CN116108722A - Digital twinning-based large structural member surface shape regulation and control method - Google Patents
Digital twinning-based large structural member surface shape regulation and control method Download PDFInfo
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Abstract
The invention discloses a digital twinning-based large structural member surface shape regulation and control method, which comprises the following steps: dividing surface shape subareas according to the geometrical dimensions of the surface shape of the large structural member and the distribution positions of the self-adjusting device or the adjusting tool, and taking the surface shape subareas as basic units for surface shape regulation; performing pose estimation on the large structural member based on an ICP pose estimation algorithm improved by the deformation weight factors, and completing adjustment of the position and the pose of the large structural member with assembly; after the pose and the posture of the large structural member are calculated by an improved ICP algorithm based on the deformation weight factors, a pose transformation model of the large structural member is constructed; calculating the pose of the large structural member by utilizing an improved ICP algorithm based on the deformation weight factors, and solving an adjustment value by combining a pose transformation model of the large structural member; if the surface shape assembly precision is low and is caused by shape errors, a surface shape compensation model is constructed and local surface shape compensation is carried out; the invention can realize the splicing assembly of large structural parts with high quality and high efficiency.
Description
Technical Field
The invention relates to the field of large structural member assembly, in particular to a digital twinning-based large structural member surface shape regulating and controlling method.
Background
The large structural member has application in manufacturing industries such as ships, aerospace, military industry and the like, such as aircraft wings, rocket tube sections, radar array surfaces and the like, mainly plays roles in supporting, carrying loads and fixing other functional parts, and has the characteristics of large size, heavy weight, complex internal structure and the like. The aircraft, the ship, the rocket and the like have large overall dimensions, are generally manufactured in sections, and are transported to a designated place for final assembly, so that the splicing assembly of all large structural members is completed. In the final assembly link, the surface shape precision of each large structural member is an important index for measuring the coordination relation among the components, is influenced by factors such as processing and manufacturing level, transportation, gravity deformation and the like, and needs to adjust the relative position and posture among the large structural members and compensate the surface shape defects so as to complete the splicing assembly task and ensure the surface shape precision of the large structural members. In the actual assembly process, alignment splicing, surface shape precision detection and assembly adjustment are mainly completed in a manual mode, the operation skills and working experience of workers are extremely relied on, the conditions of high assembly difficulty, low precision, repeated assembly and lack of effective guidance exist, and the requirement of high-quality and high-efficiency assembly of large structural members is difficult to meet. Therefore, it is important to provide an efficient and reasonable surface shape regulating method for large structural members.
The prior published patent and data show that aiming at the problem of controlling the surface shape precision of a large-scale structural member, the prior scholars are researched from aspects of a butt joint assembly system, a structure optimization and assembly coordination control method and the like. The structural optimization of the large structural member mainly depends on a mechanical model and a finite element simulation technology, so that the rigidity and the deformation resistance of the structural member are improved to a certain extent, but practical assembly guidance is difficult to provide. The nonstandard butt joint device is developed aiming at a certain product, and the assembly adjustment task of the structural body can be completed, but the device has poor universality and high cost. The assembly coordination control method mainly solves the relative position and the posture between large structural members through assembly data to carry out splicing assembly adjustment, or completes relative posture adjustment and local deformation compensation of the surface shape through an adjusting device. The existing method regards a large structural member as a rigid body when solving the pose, and does not consider the existing deformation, so that the pose solving accuracy is general, the existing method usually analyzes the current deformation by means of finite elements and then performs surface shape compensation, the calculation speed is low, and the assembly progress is affected. In conclusion, the existing research results improve the quality of the assembled surface shape of the large structural member to a certain extent, but the problems of insufficient fusion of data and models, low accuracy of adjustment and installation calculation and low calculation efficiency exist, and the requirements of full utilization of information, high efficiency and high quality of surface shape quality control are difficult to meet.
Disclosure of Invention
The invention aims to provide a digital twinning-based large structural member assembling surface shape regulating and controlling method, which is used for meeting the assembling requirements of general assembly links in the fields of ships, aerospace, military industry and the like, namely improving the assembling efficiency, ensuring the assembling surface shape precision and realizing the high-quality and high-efficiency large structural member assembling.
