CN114509001B - Quick and accurate assembling and adjusting method and system for large-size space structure - Google Patents
Quick and accurate assembling and adjusting method and system for large-size space structure Download PDFInfo
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- G—PHYSICS
- 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
The application provides a rapid and accurate adjustment method and system for a large-size space structure, comprising the following steps: an initial installation step: fixing the parts to be installed on the spacecraft body through the installation interface; laser scanning and measuring: scanning by a scanner, automatically completing the position measurement of all targets by the scanner through horizontal rotation and pitching rotation, and storing the position measurement into a computer; and (3) pose analysis: taking the position coordinates of the measurement target as input, and obtaining the position and the gesture of the component through coordinate transformation and surface fitting to be used as a real position gesture; and pose adjusting step: according to the difference between the real pose and the target pose, the pose precision of the component is regulated by the regulating mechanism on the mounting interface, and the position precision is regulated by the gap of the mounting interface. The application embeds the laser scanning measurement technology into the structure assembly process, can meet the requirements of large-scale structure assembly on long-distance and large-scale pose measurement, and realizes the rapid and accurate assembly of large-scale space structures.
Description
Technical Field
The application 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 hot spot in the technical field of aerospace, and the space vehicles such as manned space stations and high-resolution remote sensing satellites are provided with large solar wings, large antennas and the like, and the structural size of the space structure is more than 10 m. In order to ensure the installation precision of the spacecraft components, the ground assembly process needs to repeatedly measure and adjust the positions and the attitudes of the components, namely online measurement. The large-size characteristic increases the difficulty of structure pose measurement and adjustment, and puts forward higher requirements on the rapid and accurate assembly of the structure.
The prior related technology mainly applies measurement methods such as a laser tracker, photogrammetry and the like to a structure adjustment process, and has the problems of large implementation difficulty, limited measurement distance and range and the like for a large-size space structure.
The prior large-size space structure adjustment technology mainly comprises the following steps: 1. the method for assembling the large double-sided installation satellite load with high precision adopts a combined precision measurement method of a theodolite and a laser tracker, realizes on-line trimming and high-precision installation of a satellite-borne camera, but the theodolite and the laser tracker need to be manually involved in the measurement process; 2. the high-precision on-line measurement technology for the installation and adjustment of the satellite cameras with the high resolution of the fourth satellite camera is that the article improves the installation and adjustment precision of the cameras by means of a laser tracker and an articulated arm measuring instrument, and the method is mainly aimed at camera loads.
Patent document with publication number CN108132029a discloses a precise measurement method and device for satellite antenna unfolding system assembly, which measures punctiform coding marks on a panel, a hinge and a rod system of the satellite antenna unfolding system through a four-camera photogrammetry system, acquires digital images of the panel, the hinge and the rod system with the punctiform coding marks at different positions, calculates the flatness of the panel and the axis 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 unfolding system. However, this patent document uses a four-camera photogrammetry system to measure the accuracy of antenna deployment and assembly, and has the disadvantage of short scanning distance and small range.
Patent document with publication number of CN111046549A discloses a self-adaptive adjustment method and system based on a digital twin body, which uses a linear laser sensor and a camera to digitally measure the contour of a cylindrical assembly body and an end surface locating pin, and fits the axes of the cylindrical assembly body and a pin hole; the axis of the cylindrical assembly body is controlled to be consistent through adjusting the position of the cylindrical assembly body, and the self-adaptive adjustment is realized based on digital twin body virtual monitoring. However, the patent document still has the defects of large implementation difficulty and limited measurement distance and range for large-size space structures.
Disclosure of Invention
Aiming at the defects in the prior art, the application aims to provide a rapid and accurate adjustment method and system for a large-size space structure.
