CN118239003A - Component posture adjustment and alignment method without fixed measuring field, storage medium and control system - Google Patents

Abstract

The invention discloses a component attitude adjustment and alignment method without a fixed measuring field, a storage medium and a control system, which belong to the technical field of component alignment and assembly, utilize the initial motion of a large component along with attitude adjustment equipment to establish a measurement and attitude adjustment reference coordinate system on line, respectively take actual measurement characteristics of a target large component and an attitude adjustment large component as an attitude adjustment target position and a current position, adjust the attitude of the attitude adjustment large component to the attitude adjustment large component alignment position, get rid of the dependence of the traditional attitude adjustment and alignment mode on the consistency of a theoretical aircraft coordinate system, a field fixed measuring field, a digital-analog attitude adjustment target position and equipment axial direction and an aircraft coordinate system, can quickly adapt to the digital attitude adjustment and alignment work of different aircraft large components on line, solve the limitation problem that a set of special attitude adjustment and alignment equipment and a special measuring field are corresponding to a currently ubiquitous aircraft product, and meet the requirements of updating iteration and efficient digital assembly and manufacture of various aircraft products.

Description

Component posture adjustment and alignment method without fixed measurement field, storage medium, and control system

Technical Field

The invention belongs to the technical field of component matching and assembly, and relates to a component posture adjustment matching method without a fixed measurement field, a storage medium, and a control system.

Background technique

With the rapid development of digital factory technology, the assembly of aircraft parts is increasingly using digital equipment systems, which can greatly improve the assembly efficiency, assembly accuracy and quality of aircraft parts. At present, in the field of digital attitude adjustment and assembly of large aircraft parts at home and abroad, with the acceleration of aircraft product development and iteration, and the increase in assembly and manufacturing needs, it is crucial to solve the current common limitation of one set of dedicated attitude adjustment equipment and dedicated measurement field for one type of aircraft product, and explore how to adapt to the implementation method of rapid digital assembly of various types of aircraft products.

The traditional digital attitude adjustment and alignment of large aircraft components is to determine the theoretical aircraft coordinate system at the assembly site. All attitude adjustment equipment, measurement fields, and large aircraft components on site must be accurately installed according to the theoretical posture of their respective digital models under the theoretical aircraft coordinate system, and the theoretical features in the digital model of the large aircraft components are used as the attitude adjustment target position for attitude adjustment and alignment. When replacing another type of large aircraft component and requiring attitude adjustment and alignment, it is necessary to re-determine the theoretical aircraft coordinate system of the current model on site, and re-install and determine or calibrate the attitude adjustment equipment, measurement field, and large aircraft components, and re-obtain the component attitude adjustment target theoretical position from the digital model. This attitude adjustment and alignment global elements are based on the digital attitude adjustment method of the theoretical offline digital model, which restricts the efficiency of aircraft product update and manufacturing, and can no longer meet the needs of rapid digital assembly of various types of aircraft.

Therefore, in view of the above-mentioned defects existing in the existing digital attitude adjustment and alignment process of large aircraft components, the present invention discloses a component attitude adjustment and alignment method, storage medium and control system without a fixed measurement field.

Summary of the invention

The purpose of the present invention is to provide a component attitude adjustment method, storage medium, and control system without a fixed measurement field, which can get rid of the reliance of the digital attitude adjustment of large aircraft components in the prior art on the fixed measurement field, theoretical aircraft coordinate system, theoretical characteristic target position, and consistency between the equipment axis and the aircraft coordinate system, and solve the problem that the current attitude adjustment system cannot quickly adapt to various types of large aircraft components and adapt to component manufacturing shape errors for digital attitude adjustment.