The technical solution for realizing the purpose of the invention is as follows:
a digital twinning-based large structural member surface shape regulation and control method comprises the following steps:
step 1, surface shape regulation preparation stage: in the preparation stage of the assembly surface shape regulation of the large structural member, design information of the large structural member is obtained from a digital twin system in advance to generate assembly information required by the invention. Firstly, generating a theoretical surface shape according to a preset measuring point, analyzing deformation conditions of a large structural member in different assembly stages by utilizing a finite element, generating a corresponding deformation matrix, dividing surface shape subareas according to the geometrical size of the surface shape of the large structural member and the distribution position of a self-adjusting device or an adjusting tool, and taking the surface shape subareas as basic units for surface shape regulation;
step 3, constructing an assembly adjustment model and solving an adjustment value: after the pose and the posture of the large structural member are calculated by an improved ICP algorithm based on the deformation weight factors, a pose transformation model of the large structural member is constructed;
step 4, analyzing and optimizing the surface shape of the large structural member: after the butt-joint assembly of the large structural member is completed, measuring whether the surface shape of the large structural member meets an assembly precision index, if the surface shape assembly precision meets the requirement, carrying out subsequent assembly tasks, if the surface shape assembly precision does not meet the requirement, analyzing shape errors and position errors existing in the surface shape according to actual measurement surface shape data, if the surface shape assembly precision is low and is caused by the position errors, calculating the pose of the large structural member by utilizing an improved ICP algorithm based on a deformation weight factor, and solving an adjustment value by combining a pose conversion model of the large structural member; if the surface shape assembly precision is low and is caused by shape errors, a surface shape compensation model is constructed and local surface shape compensation is carried out.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The large-scale structural member surface shape regulating and controlling method draws the digital twin technical advantages, can clearly and comprehensively quantify the combined surface shape precision and deviation of the sectional large-scale structural member assembly, can fuse and apply theoretical data, field assembly data and a model, and can provide assembly guidance in the actual assembly process.
(2) The method for regulating and controlling the surface shape of the large structural member utilizes geometric, physical and behavioral models in digital twin, can rapidly acquire the deformation condition of the large structural member in the assembly process through a deformation matrix, and improves the alignment and splicing pose solving precision of the large structural member.
(3) The method for regulating and controlling the surface shape of the large structural member utilizes geometric, physical and behavioral models in digital twinning to respectively explore the relation among the pose transformation, the sub-region shape compensation optimization and the regulating device of the large structural member and construct corresponding models, thereby providing a basis for solving the assembly regulating quantity.
Drawings
FIG. 1 is a flowchart illustrating an embodiment of the present invention.
Fig. 2 is a schematic diagram of a large structural part and tooling thereof.
Fig. 3 is a schematic diagram of a deformation cloud and deformation matrix of a large structural member at a certain stage of assembly.
FIG. 4 is a schematic diagram of the division of the surface shape and the subareas of the large structural part.
Fig. 5 is a schematic diagram showing a relationship between deformation matrix recorded data and actual measurement points.
FIG. 6 is a schematic diagram of deformation matrix record data versus actual measurement points.
Fig. 7 is a simplified schematic diagram of pose transformation motion.
Detailed Description
The invention is further described with reference to the drawings and specific embodiments.
The invention discloses a digital twinning-based large structural member assembling surface shape regulating and controlling method, which comprises the following steps:
step 1, surface shape regulation preparation stage: in the preparation stage of the assembly surface shape regulation of the large structural member, design information of the large structural member is obtained from a digital twin system in advance to generate assembly information required by the invention. Generating a theoretical surface shape according to a preset measuring point, analyzing deformation conditions of the large structural member at different assembly stages by utilizing finite elements, generating a corresponding deformation matrix, providing a surface shape sub-area optimization method, dividing the surface shape sub-area according to the geometric dimension of the surface shape of the large structural member and the distribution position of a self-adjusting device or an adjusting tool, and taking the surface shape sub-area as a basic unit for surface shape regulation;
step 1.1 the design information of the large structural member obtained from the digital twin system should contain geometric, physical and behavioral models. The geometric model contains the information of the geometric dimension, tolerance, position, assembly relation and the like of the structural member, the physical model contains the information of the physical properties of the structural member such as hardness, density and the like, structural constraint, load and the like, and the behavior model contains the real-time response behaviors of the large structural member such as structural body position, posture transformation, surface shape change and the like under the action of the adjusting device.