The application provides a rapid and accurate adjustment method for 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 and measuring: scanning by a scanner, automatically completing the position measurement of all targets by the scanner through horizontal rotation and pitching rotation, and storing the position measurement into a computer;
and (3) pose analysis: taking the position coordinates of the measurement target as input, and obtaining the position and the gesture of the component through coordinate transformation and surface fitting to be used as a real position gesture;
and pose adjusting step: according to the difference between the real pose and the target pose, the pose precision of the component is regulated by the regulating mechanism on the mounting interface, and the position precision is regulated by the gap of the mounting interface.
Preferably, the laser scanning measurement step, the pose analysis step, and the pose adjustment step are one cyclic process.
Preferably, the laser scanning measurement step and the pose analysis step are performed on an assembly line without a transfer structure.
Preferably, in the step of laser scanning measurement, the scanning process of the scanner is automatically controlled by the driving software of the computer, and no manual intervention is 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 pose of the component relative to the spacecraft body are obtained.
Preferably, in the pose adjustment step, the judgment criterion for completion of adjustment is that the position accuracy and the pose accuracy reach the target range.
Preferably, in the step of adjusting the pose, the sequence of adjustment is that the pose is adjusted first and then the position is adjusted.
The application also provides a rapid and accurate installation and adjustment system for the large-size space structure, which comprises the following modules:
and (3) an initial installation module: fixing the parts to be installed on the spacecraft body through the installation interface;
and the laser scanning measurement module is used for: scanning by a scanner, automatically completing the position measurement of all targets by the scanner through horizontal rotation and pitching rotation, and storing the position measurement into a computer;
and the pose analysis module is used for: taking the position coordinates of the measurement target as input, and obtaining the position and the gesture of the component through coordinate transformation and surface fitting to be used as a real position gesture;
pose adjusting module: according to the difference between the real pose and the target pose, the pose precision of the component is regulated by the regulating mechanism on the mounting interface, and the position precision is regulated by the gap of the mounting interface.
Compared with the prior art, the application has the following beneficial effects:
1. the horizontal scanning range of the camera 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 far, and the device can be suitable for high-precision installation of large-scale or even ultra-large-scale space structures;
2. according to the application, the scanning camera automatically searches for the target point without manual intervention, so that the degree of automation is high;
3. according to the application, automatic measurement of the structure is realized on the assembly and adjustment production line, and the assembly and adjustment are assisted by the on-line measurement, so that repeated transportation of the structure is avoided, and the structure is rapid and efficient;
4. according to the application, the laser scanning measurement technology is embedded into the ground adjustment process of the large-size structure, so that the rapid and accurate assembly of the structure is realized.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of the fast and accurate adjustment method for large-size space structure of the present application;
fig. 2 is a diagram of a fast and accurate tuning system for a large-size space structure according to the present application.
The figure shows:
satellite body 1 scanning camera 5
Computer 6 of stay bar mechanism 2
Parabolic cylinder antenna 3 target 7
Supporting table 8 of suspension tool 4
Detailed Description
The present application will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present application, but are not intended to limit the application in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present application.
Example 1:
as shown in fig. 1, the method for fast and accurately installing and adjusting a large-size space structure provided in this embodiment includes the following steps:
an initial installation step: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning and measuring: the scanning is carried out through the scanner, the position measurement of all targets is automatically completed through horizontal rotation and pitching rotation of the scanning camera, the position measurement is stored in the computer, the scanning process of the scanner is automatically controlled by the driving software of the computer, manual intervention is not needed, and the scanning object of the scanner comprises a spacecraft body and parts;
and (3) pose analysis: the position coordinates of the measurement targets are used as input, the positions and the postures of the parts are obtained through coordinate transformation and surface fitting, the positions and the postures are used as real position postures, a spacecraft body coordinate system is established, and the positions and the postures of the parts relative to the spacecraft body are obtained;
and pose adjusting step: according to the difference between the real pose and the target pose, the pose precision of the part is regulated by the regulating mechanism on the mounting interface, the position precision is regulated by the clearance of the mounting interface, and the judgment basis for the completion of regulation is that the position precision and the pose precision reach the target range, and the regulation sequence is that the pose regulation is firstly followed by the position regulation.