The present invention is achieved through the following technical solutions:

A component posture adjustment and alignment method without a fixed measurement field realizes the alignment of a posture adjustment large component with a target large component based on a posture adjustment and alignment device, and includes the following steps:

Step 1, place the posture adjustment large component on the posture adjustment matching device, and establish posture adjustment feature points on the posture adjustment large component, drive the posture adjustment large component to perform translation and rotation movements through the posture adjustment matching device, and measure the real-time positions of the posture adjustment feature points on the posture adjustment large component during the movement of the posture adjustment large component;

Step 2: Fit the translation axis based on the real-time position of the posture feature points measured during the translation of the posture large component; fit the rotation center based on the real-time position of the posture feature points measured during the rotation of the posture large component; establish a posture alignment coordinate system based on the translation axis and the rotation center;

Step 3: In the pose adjustment coordinate system, establish the alignment feature positions on the target large component and the pose adjustment large component, perform iterative pose fitting based on the alignment feature positions on the target large component and the alignment feature positions on the pose adjustment large component, and solve the translation parameters, rotation parameters, and scale scaling parameters of the pose adjustment large component relative to the target large component;

Step 4: According to the translation parameters, rotation parameters, and scale parameters obtained in step 3, the posture adjustment and alignment equipment is controlled to drive the posture adjustment large component to move and align relative to the target large component.

In order to better implement the present invention, further, the step 3 specifically includes:

Step 3.1, based on the aligned feature positions, establish several reference pin points on the target large part and the posture adjustment large part, solve the translation parameters and rotation parameters of the reference pin points on the posture adjustment large part to move and align to the reference pin points on the target large part, and use the solved translation parameters and rotation parameters as the initial values of the ICP iterative operation;

Step 3.2, based on the reference residual between the reference pin point on the pose adjustment large part and the reference pin point on the target large part, weighted centralization is performed on each reference pin point;

Step 3.3, establish an SVD posture adjustment model based on the weighted central reference pin points, and optimize the translation parameters and rotation parameters through the SVD posture adjustment model;

Step 3.4, repeat steps 3.1 to 3.3 iteratively until the variance of the aligned feature positions on the target large part and the posture adjustment large part converges, and derive the translation parameters and rotation parameters at this time;

Step 3.5: Establish an adjustment model for scale parameters based on the translation parameters and rotation parameters obtained in step 3.4, and calculate the scale parameters based on the adjustment model for scale parameters.

In order to better implement the present invention, further, the reference residual includes process tolerance and posture variance.

In order to better realize the present invention, further, if the shape error parameters between the matching feature positions on the target large component and the matching feature positions on the posture adjustment large component are within the process tolerance range, then step 3.4 iteratively solves the feasible solution that satisfies all process tolerance ranges as the translation parameters and rotation parameters; if the shape error parameters between the matching feature positions on the target large component and the matching feature positions on the posture adjustment large component are beyond the process tolerance range, then step 3.4 iteratively solves the global optimal solution as the translation parameters and rotation parameters.

In order to better realize the present invention, further, the shape error parameter is an ideal attitude adjustment error boundary obtained after shape error fitting of the matching feature position on the target large component and the matching feature position on the attitude adjustment large component, or the shape error parameter is a reference residual between the reference pin point on the attitude adjustment large component and the reference pin point on the target large component.

In order to better implement the present invention, further, the step 2 specifically includes:

Step 2.1, driving the posture adjustment large component to translate along the first direction through the posture adjustment and alignment device, measuring the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component during the translation of the large component along the first direction, and obtaining the first translation axis by fitting according to the real-time position coordinates, and solving the first direction vector of the first translation axis;

Step 2.2, driving the posture adjustment large component to translate along the second direction by the posture adjustment and alignment device, measuring the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component during the translation of the posture adjustment large component toward the second direction, and obtaining the second translation axis according to the real-time position coordinates, and solving the second direction vector of the second translation axis;

Step 2.3, performing a cross product operation on the first direction vector and the second direction vector to obtain the third direction vector;

Step 2.4, the posture adjustment large component is driven to rotate in several directions by the posture adjustment matching device. During the rotation of the posture adjustment large component in several directions, the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component are measured, and the spherical equation is fitted according to the real-time position coordinates, and the rotation center is solved according to the spherical equation;

Step 2.5: Use the first direction vector as the Y direction, the second direction vector as the Z direction, the third direction vector as the X direction, and the rotation center as the origin to establish a posture adjustment coordinate system.

