CN112304221A - Flexible measuring device and measuring method for intelligent production line of aviation structural part - Google Patents
Flexible measuring device and measuring method for intelligent production line of aviation structural part Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
A flexible measuring device and a flexible measuring method for an intelligent production line of an aviation structural part belong to the technical field of aviation flexible measurement. The invention utilizes the single camera and the control point technology to measure the repeated positioning error of the robot in real time, corrects the conversion relation of the sensor coordinate system relative to the global coordinate system, and compensates the final measurement result, so that the system can well meet the measurement precision requirement, and the high-precision (0.02 mm), high-flexibility and high-automation measurement of the checking fixture is realized. The vision sensor flexible motion platform comprises a flexible motion platform and a vision sensor, and is characterized in that the flexible motion platform comprises a base, a first motion rod, a second motion rod and a third motion rod, the first motion rod, the second motion rod and the third motion rod are sequentially hinged through joints, the first motion rod is fixedly connected to the base, a controller is arranged in the base, and the end of the third motion rod is connected with the vision sensor.
Description
Technical Field
The invention belongs to the technical field of aviation flexible measurement, and particularly relates to a flexible measurement device and a flexible measurement method for an intelligent production line of an aviation structural part.
Background
Through years of domestic efforts, the technology of airplane digital assembly is broken through. However, due to the structural characteristics of airplanes, the manufacturing precision of parts and tools, the assembly process level, the detection means, the development period, the expenditure and other factors, several host manufacturing enterprises in China only form breakthroughs at certain points or lines at present, the layout planning of workshops is dispersed, the global concept is not formed, the scale of an automatic flexible assembly production line is difficult to form, related matched software and hardware facilities cannot meet the requirements of automatic flexible assembly of modern airplane production, and the requirements of high quality and long service life of high and new weaponry equipment cannot be met. Compared with the developed countries abroad, the technology of the modern aircraft flexible assembly production line in China has a larger gap in both the research level and the application practice level, and is mainly reflected in that the application requirements of the product flexible assembly technology are not fully considered in the existing product design mode and product characteristics, and the flexible assembly production line is not suitable for the development requirements of the flexible assembly production line; the process design means also stays at the level of two-dimensional process design and expression, and has the problems of no connection with digital product design, long design period, large rework amount, need of physical verification, poor teaching property and the like, and the development requirements of visual assembly and non-graphic manufacturing of a flexible assembly production line cannot be met; the digital detection technology is seriously lagged, a large amount of analog quantity equipment such as special tools and standard measuring tools are adopted for measuring and detecting products, the measurement efficiency is low, the precision is poor, and the requirements of quick and accurate measurement and online quality control of a flexible assembly production line cannot be met.
Disclosure of Invention
Aiming at the problems, the invention makes up the defects of the prior art and provides a flexible measuring device and a flexible measuring method for an intelligent production line of an aviation structural part; the invention utilizes optical precision measurement, utilizes a single camera combined with a control point technology to measure the repeated positioning error of the robot in real time, corrects the conversion relation of a sensor coordinate system relative to a global coordinate system, compensates a final measurement result, enables the system to well meet the measurement precision requirement, has the characteristics of high flexibility, high automation degree, non-contact visual measurement, high speed, high precision and high digitization degree, overcomes the defects of high cost, poor flexibility and low automation degree of the traditional real object detection tool, and realizes high precision, high flexibility and high automatic measurement of the detection tool.
In order to achieve the purpose, the invention adopts the following technical scheme.
The invention provides a flexible measuring device for an intelligent production line of an aviation structural part, which comprises a flexible motion platform and a vision sensor and is characterized in that the flexible motion platform comprises a base, a first motion rod, a second motion rod and a third motion rod, wherein the first motion rod, the second motion rod and the third motion rod are hinged sequentially through joints, the first motion rod is fixedly connected to the base, a controller is arranged in the base, and the end part of the third motion rod is connected with the vision sensor.
Preferably, the vision sensor includes a structured light sensor and a control camera, the control camera being connected to the first motion bar, the structured light sensor being connected to the control camera.
The invention also provides a flexible measuring method for the intelligent production line of the aviation structural part, which is characterized by comprising the following steps.
1) And part local measurement, namely taking the coordinate system of the control camera as the coordinate system of the visual sensor, taking one point on the structured light sensor as an origin, enabling the XY plane of the coordinate system of the visual sensor to coincide with the plane of the light sensor, and enabling the Z axis to meet the right-hand rule to establish an auxiliary reference coordinate system.