The laser scanning measurement step, the pose analysis step and the pose adjustment step are a cyclic process, and are carried out on an assembly line without a transfer structure.
Example 2:
the quick accurate dress of jumbo size spatial structure transfers system that this embodiment provided includes following module:
and (3) an initial installation module: fixing the parts to be installed on the spacecraft body through the installation interface;
and the laser scanning measurement module is used for: scanning by a scanner, automatically completing the position measurement of all targets by the scanner through horizontal rotation and pitching rotation, and storing the position measurement into a computer;
and the pose analysis module is used for: taking the position coordinates of the measurement target as input, and obtaining the position and the gesture of the component through coordinate transformation and surface fitting to be used as a real position gesture;
pose adjusting module: according to the difference between the real pose and the target pose, the pose precision of the component is regulated by the regulating mechanism on the mounting interface, and the position precision is regulated by the gap of the mounting interface.
Example 3:
the present embodiment will be understood by those skilled in the art as more specific descriptions of embodiment 1 and embodiment 2.
The rapid and accurate installation and adjustment method for 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 to complete the initial calibration of the laser scanning measurement system, and establish an initial state for the subsequent measurement and adjustment process. The laser scanning measurement system comprises targets, a scanning camera, a computer and other devices, and the scanning camera automatically completes the position measurement of all targets through horizontal rotation and pitching rotation and stores the position measurement into the computer. The pose analysis takes the target position coordinates as input, and the position and the pose of the component are obtained through coordinate transformation and surface fitting and are used as real poses. According to the difference between the real pose and the target pose, the pose adjustment adjusts the pose precision of the component through a hinge, a stay bar and other mechanisms on the mounting interface, and adjusts the position precision through the gap of the mounting interface.
Laser scanning measurement, pose analysis and pose adjustment are one cyclic process. The judgment basis for the completion of the adjustment is that the position and posture accuracy 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 the establishment of a spacecraft body coordinate system. The pose analysis results in the position and pose of the component relative to the body. The sequence of pose adjustment is that pose adjustment is firstly carried out and then position adjustment is carried out.
Example 4:
the present embodiment will be understood by those skilled in the art as more specific descriptions of embodiment 1 and embodiment 2.
According to the rapid and accurate assembling and adjusting method for the large-size space structure, which is provided by the embodiment, the rapid and accurate assembling of the structure is realized by embedding the laser scanning measurement technology into the ground assembling and adjusting process of the large-size structure.
The method is realized by the following technical scheme:
the rapid and accurate installation and adjustment method and system for the large-size space structure comprise the processes of initial installation, laser scanning measurement, pose analysis, pose adjustment and the like.
The spacecraft takes a large-size space structure as a component and takes the spacecraft as a body. The initial installation fixes the component on the body through the installation interface, and pastes the measurement target, accomplishes the initial calibration of laser scanning measurement system, establishes initial state for subsequent measurement and adjustment process.
The laser scanning measurement is an automatic measurement process, and is realized by a target, a scanning camera, a computer and other devices. The target is a laser reflector plate which is stuck 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 onto the target, and the distance R from the target to the camera is calculated through the phase difference of emitted light and reflected light. The computer calculates the target point in the measuring coordinate system OX according to alpha, beta and R c Y c Z c Rectangular coordinates (x) c ,y c ,z c ). 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 target coordinates obtained by laser scanning measurement as input, and the position and the pose of the output part relative to the body are developed according to the following steps:
step 1: fitting the direction of the reference plane through the target coordinates on the body to further establish a body coordinate system OX b Y b Z b 。
Step 2: the coordinates of the target on the part are determined by measuring the coordinate system OX c Y c Z c Conversion to the ontology coordinate System OX b Y b Z b And (3) downwards.