A storage medium for component posture adjustment and alignment without a fixed measurement field is provided, wherein the storage medium stores an operating system for implementing a method for large component posture adjustment and alignment without a fixed measurement field.

In order to better realize the present invention, further, the operating system includes an operation module, a motion post-solving module, a posture adjustment coordinate system creation module, a measuring device control module, a posture fitting transformation operation module, and a posture adjustment device control module. The operation module is used to execute a program code for implementing a large component posture adjustment method without a fixed measurement field; the motion post-solving module is used to control the CNC positioner in the posture adjustment device to move according to a planned path; the posture adjustment coordinate system creation module is used to create a posture adjustment coordinate system; the measuring device control module is used to control the measuring device to measure the real-time position of the posture feature point; the posture fitting transformation operation module is used to solve the translation parameters, rotation parameters, and scale scaling parameters of the posture adjustment large component relative to the target large component; the posture adjustment device control module is used to connect and control the posture adjustment device.

A component attitude adjustment and alignment control system without a fixed measurement field includes a storage medium, a processor, a communication bus, an attitude adjustment and alignment device interface, and a measuring device interface. The processor is connected to the attitude adjustment and alignment device interface, the measuring device interface, and the storage medium respectively through the communication bus, the attitude adjustment and alignment device interface is connected to the attitude adjustment and alignment device, and the measuring device interface is connected to the measuring device.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

The present invention utilizes the initial movement of large components with the attitude adjustment equipment to create a measurement and attitude adjustment reference coordinate system online, and uses the target large component and the measured features of the attitude adjustment large component as the attitude adjustment target position and the current position respectively, and adjusts the posture of the attitude adjustment large component to the target large component matching position, thereby getting rid of the dependence of the traditional attitude adjustment matching method on the theoretical aircraft coordinate system, the on-site fixed measurement field, the digital model attitude adjustment target position and the consistency of the equipment axis with the aircraft coordinate system, and can quickly adapt to the digital attitude adjustment matching work of different large aircraft components online, solving the current widespread limitation that one type of aircraft product corresponds to a set of dedicated attitude adjustment matching equipment and a dedicated measurement field, and meeting the needs of various types of aircraft product updates and iterations and efficient digital assembly and manufacturing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic flow chart of the steps of a method for adjusting the posture of a component without a fixed measurement field;

FIG2 is a specific flow chart of a method for adjusting the posture of a component without a fixed measurement field;

FIG3 is a schematic diagram of a component posture adjustment control system without a fixed measurement field;

FIG. 4 is a schematic diagram showing the alignment of the target large component and the posture adjustment large component.

Among them: 101-processor; 102-communication bus; 103-attitude adjustment and matching device interface; 104-measurement device interface; 201-operation module; 202-motion post-calculation module; 203-attitude adjustment and matching coordinate system creation module; 204-measurement device control module; 205-posture fitting transformation operation module; 206-attitude adjustment and matching device control module.

Detailed ways

The following detailed descriptions are all illustrative and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the present invention explicitly states otherwise, singular forms are also intended to include plural forms. In addition, it should be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

Terminology explanation section: The terms "install", "connect", "connect", "fixed" and the like in the present invention should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements, or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

Embodiment 1:

The component posture adjustment and alignment method without a fixed measurement field of this embodiment, as shown in FIG1 and FIG4 , includes the following steps:

Step 1, place the posture adjustment large component on the posture adjustment matching device, and establish posture adjustment feature points on the posture adjustment large component, drive the posture adjustment large component to perform translation and rotation movements through the posture adjustment matching device, and measure the real-time positions of the posture adjustment feature points on the posture adjustment large component during the movement of the posture adjustment large component;

Step 2: Fit the translation axis based on the real-time position of the posture feature points measured during the translation of the posture large component; fit the rotation center based on the real-time position of the posture feature points measured during the rotation of the posture large component; establish a posture alignment coordinate system based on the translation axis and the rotation center;

Step 3: In the pose adjustment coordinate system, establish the alignment feature positions on the target large component and the pose adjustment large component, perform iterative pose fitting based on the alignment feature positions on the target large component and the alignment feature positions on the pose adjustment large component, and solve the translation parameters, rotation parameters, and scale scaling parameters of the pose adjustment large component relative to the target large component;

Step 4: According to the translation parameters, rotation parameters, and scale parameters obtained in step 3, the posture adjustment and alignment equipment is controlled to drive the posture adjustment large component to move and align relative to the target large component.