And step 1.2, generating a theoretical surface shape according to a preset measuring point. Generating a set of describable large structural members using predetermined measurement pointsThe point cloud data of the surface shape can be expressed as Q= { Q 1 ，q 2 ，…，q i ，…q N }，q i ＝{x i ，y i ，z i Q is a point cloud data set representing a theoretical surface shape, and contains N points in total, Q i Is the ith point in theoretical surface shape data, { x i ，y i ，z i And q represents i The theoretical surface shape data are used for comparing and analyzing the assembly surface shape precision of the large structural member and solving the pose of the large structural member.
Step 1.3 generation of deformation matrix. The deformation matrix is a high-dimensional array for recording the surface deformation condition of the large structural member in the assembly stage. Considering that the positioning and supporting modes of the large structural member in the assembled state are known and the pose change is extremely small, the gravity deformation conditions of the large structural member are similar, deformation of the structural member is analyzed through finite elements in advance, a deformation matrix is generated in a digital twin space, long-time deformation simulation calculation is avoided, and the standardized expression of the deformation matrix is as follows:
in the deformation matrix
Is of dimension epsilon dimension Is a high-dimensional array of (1) deformation matrix->
Mainly comprises position information loc info And deformation information Deforma info ，loc info Recording position information [ X, Y, Z ] of point on three-dimensional space surface profile]And (3) the position information of the midpoint of the two-dimensional plane is simplified to be recorded according to the characteristics of the assembly surface shape. The deformation information for besides the position information info The deformation amount of the points on the recording surface profile may be the total deformation amount of the recording points, or the deformation amount of the recording points in the specified direction. The dimension of the deformation matrix epsilon is thus at least three-dimensional, the deformation momentThe matrix records regular, grid-like deformation information. However, when actually measuring the surface of a large structural member, the layout of the measurement points is in non-grid distribution and does not necessarily correspond to the data points contained in the deformation matrix, so that the theoretical deformation value corresponding to the actual measurement points can be calculated by using an interpolation method.
And 1.4, constructing a surface-shaped subarea of the large structural part. The assembly surface shape of the medium-large structural member is a combined surface shape, the area is large, different sectional structural members are involved, and the integral optimization of the surface shape cannot be completed by a single adjusting device, so that a surface shape sub-region optimization method is provided, the method needs to divide the structural member into sub-regions and complete sub-region data distribution, the surface shape compensation optimization problem is converted into the surface shape compensation optimization problem of a plurality of sub-regions, and the integral surface shape is optimized through local adjustment. The subregion dividing method of the large structural member is to adjust the device alice k For the center, r is the adjacent radius to divide subareas, and the device is adjusted k The corresponding sub-region is denoted as sub R k Finally, K sub-regions, denoted as R, can be obtained total ＝{subR 1 ，subR 2 ，…，subR k ，…，subR K }. The subareas can be regularized as required so that all subareas cover the whole surface shape, so that the whole surface shape can be optimized through local adjustment, and the subarea division method can be represented by the following formula:
c k indicating the adjustment device k Is simultaneously taken as the center of the subarea, d i Representing the surface point of the surface shape of the large structural part and the center c of the adjusting device k D () represents an arbitrary measurement point p on the surface of a large structural member i And adjusting the device center c k If the center c of the subarea k And a structural member surface point p i Is less than or equal to the neighbor radius r k Then the lattice point p i Is positioned in the subarea k Within the range of (1), area () represents a sub-region sub-R k The surface area involved is finally regularized as desiredAnd (3) operating and trimming the arc-shaped subareas to ensure that the subareas cover the whole surface shape. After the division of the surface-shaped subareas is completed, the distribution of assembly data can be carried out, and the following formula is adopted:
date＝{Device，P}
Device＝{dev_info 1 ，dev_info 2 ，…，dev_info k ，…，dev_info K }
date is the assembly data, device is the total set of assembly data, dev_info k Corresponding to the adjustment device in the kth sub-area k Comprises assembly data, wherein P is a large structural member surface shape actual measurement data set, and contains N points, P j The space coordinate information of the jth point in the discrete point cloud is recorded, the surface shape actual measurement data set and the theoretical surface shape data have one-to-one correspondence, the surface shape actual measurement data set P can be divided into K actual measurement surface shape data sets after the distribution of the assembly data,
the corresponding is the surface shape data contained in the k sub-area surface.
