between corresponding projection points of each segment based on a Hausdorff distance model
Figure RE-FDA0002636082240000035
The maximum distance between projection points calculated by the point set PA and PB Hausdorff distance model is as follows:
H(PA,PB)＝max(h(PA,PB),h(PB,PA)) (3)
(3) in the formula
Figure RE-FDA0002636082240000036
Calculating a criterion for the one-way Hausdorff distance;
s54: establishing a pose optimization equation which maximizes the minimum value of each segment of point cloud clearance as follows:
Figure RE-FDA0002636082240000037
performing a solution formula (4) by an optimization method, if the objective function f (xi) is solved to be greater than a preset gap safety threshold, indicating that a pose xi capable of being safely propelled is found, and calculating the driving quantity of each positioner based on the parallel mechanism kinematics principle; setting the coordinates of a spherical hinge at the i tail end of the positioner as
Figure RE-FDA0002636082240000038
Its motion vector
Figure RE-FDA0002636082240000039
Is calculated as
Figure RE-FDA00026360822400000310
After the posture is adjusted based on the posture adjustment quantity, the safe insertion can be ensured;
if the objective function f (xi) is not larger than the preset clearance safety threshold value after the solution, the large deviation exists in the appearance of the engine compartment or the engine, the insertion inevitably interferes, and the repair is needed.
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