CN114509001A - Method and system for quickly and accurately installing and adjusting large-size space structure - Google Patents
Method and system for quickly and accurately installing and adjusting large-size space structure Download PDFInfo
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Abstract
The invention provides a method and a system for quickly and accurately adjusting a large-size space structure, which comprises the following steps: an initial installation step: fixing the parts to be installed on the spacecraft body through the installation interface; laser scanning measurement: scanning is carried out through a scanner, and the scanning camera automatically completes position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement in a computer; a pose analysis step: taking the position coordinates of the measurement target as input, and obtaining the position and the posture of the component as an actual measurement pose through coordinate conversion and surface fitting; pose adjusting step: and adjusting the attitude precision of the component through an adjusting mechanism on the installation interface and adjusting the position precision through the gap of the installation interface according to the difference between the actual measurement pose and the target pose. The laser scanning measurement technology is embedded into the structure assembly process, the requirements of large-scale structure assembly on long-distance and large-scale pose measurement can be met, and the rapid and accurate assembly of large-size space structures is realized.
Description
Technical Field
The invention relates to the technical field of spacecraft structure measurement and assembly, in particular to a method and a system for quickly and accurately assembling and adjusting a large-size space structure.
Background
The large space structure is a research hotspot in the technical field of aerospace, and spacecrafts such as manned space stations and high-resolution remote sensing satellites are provided with parts such as large solar wings and large antennas, and the size of the structure reaches more than 10 m. In order to ensure the installation precision of the spacecraft components, the positions and postures of the components need to be repeatedly measured and adjusted in the ground assembly process, namely, the on-line measurement is carried out. The large size increases the difficulty of measuring and adjusting the pose of the structure, and provides higher requirements for the rapid and accurate assembly of the structure.
In the prior art, measurement methods such as a laser tracker and photogrammetry are mainly applied to the structure adjustment process, and the problems of high implementation difficulty, limited measurement distance and range and the like exist for a large-size space structure.
The current large-size space structure assembly and adjustment technical achievements are mainly as follows: 1. a high-precision assembly method for a large double-sided mounting satellite load is characterized in that a theodolite and laser tracker combined precision measurement method is adopted in an article, so that on-line trimming and high-precision mounting of a satellite-borne camera are realized, but the theodolite and the laser tracker need manual participation in the measurement process; 2. the high-precision on-line measurement technology in the installation and adjustment of a high-resolution four-number satellite camera improves the installation and adjustment precision of the camera by means of a laser tracker and a knuckle arm measuring instrument, and mainly aims at the loads of the camera.
Patent document No. CN108132029A discloses a precise measurement method and device for assembling a satellite antenna deployment system, which measures dot-shaped coding marks on a panel, a hinge and a rod system of the satellite antenna deployment system through a four-camera photogrammetric system, obtains digital images of the panel, the hinge and the rod system with the dot-shaped coding marks at different positions, calculates the flatness of the panel and the axial positions of the hinge and the rod system through computer image processing and least square fitting, and determines the assembly precision of the satellite antenna deployment system. However, the patent document adopts a four-camera photogrammetry system to measure the accuracy of the antenna unfolding and assembly, and has the defects of short scanning distance and small range.
The patent document with the publication number of CN111046549A discloses a self-adaptive assembly and adjustment method and system based on a digital twin body, wherein a linear laser sensor and a camera are used for carrying out digital measurement on the outline and an end surface positioning pin of a cylindrical assembly body, and the axes of the cylindrical assembly body and a pin hole are fitted; through adjusting the position of the cylindrical assembly body, the axes of the assembly body are controlled to be consistent, and self-adaptive assembly and adjustment are realized based on digital twin virtual monitoring. However, the patent document still has the defects of great implementation difficulty and limited measuring distance and range for a large-size space structure.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for quickly and accurately adjusting a large-size space structure.
The invention provides a method for quickly and accurately assembling and adjusting a large-size space structure, which comprises the following steps:
initial installation: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning measurement: scanning is carried out through a scanner, and the scanning camera automatically completes position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement in a computer;
a pose analysis step: taking the position coordinates of the measurement target as input, and obtaining the position and the posture of the component as an actual measurement pose through coordinate conversion and surface fitting;
pose adjusting step: and adjusting the attitude precision of the component through an adjusting mechanism on the installation interface and adjusting the position precision through the gap of the installation interface according to the difference between the actual measurement pose and the target pose.
Preferably, the laser scanning measurement step, the pose analysis step and the pose adjustment step are a cyclic process.