And 2, assembling analysis and pose calculation of the large structural member: the method comprises the steps of acquiring assembly data date of large structural members through a measuring system, analyzing whether the large structural members to be aligned and spliced and assembled can realize connection position alignment and component connection and installation work, feeding back to the site if alignment and splicing and assembly between the large structural members can be completed, reminding operators of completing splicing and assembling tasks, and if alignment and splicing and assembly between the large structural members cannot be completed, performing pose estimation on the large structural members based on a ICP (Iterative Closest Point) pose estimation algorithm improved by deformation weight factors, and completing adjustment of positions and poses of the large structural members with assembly.
And 2.1, analyzing the rationality of splicing and assembling the large structural member through the assembly data date, and judging the alignment condition of the connecting part through the pose of the assembly data, such as whether the assembly characteristics of the axial direction of the hole shaft matching part, the parallelism of the connecting surface and the like accord with the assembly technical regulations or not, so that the situation that the large structural member is in reconnection assembly type and is locked or deformed and damaged is avoided.
And 2.2, when the splicing and assembling of the large structural member do not accord with the assembling technical specification, further solving the pose of the large structural member, and providing an ICP algorithm improved based on the deformation weight factors for solving the pose. Because the large structural member is affected by gravity in the assembly process, the structural deformation degrees of different parts are different and are not suitable for an ICP pose solving algorithm based on rigid body assumption, a pose solving objective function is transformed by introducing a deformation weight factor, and the construction of the deformation weight factor is represented by the following formula:
wherein omega is j For measuring point p j Is a deformation weight factor, ε j For the actual measuring point p j Corresponding to the deformation, if the recorded points in the deformation matrix are the actual measured points p j The deformation of (2) can be rapidly obtained from the deformation matrix if the actual measurement point p j When the position is not coincident with the deformation matrix record point, the interpolation method can be used for calculating the deformation of the actual measurement point by interpolation, and the deformation weight factor omega j The method has the effects of reducing the importance degree of the easily deformed position of the large structural member in pose solving and avoiding the influence of gravity deformation on pose solving. Furthermore, the pose solving objective function transformed by the deformation weight factor can be expressed by the following formula:
the pose is the pose of the large structural member, the pose solving function comprises position information t and pose information R, f () is the pose solving function, and the ICP pose solving algorithm improved based on the deformation weight factors is suitable for solving and calculating the pose of the large structural member with local deformation.
Step 3, constructing an assembly adjustment model and solving adjustment values: after the pose and the posture of the large structural member are calculated by an improved ICP algorithm based on the deformation weight factors, a pose transformation model of the large structural member is also required to be constructed. The construction of the pose transformation model of the large structural member requires the utilization of the adjustment principle of the adjustment device, the sizes, the assembly relation, the motion relation and the like of the large structural member and the adjustment device, and the construction of the pose transformation model of the large structural member can be expressed as the following formula:
further solving a corresponding adjustment value of the adjustment device by using a pose transformation model of the large structural member, and obtaining a sub R in a known sub area k Assembly information dev_info of corresponding adjusting device k Sub-region pose information phase k In the case of (2), the adjustment quantity deltap of the corresponding adjustment device in the kth sub-region is calculated through the pose transformation model h () of the large structural member k And the digital twin system is fed back to the assembly site for guidance.
And 4, analyzing and optimizing the surface shape of the large structural member: after the butt-joint assembly of the large structural member is completed, whether the surface shape of the large structural member meets an assembly precision index is measured, if the surface shape assembly precision meets the requirement, the assembly precision index is fed back to the site, an operator is reminded to carry out subsequent assembly tasks, if the surface shape assembly precision does not meet the requirement, the shape error and the position error existing in the surface shape are analyzed according to the actually measured surface shape data P, if the surface shape assembly precision is low, the position error causes the problem, the position pose of the large structural member is calculated by utilizing an improved ICP algorithm based on a deformation weight factor, and an adjustment value is solved by combining a position pose conversion model of the large structural member. If the surface shape assembly precision is low and is caused by shape errors, a surface shape compensation model is constructed and local surface shape compensation is carried out.