2) The method comprises the steps of globally calibrating a part, controlling a joint through a controller in a base, further driving a first moving rod, a second moving rod and a third moving rod to be linked, further reaching each position to be detected of the part, setting a target and a sensor measuring target in a view field of a visual sensor at each detection position, establishing a conversion relation from a coordinate system of the visual sensor to a target coordinate system, simultaneously measuring the target by using a laser tracker, establishing a conversion relation from the target coordinate system to a laser tracker coordinate system, measuring a global control point by using the laser tracker, establishing a conversion relation from the laser tracker coordinate system to a global coordinate system, and establishing a conversion relation from the visual sensor coordinate system to the global coordinate system at each measurement position to realize the global calibration.
3) The control precision of part positioning error compensation is realized by setting a transformation matrix between two adjacent joint coordinate systems, fully differentiating the matrix, acquiring an image of a global control point by a control camera, resolving a conversion relation between the coordinate system of the control camera and the global coordinate system, accurately measuring a three-dimensional coordinate of the global control point by a space three-dimensional precision positioning method based on mobile vision in advance, accurately calibrating internal parameters of the control camera in advance, extracting an image coordinate by measuring the image, calculating image distortion by the image coordinate and internal parameters of the control camera, resolving a rotation matrix and a translation matrix of the coordinate system of the control camera under a measuring position of the global coordinate system, measuring the conversion relation between the coordinate system of the control camera and the global coordinate system in real time, comparing deviations of two results, and obtaining a deviation of a coordinate system of a structured light sensor, then, the conversion relation from the sensor coordinate system to the global coordinate system is compensated in real time, and the overall measurement precision of the system is controlled.
The invention has the beneficial effects.
The invention utilizes the single camera and the control point technology to measure the repeated positioning error of the robot in real time, corrects the conversion relation of the sensor coordinate system relative to the global coordinate system, and compensates the final measurement result, so that the system can well meet the measurement precision requirement, overcomes the defects of high cost, poor flexibility and low automation degree of the traditional material object detection tool, and realizes the high-precision (0.02 mm), high-flexibility and high-automation measurement of the detection tool.
Drawings
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic view of a vision sensor of the present invention.
Fig. 3 is a schematic diagram of the structured light vision sensor of the present invention implementing local measurement.
FIG. 4 is a schematic of the global calibration of the present invention.
The labels in the figure are: 1 is a base, 2 is a first motion bar, 3 is a second motion bar, 4 is a third motion bar, 5 is a joint, 6 is a vision sensor, 7 is a structured light sensor, and 8 is a control camera.
Detailed Description
The measuring device comprises a flexible motion platform and a vision sensor 6, and is characterized in that the flexible motion platform comprises a base 1, a first motion rod 2, a second motion rod 3 and a third motion rod 4, the first motion rod 2, the second motion rod 3 and the third motion rod 4 are hinged through a joint 5 in sequence, the first motion rod 2 is fixedly connected to the base 1, a controller is arranged in the base 1, and the end of the third motion rod 4 is connected with the vision sensor 6.
The vision sensor 6 comprises a structured light sensor 7 and a control camera 8, the control camera 8 being connected to the first motion bar 2, the structured light sensor 7 being connected to the control camera 8.
The flexibility measuring method using the measuring device includes the following steps.
1) And (3) part local measurement, wherein a coordinate system of a control camera 8 is used as a coordinate system of the vision sensor 6, one point on the structured light sensor 7 is used as an origin, an XY plane of the coordinate system of the vision sensor 6 is superposed with a plane of the light sensor, and a Z axis meets a right-hand rule to establish an auxiliary reference coordinate system.
2) The method comprises the steps of global calibration of a part, controlling a joint 5 through a controller in a base 1, further driving a first moving rod 2, a second moving rod 3 and a third moving rod 4 to be linked, further reaching each position to be detected of the part, setting a target and a sensor measuring target in a view field of a visual sensor 6 at each detection position, establishing a conversion relation from a coordinate system of the visual sensor 6 to a target coordinate system, simultaneously measuring the target by using a laser tracker, establishing a conversion relation from the target coordinate system to the laser tracker coordinate system, measuring a global control point by using the laser tracker, establishing a conversion relation from the laser tracker coordinate system to the global coordinate system, and establishing a conversion relation from the visual sensor 6 coordinate system to the global coordinate system at each measurement position to realize the global calibration.