Step 3: fitting out the geometric shape of the component, outputting an analytical expression of the fitting shape under the body coordinate system, and obtaining the position and the posture of the component under the body system as the real position and the posture.
The position and posture of the component are adjusted based on the difference between the actually measured position and the target position. Because the posture is adjusted to bring the position change, the adjusting sequence is to adjust the posture first and then adjust the position. Before each adjustment, firstly, the parts are confirmed to be fixed on the hanging and supporting tool, then the mounting interface of the parts and the body is unlocked, the gesture precision of the parts is adjusted through the mechanisms such as a hinge and a stay rod on the mounting interface, and the position precision is adjusted through the clearance of the mounting interface. And after each adjustment is completed, carrying out laser scanning measurement and pose analysis, and locking the mounting interface by means of matching with a locating pin and the like after the precision index meets the requirement.
Example 5:
the present embodiment will be understood by those skilled in the art as more specific descriptions of embodiment 1 and embodiment 2.
The embodiment of the application provides a quick and accurate mounting and adjusting method for a large-size parabolic cylinder antenna of a certain satellite, which comprises the processes of initial mounting, laser scanning measurement, pose analysis, pose adjustment and the like, as shown in fig. 1. The installation and adjustment system mainly comprises a satellite body 1, a supporting rod mechanism 2, a parabolic cylinder antenna 3, a suspension tool 4 and a scanning camera 5, wherein the satellite body 1 is arranged on a supporting table 8, as shown in fig. 2.
The initial installation comprises three steps of installation of the parabolic cylinder antenna 3, pasting of the target 7 and calibration of the scanning camera 5.
Step one: 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 stay bar mechanism 2 is butted to the satellite body 1 through a mounting interface and locked by adopting a fastener. The hinge on the stay mechanism 2 is in a locked state.
Step two: the target 7 is attached. The targets 7 are stuck on the satellite body 1 and the parabolic cylinder antenna 3, the targets 7 on the satellite body 1 are distributed on two mutually perpendicular datum planes, and the targets 7 of the parabolic cylinder antenna 3 are uniformly distributed on the surface.
Step three: the scanning camera 5 is calibrated. The scanning camera 5 aims at the targets 7 one by one, and the horizontal rotation angle alpha corresponding to the positions of the targets 7 is calculated 0 And pitch angle beta 0 Stored in the computer 6 as a predetermined position for the subsequent camera to automatically scan.
The laser scanning measurement is an automatic measurement process, and the scanning camera 5 is controlled by the driving software of the computer 6 to obtain alpha according to calibration 0 、β 0 In turnPointing to a preset position, judging the deviation between the center position of the actual target 7 and the preset position, and performing error compensation to obtain the actually corresponding rotation angles alpha and beta of the target 7. The camera emits a beam of laser light to the center of the target, and the distance R of the target 7 to the camera 5 is calculated by the phase difference of the emitted light and the reflected light. The angles α, β and the distance R of the target point are then converted into rectangular coordinates (x c ,y c ,z c ) The conversion relation is as shown in formula (1):
x c ＝Rsinβcosα
y c ＝Rsinβsinα (1)
z c ＝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 pose of the parabolic cylinder 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: establishing an ontology coordinate system OX b Y b Z b . Determining the origin coordinates (a, b, c) of the system according to the coordinates of the target 7 on the reference plane of the satellite body 1, fitting the reference plane direction, and obtaining a transformation matrix L from the measurement coordinate system to the body coordinate system bc 。
And a second step of: the target coordinates (x c ,y c ,z c ) Is converted into the system coordinates (x b ,y b ,z b ) The conversion relationship is given by equation (2):
and a third step of: according to the coordinates (x b ,y b ,z b ) Fitting a parabolic cylinder curved surface under the body coordinate system. In this embodiment, it is assumed that the normal vector and OX on the surface are fitted b Y b The surfaces are parallel, and then the fitting curved surface is at OX b Y b The projected parabolic equation on the surface is as follows:
in the formula (3), (x, y) is the coordinates of any point on the projected parabola, and p is the focal length of the parabola, depending on the shape of the antenna itself. (m, n) is the coordinates of the vertex of the parabola, θ is the axis of symmetry of the parabola relative to OY b Angle of the shaft. The vertex coordinates (m, n) characterize the position of the parabolic dish and the angle θ characterizes the attitude of the dish. And taking (m, n) and theta obtained by pose analysis as actual measurement positions and poses of the antenna.