Step 4.1, the surface shape of the large structural member is formed into a combined surface shape by splicing the surface profiles of a plurality of large structural members, so that when the surface shape of the large structural member is measured, the distribution of measuring points should ensure that the surface shape of the whole structural member can be described, and whether the measured surface shape precision e is in the assembly precision or not is judged
The requirement of->
In addition, the surface shape accuracy e is related to the shape of the large structural member and the relative position between the large structural members, and can be classified into a shape error and a position error. The position error is the error in the relative position and posture between the large structural members, is usually caused by the existence of gaps or the unadjusted state of movable connecting parts of the large structural members, the surface of the segmented large structural members with the position error presents integral deviation relative to the theoretical surface shape, the shape error is the geometric shape change of the surface points, lines and surfaces of the structural members caused by factors such as manufacturing, deformation, assembly and the like, and the existence of the shape error presents locality and usually occurs at the connecting parts or edges of the large structural members.
And 4.2, judging the surface shape error according to the characteristics of the position error and the shape error expressed in the step 4.1, and performing surface shape optimization according to a rule of eliminating the position error and then eliminating the shape error. And if the surface shape has a position error, solving the pose of the large structural member by using the ICP pose estimation algorithm based on the improvement of the deformation weight factors, which is described in the step 2, and solving the adjustment quantity of each adjustment device by using the pose transformation model of the large structural member in the step 3. If there is a shape error, go to step 4.3.
Step 4.3, eliminating the shape error, namely firstly constructing a shape compensation model, constructing a shape compensation model of a large structural member according to the position and compensation principle of the adjusting device, analyzing the local shape deviation degree by combining the deformation matrix, and settling out the corresponding adjustment value of the adjusting device by using the shape compensation model of the large structural member, wherein the shape compensation model of the large structural member is represented by the following formula:
Δε k ＝g(subR k ，dev_info k ，ε k )
shape error is located in the kth sub-region subR k Solving the deformation compensation method by using the surface shape compensation model g () according to the nearby principle k And epsilon k Respectively represent sub-regions sub R k Assembly information and shape errors of the adjusting device. And feeding the calculated surface shape adjustment scheme back to an assembly site for guidance until the surface shape precision of the large structural member meets the requirement.
Example 1
(1) Referring to fig. 2, a schematic diagram of each large structural member and an adjusting device in an assembly stage in the assembly process of the embodiment includes three large structural members to be assembled, wherein the adjusting device 1 is a folding cylinder, the function of which is to connect a moving part and a relative pose adjusting device, the adjusting device 2 is to support an electric push rod, the function of which is to support a tool and a face shape compensation adjusting device, and the embodiment requires that each large structural member is aligned, connected and assembled and ensures that the flatness of the combined face shape meets the requirements. In the assembly preparation stage, a theoretical surface shape of the large structural member and a deformation matrix are generated in a large structural member assembly digital twin system through a script, and sub-areas of the large structural member are divided. Fig. 3 is a schematic diagram showing a deformation cloud image and a corresponding deformation matrix relationship of a large structural member at a certain assembly stage. In the embodiment, the flatness of the combined surface shape of the connection assembly of the large structural member is required to be smaller than 1.2mm, so that the deformation matrix records the deformation information in a two-dimensional plane with the length L and the width W, and recording points are arranged on the surface of the large structural member along the distance of the length L/m and the width W/n at intervals
At the coordinate system (m, n) of the large structural part, recording the point +.>
The location information of (a) can be expressed as +.>
The deformation information may be expressed as
The recording points being produced by gravityTotal deformation. Fig. 4 is a schematic diagram showing the division of the surface shape and the subareas of the large structural part. The sub-area is obtained in a rectangular shape after preliminary division by a sub-area division method, the surface shape compensation optimization adjusting device of the structural member 1 is a bottom electric push rod, and the adjusting devices 1 of the structural member 1 and the structural member 3 are folding oil cylinders, so that the difference exists in the area sizes of the sub-areas.
(2) The assembly data of the large structural member is obtained through the measurement system, the connection assembly matching characteristics of the large structural member in the embodiment are hole axis characteristics and plane characteristics, the position and the posture of the large structural member to be assembled are calculated, whether the positioning constraint axis and the direction degree of the large structural member to be assembled and the fixed structural member can be used for installing subsequent parts or not is judged, the alignment and the connection assembly work of the large structural member 2 and the large structural member 1 are completed as shown in fig. 2, and the posture of the movable large structural member 2 needs to be in a horizontal state, and the height is consistent with that of the fixed large structural member.