Preferably, the laser scanning measurement step and the pose analysis step are carried out on an assembly line without a transfer structure.
Preferably, in the laser scanning measurement step, the scanning process of the scanner is automatically controlled by the driving software of the computer, and manual intervention is not required.
Preferably, in the laser scanning measurement step, the scanning object of the scanner includes a spacecraft body and a component.
Preferably, in the pose analysis step, a spacecraft body coordinate system is established.
Preferably, in the pose analysis step, the position and the posture of the component relative to the spacecraft body are obtained.
Preferably, in the pose adjusting step, the judgment basis of the adjustment completion is that the position precision and the posture precision reach the target range.
Preferably, in the pose adjusting step, the adjusting sequence is firstly pose adjusting and then position adjusting.
The invention also provides a quick and accurate adjustment system for the large-size space structure, which comprises the following modules:
initially installing a module: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning measurement module: scanning is carried out through a scanner, and the scanning camera automatically completes position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement in a computer;
a pose analysis module: taking the position coordinates of the measurement target as input, and obtaining the position and the posture of the component as an actual measurement pose through coordinate conversion and surface fitting;
a pose adjusting module: and adjusting the attitude precision of the component through an adjusting mechanism on the installation interface and adjusting the position precision through the gap of the installation interface according to the difference between the actual measurement pose and the target pose.
Compared with the prior art, the invention has the following beneficial effects:
1. the horizontal scanning range of the camera adopted by the invention is 360 degrees, the pitching scanning range is 180 degrees, the effective measuring distance is more than 40m, the measuring range is large, the distance is long, and the high-precision installation of a large-scale or even ultra-large-scale space structure can be adapted;
2. the scanning camera automatically searches for the target point without manual intervention, and the degree of automation is high;
3. according to the invention, the automatic measurement of the structure is realized on the assembly and debugging production line, and the online measurement is used for assisting the assembly and debugging, so that the repeated transfer of the structure is avoided, and the method is rapid and efficient;
4. according to the invention, the laser scanning measurement technology is embedded into the ground installation and adjustment process of the large-size structure, so that the structure can be quickly and accurately assembled.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a mounting and adjusting flow chart of the method for rapidly and accurately mounting and adjusting a large-size space structure according to the present invention;
fig. 2 is a mounting and adjusting system diagram of the large-size space structure rapid and accurate mounting and adjusting system of the invention.
The figures show that:
Strut mechanism 2 computer 6
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1:
as shown in fig. 1, the method for quickly and accurately adjusting a large-size spatial structure provided in this embodiment includes the following steps:
initial installation: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning measurement: the scanning is carried out by a scanner, the scanning camera automatically completes the position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement into a computer, the scanning process of the scanner is automatically controlled by driving software of the computer without manual intervention, and a scanning object of the scanner comprises a spacecraft body and components;
a pose analysis step: taking the position coordinates of the measurement target as input, obtaining the position and the attitude of the component through coordinate conversion and surface fitting, taking the position and the attitude as actual measurement poses, establishing a spacecraft body coordinate system, and obtaining the position and the attitude of the component relative to a spacecraft body;
pose adjusting step: according to the difference between the actual measurement pose and the target pose, the pose precision of the component is adjusted through an adjusting mechanism on the installation interface, the position precision is adjusted through the gap of the installation interface, the judgment basis of the adjustment completion is that the position precision and the pose precision reach the target range, and the adjustment sequence is that the pose is adjusted firstly and then the position is adjusted.
The laser scanning measurement step, the pose analysis step and the pose adjustment step are a cyclic process, and the laser scanning measurement step and the pose analysis step are carried out on an assembly line without a transfer structure.
Example 2:
the quick accurate debugging system of jumbo size spatial structure that this embodiment provided includes following module:
initially installing a module: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning measurement module: scanning is carried out through a scanner, and the scanning camera automatically completes position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement in a computer;
a pose analysis module: taking the position coordinates of the measurement target as input, and obtaining the position and the posture of the component as an actual measurement pose through coordinate conversion and surface fitting;
a pose adjusting module: and adjusting the attitude precision of the component through an adjusting mechanism on the installation interface and adjusting the position precision through the gap of the installation interface according to the difference between the actual measurement pose and the target pose.
Example 3:
those skilled in the art will understand this embodiment as a more specific description of embodiments 1 and 2.
The method for quickly and accurately assembling and adjusting the large-size space structure comprises the processes of initial installation, laser scanning measurement, pose analysis and pose adjustment.