Step 2 specifically includes:

Step 2.1, driving the posture adjustment large component to translate along the first direction through the posture adjustment and alignment device, measuring the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component during the translation of the large component along the first direction, and obtaining the first translation axis by fitting according to the real-time position coordinates, and solving the first direction vector of the first translation axis;

Step 2.2, driving the posture adjustment large component to translate along the second direction by the posture adjustment and alignment device, measuring the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component during the translation of the posture adjustment large component toward the second direction, and obtaining the second translation axis according to the real-time position coordinates, and solving the second direction vector of the second translation axis;

Step 2.3, performing a cross product operation on the first direction vector and the second direction vector to obtain the third direction vector;

Step 2.4, the posture adjustment large component is driven to rotate in several directions by the posture adjustment matching device. During the rotation of the posture adjustment large component in several directions, the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component are measured, and the spherical equation is fitted according to the real-time position coordinates, and the rotation center is solved according to the spherical equation;

Step 2.5: Use the first direction vector as the Y direction, the second direction vector as the Z direction, the third direction vector as the X direction, and the rotation center as the origin to establish a posture adjustment coordinate system.

Step 3 specifically includes:

Step 3.1, based on the aligned feature positions, establish several reference pin points on the target large part and the posture adjustment large part, solve the translation parameters and rotation parameters of the reference pin points on the posture adjustment large part to move and align to the reference pin points on the target large part, and use the solved translation parameters and rotation parameters as the initial values of the ICP iterative operation;

Step 3.2, based on the reference residual between the reference pin point on the pose adjustment large part and the reference pin point on the target large part, weighted centralization is performed on each reference pin point;

Step 3.3, establish an SVD posture adjustment model based on the weighted central reference pin points, and optimize the translation parameters and rotation parameters through the SVD posture adjustment model;

Step 3.4, repeat steps 3.1 to 3.3 iteratively until the variance of the aligned feature positions on the target large part and the posture adjustment large part converges, and derive the translation parameters and rotation parameters at this time;

Step 3.5: Establish an adjustment model for scale parameters based on the translation parameters and rotation parameters obtained in step 3.4, and calculate the scale parameters based on the adjustment model for scale parameters.

Furthermore, the benchmark residual includes process tolerance and pose variance.

Furthermore, the shape error parameters between the matching feature positions on the target large component and the matching feature positions on the posture adjustment large component are solved. If the shape error parameters are within the process tolerance range, step 3.4 iteratively solves the feasible solution that satisfies all process tolerance ranges as the translation parameters and rotation parameters; if the shape error parameters between the matching feature positions on the target large component and the matching feature positions on the posture adjustment large component exceed the process tolerance range, step 3.4 iteratively solves the global optimal solution as the translation parameters and rotation parameters.

Furthermore, the shape error parameter is an ideal attitude adjustment error boundary obtained after shape error fitting of the matching feature position on the target large component and the matching feature position on the attitude adjustment large component, or the shape error parameter is a reference residual between the reference pin point on the attitude adjustment large component and the reference pin point on the target large component.

Embodiment 2:

A storage medium for large component posture adjustment and alignment without a fixed measurement field in this embodiment is shown in FIG3 . The storage medium stores an operating system for implementing a large component posture adjustment and alignment method without a fixed measurement field.

The operating system includes an operation module 201, a motion post-solving module 202, a pose matching coordinate system creation module 203, a measuring device control module 204, a posture fitting transformation operation module 205, and a pose matching device control module 206. The operation module 201 is used to execute the program code for realizing a large component pose matching method without a fixed measurement field; the motion post-solving module 202 is used to control the CNC positioner in the pose matching device to move according to the planned path; the pose matching coordinate system creation module 203 is used to create the pose matching coordinate system; the measuring device control module 204 is used to control the measuring device to measure the real-time position of the pose feature point; the posture fitting transformation operation module 205 is used to solve the translation parameters, rotation parameters, and scale scaling parameters of the pose matching large component relative to the target large component; the pose matching device control module 206 is used to connect and control the pose matching device.