3) The control precision of part positioning error compensation is realized by setting a transformation matrix between two adjacent joint 5 coordinate systems, fully differentiating the matrix, acquiring a global control point image by a control camera 8, resolving the transformation relation between the control camera 8 coordinate system and the global coordinate system, accurately measuring the three-dimensional coordinate of the global control point by a space three-dimensional precise positioning method based on mobile vision in advance, accurately calibrating the internal parameters of the control camera 8 in advance, extracting the image coordinate by measuring the image, calculating the image distortion by the image coordinate and the internal parameters of the control camera 8, resolving the rotation matrix and the translation matrix of the global coordinate system to the control camera 8 coordinate system at the measuring position, measuring the transformation relation between the control camera 8 coordinate system and the global coordinate system in real time, comparing the deviations of the two results to obtain the deviation of the structured light sensor 7 coordinate system, and then, and compensating the conversion relation from the sensor coordinate system to the global coordinate system in real time, and controlling the overall measurement precision of the system.
The traditional detection tool method is used for manually interpreting through a plug-in sheet type thickness gauge or a taper ruler, the precision is generally 0.1mm, single measurement generally takes several minutes to tens of minutes, the measurement precision is 0.02mm by utilizing a flexible electronic detection tool system based on an industrial robot, the requirement of practical application on the detection precision can be met, the single measurement beat is only dozens of seconds, the flexibility of the detection tool is greatly enhanced, and the measurement automation degree and the measurement speed are improved.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (3)
1. The utility model provides a flexible measuring device is produced to aeronautical structure spare intelligence line, includes flexible motion platform and vision sensor, its characterized in that, flexible motion platform includes base (1), first motion pole (2), second motion pole (3) and third motion pole (4), first motion pole (2) second motion pole (3) with third motion pole (4) loop through joint (5) articulated, first motion pole (2) fixed connection to on base (1), set up the controller in base (1), the end connection of third motion pole (4) vision sensor (6).
2. The flexible measuring device of intelligent production line of aeronautical structural parts according to claim 1, characterized in that: the vision sensor (6) comprises a structured light sensor (7) and a control camera (8), the control camera (8) is connected with the first motion bar (2), and the structured light sensor (7) is connected to the control camera (8).
3. A flexibility measuring method for an intelligent production line of an aviation structural part, which utilizes the flexibility measuring device of any one of claims 1 or 2, and is characterized by comprising the following steps:
1) the part local measurement is carried out, a coordinate system of a control camera (8) is used as a coordinate system of a visual sensor (6), one point on a structured light sensor (7) is used as an origin, an XY plane of the coordinate system of the visual sensor (6) is superposed with a plane of the optical sensor, and a Z axis meets a right-hand rule to establish an auxiliary reference coordinate system;
2) global calibration of parts, controlling the joint (5) through a controller in the base (1), thereby driving the first motion rod (2), the second motion rod (3) and the third motion rod (4) to be linked and further reach each position of the part to be detected, under each detection position, a target and a sensor measuring target are arranged in a visual field of the visual sensor (6), a conversion relation from a coordinate system of the visual sensor (6) to a target coordinate system is established, meanwhile, a target is measured by the laser tracker, the conversion relation from a target coordinate system to a laser tracker coordinate system is established, a global control point is measured by the laser tracker, the conversion relation from the laser tracker coordinate system to the global coordinate system is established, establishing a conversion relation from a coordinate system of the visual sensor (6) to a global coordinate system for each measuring position to realize global calibration;
3) the control precision of part positioning error compensation is realized by setting a transformation matrix between two adjacent joint (5) coordinate systems, fully differentiating the matrix, acquiring an image of a global control point by a control camera (8), calculating a transformation relation between the control camera (8) coordinate system and the global coordinate system, accurately measuring a three-dimensional coordinate of the global control point by using a space three-dimensional precise positioning method based on mobile vision in advance, accurately calibrating internal parameters of the control camera (8) in advance to obtain an image coordinate, extracting the image coordinate through measuring the image, calculating image distortion through the image coordinate and internal parameters of the control camera (8), calculating a rotation matrix and a translation matrix of the global coordinate system to the control camera (8) coordinate system at a measuring position, measuring the transformation relation between the control camera (8) coordinate system and the global coordinate system in real time, comparing deviations of two results to obtain a deviation of the structured light sensor (7) coordinate system, then, the conversion relation from the sensor coordinate system to the global coordinate system is compensated in real time, and the overall measurement precision of the system is controlled.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115235340A (en) * | 2022-07-14 | 2022-10-25 | 河南埃尔森智能科技有限公司 | Rapid correction method for arm-mounted vision sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115235340A (en) * | 2022-07-14 | 2022-10-25 | 河南埃尔森智能科技有限公司 | Rapid correction method for arm-mounted vision sensor |
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