The initial installation is to fix the component on the body through the installation interface, complete the initial calibration of the laser scanning measurement system, and establish the initial state for the subsequent measurement and adjustment process. The laser scanning measurement system comprises targets, a scanning camera, a computer and the like, wherein the scanning camera automatically completes position measurement of all the targets through horizontal rotation and pitching rotation and stores the position measurement in the computer. And the pose analysis takes the coordinates of the target position as input, and obtains the position and the pose of the component as the actual measurement pose through coordinate conversion and surface fitting. The pose adjustment adjusts the pose precision of the components through a hinge, a strut and other mechanisms on the installation interface according to the difference between the actual measurement pose and the target pose, and adjusts the position precision through the gap of the installation interface.
Laser scanning measurement, pose analysis and pose adjustment are a cyclic process. The judgment basis of the adjustment completion is that the position and posture precision reaches the target range. The laser scanning measurement and the pose analysis are carried out on an assembly line without a transfer structure. The laser scanning measurement process is automatically controlled by the driving software of the computer, and manual intervention is not needed. The object of laser scanning measurement comprises a spacecraft body and a component. Pose analysis requires establishing a spacecraft body coordinate system. The position and the posture of the part relative to the body are obtained through the pose analysis. The pose adjustment sequence is firstly posture adjustment and then position adjustment.
Example 4:
those skilled in the art will understand this embodiment as a more specific description of embodiments 1 and 2.
According to the method for quickly and accurately assembling and adjusting the large-size space structure, the laser scanning measurement technology is embedded into the ground assembling and adjusting process of the large-size structure, and therefore the structure is quickly and accurately assembled.
The method is realized by the following technical scheme:
a method and a system for quickly and accurately assembling and adjusting a large-size space structure comprise the processes of initial installation, laser scanning measurement, pose analysis, pose adjustment and the like.
A large-size space structure is used as a component, and a spacecraft is used as a body. The initial installation fixes the component on the body through the installation interface, and sticks the measurement target, accomplishes the initial calibration of laser scanning measurement system, establishes initial state for subsequent measurement and regulation process.
Laser scanning measurement is an automatic measurement process and is realized by a target, a scanning camera, a computer and the like. The target is a laser reflection sheet which is adhered on the surface of the component and the reference surface of the body. The scanning camera has two degrees of freedom of horizontal rotation and pitching rotation, a horizontal rotation angle alpha and a pitching rotation angle beta are generated under the control of computer driving software to aim at a target, then the camera emits a beam of laser to the target, and the distance R from the target to the camera is calculated through the phase difference between the emitted light and the reflected light. The computer calculates the OX of the target point in the measuring coordinate system according to the alpha, the beta and the RcYcZcRectangular coordinate of (x) ofc,yc,zc). After the measurement of a certain target point is completed, the scanning camera automatically searches and aims at the next target point according to a preset software instruction until the position measurement of all targets is completed.
The pose analysis takes a target coordinate obtained by laser scanning measurement as input, and the position and the posture of the output part relative to the body are developed according to the following steps:
step 1: fitting the direction of a reference surface through target coordinates on the body, and further establishing a body coordinate system OXbYbZb。
Step 2: coordinate of target on the component from the measuring coordinate system OXcYcZcConversion to body coordinate system OXbYbZbThe following steps.
And step 3: and fitting the geometric shape of the part, outputting an analytical expression of the fitted shape under the body coordinate system, and obtaining the position and the posture of the part under the body system as an actual measurement pose.
And adjusting the position and the posture of the component according to the difference between the actual measurement posture and the target posture. Because the posture adjustment can bring the position change, the posture adjustment is firstly carried out, and then the position adjustment is carried out. Before each adjustment, firstly, the part is fixed on a suspension and support tool, then, an installation interface of the part and the body is unlocked, the posture precision of the part is adjusted through a hinge, a support rod and other mechanisms on the installation interface, and the position precision is adjusted through the gap of the installation interface. After each adjustment, laser scanning measurement and pose analysis are carried out immediately, and when the accuracy index meets the requirement, the mounting interface is locked in a mode of matching and hitting a positioning pin and the like.
Example 5:
those skilled in the art will understand this embodiment as a more specific description of embodiments 1 and 2.