The sequence of the pose adjustment is that the pose adjustment is firstly performed and then the position adjustment is performed. The hinge at the tail end of the stay bar mechanism 2 is unlocked, the hinge is rotated according to the difference between the actually measured attitude angle theta and the target attitude angle, and the suspension fixture 4 is adjusted adaptively. And then carrying out laser scanning measurement and pose analysis, and locking the hinge after the pose precision meets the requirement. According to the difference between the actually measured position (m, n) and the target position, the gap between the supporting rod mechanism 2 and the installation interface between the parabolic cylinder antenna 7 and the satellite body 1 is adjusted, the suspension tool 4 is adaptively adjusted, and after the position precision meets the requirement, a positioning pin is matched on the installation interface, so that the assembling and adjusting process is completed.
The application embeds the laser scanning measurement technology into the structure assembly process, can meet the requirements of large-scale structure assembly on long-distance and large-scale pose measurement, and realizes the rapid and accurate assembly of large-scale space structures.
Those skilled in the art will appreciate that the application provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the application can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (3)
1. The rapid and accurate adjustment method for the large-size space structure is characterized by comprising the following steps of:
an initial installation step: fixing the parts to be installed on the spacecraft body through the installation interface;
laser scanning and measuring: scanning by a scanner, automatically completing the position measurement of all targets by the scanner through horizontal rotation and pitching rotation, and storing the position measurement into a computer;
and (3) pose analysis: taking the position coordinates of the measurement target as input, and obtaining the position and the gesture of the component through coordinate transformation and surface fitting to be used as a real position gesture;
and pose adjusting step: according to the difference between the real pose and the target pose, the pose precision of the component is regulated by a regulating mechanism on the mounting interface, and the position precision is regulated by a gap of the mounting interface;
the laser scanning measurement step, the pose analysis step and the pose adjustment step are a cyclic process;
the laser scanning measurement step and the pose analysis step are carried out on an assembly line without a transfer structure;
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 needed;
in the laser scanning measurement step, a scanning object of the scanner comprises a spacecraft body and a part;
in the pose analysis step, a spacecraft body coordinate system is established;
in the pose analysis step, the position and the pose of the part relative to the spacecraft body are obtained;
in the pose adjusting step, the adjusting sequence is that the pose is adjusted firstly and then the position is adjusted.
2. The method for quickly and accurately adjusting the large-size spatial structure according to claim 1, wherein in the pose adjusting step, the judgment basis for the completion of the adjustment is that the position accuracy and the pose accuracy reach the target range.
3. The rapid and accurate adjustment system for the large-size space structure is characterized by comprising the following modules:
and (3) an initial installation module: fixing the parts to be installed on the spacecraft body through the installation interface;
and the laser scanning measurement module is used for: scanning by a scanner, automatically completing the position measurement of all targets by the scanner through horizontal rotation and pitching rotation, and storing the position measurement into a computer;
and the pose analysis module is used for: taking the position coordinates of the measurement target as input, and obtaining the position and the gesture of the component through coordinate transformation and surface fitting to be used as a real position gesture;
pose adjusting module: according to the difference between the real pose and the target pose, the pose precision of the component is regulated by the regulating mechanism on the mounting interface, and the position precision is regulated by the gap of the mounting interface.
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| 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 |
| CN105651166A (en) * | 2015-12-30 | 2016-06-08 | 哈尔滨工业大学 | Spacecraft product final assembly precision measuring method based on workpiece coordinate system |
| 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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