(3) And adjusting the pose of the large structural member which cannot be aligned and spliced and assembled, and solving the pose by using an improved ICP algorithm based on the deformation weight factors. Firstly, obtaining deformation of the preprocessed point cloud data and calculating deformation weight factors, considering that the distribution of actual measurement points is non-grid, as shown in fig. 5, the deformation matrix records that the distribution of grid data is inconsistent with that of the actual measurement points, so that the deformation corresponding to the measurement points can be quickly obtained by using bilinear interpolation, after the deformation weight factors of the measurement points are calculated, pose solving is carried out by an improved ICP algorithm, then the pose transformation model is utilized to solve corresponding adjustment values of an adjustment device, an adjustment step and the corresponding adjustment values thereof are generated according to the principle from coarse adjustment to fine adjustment, and finally an adjustment scheme is formed.
(4) After the butt-joint assembly of the large structural member is completed, the surface shape precision of the large structural member is measured, and in the embodiment, the Root Mean Square Error (RMSE) of the combined plane of the large structural member is used as a plane quantization index, namely
Thereby judging whether the surface shape meets the assembly requirement. As shown in FIG. 6The method is characterized in that a theoretical surface shape and an actual measured surface shape of a large structural member are provided with a deviation schematic diagram, the vertex is an actual measurement point, the surface shape can be colored according to the deviation degree, the middle part of the whole surface shape is sunk under the action of gravity, the edge of the large structural member is obviously tilted, the surface shape precision is not in accordance with the requirements, and the large structural member can be displayed through a visual platform of a digital twin system, so that operators can know the surface shape condition conveniently.
(5) Aiming at the problem of insufficient surface shape precision, the deviation degree of analyzing the shape error and the position error is further judged, firstly, the whole large structural member 1 is higher than the theoretical surface shape, the position error is preliminarily judged, meanwhile, the deformation matrix is utilized for analyzing the shape error, and the middle deformation deviation of the combined surface shape is in a reasonable range, so that the factor which causes the surface shape unsatisfied can be considered as the position error.
And then solving the relative position and posture relation between the large structural members by using an improved ICP algorithm of the deformation weight factors, and solving the adjustment quantity of the adjustment device by using a pose transformation model of the large structural members. In the embodiment, after the alignment connection of the large structural member is completed, the posture of the large structural member can be changed through an adjusting device in the folding oil cylinder, the simplified schematic diagram of the posture transformation motion is shown in fig. 7, and the mathematical expression of the simplified model is as follows, wherein
For the theoretical length of the upper limit of the extension of the folding cylinder, < + >>
For the actual length of the folding cylinder extending to the upper limit, wherein l AB And l BC For the constant, θ is the pose parameter obtained by the pose solving algorithm, s is the nut lead because the adjusting device adjusts by the rotation of the nut, and Δp is finally obtained k Is the adjustment value of the adjustment device. Calculating to obtain a sub-region subR of the large structural part 5 And sub R 6 The rotation degrees of the nuts of the adjusting device are 52.781 degrees and 37.540 degrees respectively.