The embodiment of the invention provides a method for quickly and accurately installing and adjusting a large-size parabolic cylinder antenna of a certain satellite, which comprises the processes of initial installation, laser scanning measurement, pose analysis, pose adjustment and the like, and is shown in figure 1. The adjusting system mainly comprises a satellite body 1, a stay bar mechanism 2, a parabolic cylinder antenna 3, a suspension tool 4 and a scanning camera 5, wherein the satellite body 1 is installed on a support platform 8, as shown in fig. 2.
The initial installation comprises three steps of installing the parabolic cylinder antenna 3, pasting the target 7 and calibrating the scanning camera 5.
The method comprises the following steps: the parabolic cylinder antenna 3 is mounted. The parabolic cylinder antenna 3 is hung on the suspension tool 4, and one end of the antenna is fixed with the stay bar mechanism 2. The brace mechanism 2 is butted to the satellite body 1 through a mounting interface and locked by a fastener. The hinges on the strut mechanism 2 are in a locked state.
Step two: the target 7 is affixed. Targets 7 are adhered to the satellite body 1 and the parabolic cylindrical antenna 3, the targets 7 on the satellite body 1 are distributed on two mutually perpendicular reference surfaces, and the targets 7 of the parabolic cylindrical antenna 3 are uniformly distributed on the surfaces.
Step three: the scanning camera 5 is calibrated. The scanning cameras 5 aim at the targets 7 one by one, willHorizontal rotation angle alpha corresponding to position of target 70And angle of pitch beta0Stored in the computer 6 as a predetermined position for subsequent automatic scanning by the camera.
The laser scanning measurement is an automatic measurement process, and alpha obtained by the scanning camera 5 according to calibration is controlled by the driving software of the computer 60、β0And sequentially pointing to the preset position, judging the deviation between the central position of the actual target 7 and the preset position, and performing error compensation to obtain the rotation angles alpha and beta corresponding to the target 7 actually. The camera emits a laser beam to the center of the target, and the distance R from the target 7 to the camera 5 is calculated by the phase difference between the emitted light and the reflected light. The angles alpha, beta and the distance R of the target point are then converted into rectangular coordinates (x) in the measuring coordinate systemc,yc,zc) The conversion relationship is as in formula (1):
xc＝Rsinβcosα
yc＝Rsinβsinα (1)
zc＝Rcosβ
the coordinates of each target 7 obtained by laser scanning measurement are stored in the computer 6 as input for pose analysis.
The pose analysis aims at the position and the posture of the parabolic cylindrical antenna 3 relative to the satellite body 1, and comprises three steps of satellite body coordinate system establishment, coordinate system conversion and shape fitting.
The first step is as follows: establishing a body coordinate system OXbYbZb. Determining the origin coordinates (a, b, c) of the system according to the coordinates of the target 7 on the reference surface of the satellite body 1, fitting the direction of the reference surface, and obtaining a transformation matrix L from the measurement coordinate system to the system coordinate systembc。
The second step: will measure the target coordinates (x) in the coordinate systemc,yc,zc) Conversion to body system coordinates (x)b,yb,zb) The conversion relationship is given by equation (2):
the third step: according to the coordinates (x) of each target 7 point on the parabolic cylindrical antenna 3b,yb,zb) And fitting the parabolic cylindrical surface under the body coordinate system. In this embodiment, the normal vector and OX on the fitting surface are assumedbYbThe surfaces are parallel, then the curved surface is fitted at OXbYbThe projection parabolic equation on the surface is as follows:
in the formula (3), (x, y) is the coordinate of any point on the projection parabola, and p is the focal length of the parabola, depending on the shape of the antenna itself. (m, n) are coordinates of vertex of the parabola, and theta is the symmetry axis of the parabola with respect to OYbThe angle of the shaft. The vertex coordinates (m, n) characterize the position of the parabolic cylinder antenna and the angle θ characterizes the attitude of the antenna. And (m, n) and theta obtained by pose analysis are used as the actual measurement position and pose of the antenna.
The sequence of the pose adjustment is firstly the pose adjustment and then the position adjustment. And unlocking a hinge at the tail end of the support rod mechanism 2, rotating the hinge according to the difference between the actually measured attitude angle theta and the target attitude angle, and adaptively adjusting the suspension tool 4. And then carrying out laser scanning measurement and pose analysis, and locking the hinge after the pose precision meets the requirement. And adjusting the gap of the installation interface between the stay bar mechanism 2 and the parabolic cylinder antenna 7 and between the stay bar mechanism and the satellite body 1 according to the difference between the actual measurement position (m, n) and the target position, adaptively adjusting the suspension tool 4, and matching and striking a positioning pin on the installation interface after the position precision meets the requirement to finish the installation and adjustment process.