(6) And finally, generating an assembly scheme, feeding back to an assembly site to give guidance until the surface shape of the large structural member meets the assembly requirement, and performing the next stage assembly.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The digital twinning-based large structural member surface shape regulation and control method is characterized by comprising the following steps of:
step 1, surface shape regulation preparation stage: in the preparation stage of the assembly surface shape regulation of the large structural member, design information of the large structural member is obtained from a digital twin system in advance to generate assembly information required by the invention. Firstly, generating a theoretical surface shape according to a preset measuring point, analyzing deformation conditions of a large structural member in different assembly stages by utilizing a finite element, generating a corresponding deformation matrix, dividing surface shape subareas according to the geometrical size of the surface shape of the large structural member and the distribution position of a self-adjusting device or an adjusting tool, and taking the surface shape subareas as basic units for surface shape regulation;
step 2, large structural member assembly analysis and pose calculation: acquiring assembly data of large structural members through a measurement system, analyzing whether the large structural members to be aligned and spliced and assembled can realize connection position alignment and component connection and installation work, if alignment and splice and assembly between the large structural members can be completed, completing splice and assembly tasks, if alignment and splice and assembly between the large structural members cannot be completed, performing pose estimation on the large structural members based on an ICP pose estimation algorithm improved by deformation weight factors, and completing adjustment of positions and poses of the large structural members with assembly;
step 3, constructing an assembly adjustment model and solving an adjustment value: after the pose and the posture of the large structural member are calculated by an improved ICP algorithm based on the deformation weight factors, a pose transformation model of the large structural member is constructed;
step 4, analyzing and optimizing the surface shape of the large structural member: after the butt-joint assembly of the large structural member is completed, measuring whether the surface shape of the large structural member meets an assembly precision index, if the surface shape assembly precision meets the requirement, carrying out subsequent assembly tasks, if the surface shape assembly precision does not meet the requirement, analyzing shape errors and position errors existing in the surface shape according to actual measurement surface shape data, if the surface shape assembly precision is low and is caused by the position errors, calculating the pose of the large structural member by utilizing an improved ICP algorithm based on a deformation weight factor, and solving an adjustment value by combining a pose conversion model of the large structural member; if the surface shape assembly precision is low and is caused by shape errors, a surface shape compensation model is constructed and local surface shape compensation is carried out.
2. The digital twinning-based large structural member surface shape regulating method according to claim 1, wherein the surface shape subregions are divided as follows:
c k indicating the adjustment device k Is simultaneously taken as the center of the subarea, d i Representing the surface point of the surface shape of the large structural part and the center c of the adjusting device k D () represents an arbitrary measurement point p on the surface of a large structural member i And adjusting the device center c k If the center c of the subarea k And a structural member surface point p i Is less than or equal to the neighbor radius r k Then the lattice point p i Is positioned in the subarea k Within the range of (a), area () represents the sub-area suber k The surface area involved, K, represents the total number of subregions.
3. The digital twinning-based large structural member surface shape regulating method according to claim 1, wherein the construction of the deformation weight factor is represented by the following formula:
wherein omega is j For measuring point p j Is a deformation weight factor, ε j For the actual measuring point p j And N is the total number of measurement points corresponding to the deformation.
4. The digital twinning-based large structural member surface shape regulating and controlling method according to claim 3, wherein the large structural member is subjected to pose estimation based on an ICP pose estimation algorithm improved by a deformation weight factor, and the method is obtained by solving an objective function through the pose:
pose is the pose of a large structural member, and comprises position information t and pose information R, f () is a pose solving function, and q i Is the ith point, p, in theoretical surface shape data i And (5) measuring any point on the surface of the large structural member.
5. The digital twinning-based large structural member surface shape regulating and controlling method according to claim 3, wherein the construction of the large structural member pose transformation model is as follows:
further solving a corresponding adjustment value of the adjustment device by using a pose transformation model of the large structural member, and obtaining a sub R in a known sub area k Assembly information dev_info of corresponding adjusting device k Sub-region pose information phase k In the case of (2), the adjustment quantity deltap of the corresponding adjustment device in the kth sub-region is calculated through the pose transformation model h () of the large structural member k 。
6. The digital twinning-based large structural member surface shape regulating and controlling method according to claim 1, wherein the surface shape analysis and optimization of the large structural member is specifically as follows:
judging the surface shape error, and optimizing the surface shape according to the rule of eliminating the position error and then eliminating the shape error: if the surface shape has a position error, solving the pose of the large structural member by utilizing the ICP pose estimation algorithm based on the improvement of the deformation weight factors, which is described in the step 2, and solving the adjustment quantity of each adjustment device by utilizing the pose transformation model of the large structural member in the step 3; if the shape error exists, the following steps are carried out:
and constructing a surface shape compensation model of the large structural member according to the position and compensation principle of the adjusting device, analyzing the local shape deviation degree by combining the deformation matrix, and settling out the corresponding adjusting value of the adjusting device by using the surface shape compensation model of the large structural member.
7. The digital twinning-based large structural member surface shape regulating and controlling method according to claim 6, wherein the surface shape compensation model of the large structural member is represented by the following formula:
Aε k ＝g(subR k ，dev_info k ，ε k )
shape error is located in the kth sub-region subR k Solving the deformation compensation method by using the surface shape compensation model g () according to the nearby principle k And epsilon k Respectively represent sub-regions sub R k Assembly information and shape errors of the adjusting device.
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