The laser scanning measurement technology is embedded into the structure assembly process, the requirements of large-scale structure assembly on long-distance and large-scale pose measurement can be met, and the rapid and accurate assembly of large-size space structures is realized.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method for quickly and accurately assembling and adjusting a large-size space structure is characterized by comprising the following steps:
initial installation: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning measurement: scanning is carried out through a scanner, and the scanning camera automatically completes position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement in a computer;
a pose analysis step: taking the position coordinates of the measurement target as input, and obtaining the position and the posture of the component as an actual measurement pose through coordinate conversion and surface fitting;
pose adjusting step: and adjusting the attitude precision of the component through an adjusting mechanism on the installation interface and adjusting the position precision through the gap of the installation interface according to the difference between the actual measurement pose and the target pose.
2. The method for rapidly and accurately adjusting the large-size space structure according to claim 1, wherein the laser scanning measurement step, the pose analysis step and the pose adjustment step are a cyclic process.
3. The method for quickly and accurately assembling and adjusting a large-size space structure according to claim 1, wherein the laser scanning measurement step and the pose analysis step are carried out on an assembly line without a transfer structure.
4. The method for rapidly and accurately adjusting a large-size spatial structure according to claim 1, wherein in the step of laser scanning measurement, the scanning process of the scanner is automatically controlled by the driving software of a computer without manual intervention.
5. The method for fast and accurate assembly and adjustment of a large-size space structure according to claim 1, wherein in the laser scanning measurement step, the scanning object of the scanner comprises a spacecraft body and a component.
6. The method for rapidly and accurately assembling and adjusting a large-size space structure according to claim 1, wherein in the pose analysis step, a spacecraft body coordinate system is established.
7. The method for rapidly and accurately assembling and adjusting the large-size space structure according to claim 1, wherein in the pose analysis step, the position and the posture of the component relative to the spacecraft body are obtained.
8. The method for rapidly and accurately adjusting the large-size spatial structure according to claim 1, wherein in the pose adjusting step, the adjustment is determined based on the position accuracy and the posture accuracy reaching the target range.
9. The method for rapidly and accurately adjusting the large-size space structure according to claim 1, wherein in the pose adjusting step, the pose adjustment is performed in sequence of pose adjustment and position adjustment.
10. The utility model provides a quick accurate debug system of jumbo size spatial structure which characterized in that includes following module:
initially installing a module: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning measurement module: scanning is carried out through a scanner, and the scanning camera automatically completes position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement in a computer;
a pose analysis module: taking the position coordinates of the measurement target as input, and obtaining the position and the posture of the component as an actual measurement pose through coordinate conversion and surface fitting;
a pose adjusting module: and adjusting the attitude precision of the component through an adjusting mechanism on the installation interface and adjusting the position precision through the gap of the installation interface according to the difference between the actual measurement pose and the target pose.
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| CN105241395A (en) * | 2015-08-07 | 2016-01-13 | 上海卫星工程研究所 | High-precision measuring method for surface shape and distance of oversize space structure |
| CN105345453A (en) * | 2015-11-30 | 2016-02-24 | 北京卫星制造厂 | Position-posture determining method for automatically assembling and adjusting based on industrial robot |
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| CN107543495A (en) * | 2017-02-17 | 2018-01-05 | 北京卫星环境工程研究所 | Spacecraft equipment autocollimation measuring system, alignment method and measuring method |
| CN107782293A (en) * | 2017-11-09 | 2018-03-09 | 北京卫星环境工程研究所 | Spacecraft equipment posture information measuring method based on six degree of freedom laser tracking target |
| CN108132029A (en) * | 2017-12-08 | 2018-06-08 | 北京卫星制造厂 | A kind of accurate measurement method and device of satellite antenna development system assembling |
| CN109631793A (en) * | 2018-12-12 | 2019-04-16 | 上海卫星装备研究所 | Type face digital photography automatic measurement method |
| CN109341535A (en) * | 2018-12-13 | 2019-02-15 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of high-efficiency high-accuracy Large-scale satellite antenna mount measuring system |
| CN112710236A (en) * | 2020-12-23 | 2021-04-27 | 上海交大智邦科技有限公司 | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker |
| CN112928426A (en) * | 2021-02-25 | 2021-06-08 | 上海卫星工程研究所 | Large-scale deployable satellite antenna profile precision in-orbit active control device and method |
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