The other parts of this embodiment are the same as those of Embodiment 1, and thus will not be described in detail.

Embodiment 3:

A control system for attitude adjustment and alignment of large components without a fixed measurement field in this embodiment includes a storage medium, a processor 101, a communication bus 102, an attitude adjustment and alignment device interface 103, and a measuring device interface 104. The processor 101 is connected to the attitude adjustment and alignment device interface 103, the measuring device interface 104, and the storage medium through the communication bus 102, the attitude adjustment and alignment device interface 103 is connected to the attitude adjustment and alignment device, and the measuring device interface 104 is connected to the measuring device.

The other parts of this embodiment are the same as those of Embodiment 1 or 2, and thus will not be described in detail.

Embodiment 4:

Referring to FIG1 , the method for attitude adjustment and alignment of components without a fixed measurement field in this embodiment, the storage medium, and the control system include a control system for attitude adjustment and alignment of large components without a fixed measurement field, including a storage medium, a processor 101, a communication bus 102, an attitude adjustment and alignment device interface 103, and a measuring device interface 104. The processor 101 is connected to the attitude adjustment and alignment device interface 103, the measuring device interface 104, and the storage medium through the communication bus 102, the attitude adjustment and alignment device interface 103 is connected to the attitude adjustment and alignment device, and the measuring device interface 104 is connected to the measuring device.

The processor 101 may be any one or a combination of a central processing unit, a network processor, a digital signal processor, an integrated circuit, a field programmable gate array, a programmable logic device, a discrete gate, a transistor logic device, or discrete hardware components.

Referring to FIG. 4 , a large component posture adjustment storage medium without a fixed measurement field stores an operating system for implementing a large component posture adjustment alignment method without a fixed measurement field; the operating system includes an operation module 201, a motion post-solving module 202, a posture adjustment alignment coordinate system creation module 203, a measurement device control module 204, a posture fitting transformation operation module 205, and a posture adjustment alignment device control module 206. The operation module 201 is used to execute a program code for implementing a large component posture adjustment alignment method without a fixed measurement field; the motion post-solving module 202 is used to control the CNC positioner in the posture adjustment alignment device to move according to a planned path; the posture adjustment alignment coordinate system creation module 203 is used to create a posture adjustment alignment coordinate system; the measurement device control module 204 is used to control the measurement device to measure the real-time position of the posture adjustment feature point; the posture fitting transformation operation module 205 is used to solve the translation parameters, rotation parameters, and scale scaling parameters of the posture adjustment large component relative to the target large component; and the posture adjustment alignment device control module 206 is used to connect and control the posture adjustment alignment device.

Based on the above storage medium and control system, a component posture adjustment method without a fixed measurement field is provided:

Referring to Figures 1 and 2, the process includes the following steps:

Step 1: Place the large posture adjustment component on the posture adjustment matching device, and establish posture adjustment feature points on the large posture adjustment component. The posture adjustment matching device drives the large posture adjustment component to perform translational and rotational movements, and measures the real-time positions of the posture adjustment feature points on the large posture adjustment component during the movement of the large posture adjustment component.

Specifically:

The posture adjustment and matching equipment determines the support position of the target large component and the posture adjustment large component on the shelf according to the center of gravity of the large component, the support position and the posture adjustment and matching stroke, and then controls the posture adjustment and matching equipment to move to the support position on the shelf through the posture adjustment and matching equipment control module 206, and then hoists the target large component and the posture adjustment large component to the corresponding posture adjustment and matching equipment respectively. After ensuring the matchability of the target large component and the posture adjustment large component, the posture of the target large component after being mounted on the shelf is kept fixed, and the posture adjustment large component moves with the posture adjustment and matching equipment. The measuring equipment is set up in a fixed position, and the measuring equipment uses a laser tracker. The laser tracker is controlled by the measuring equipment control module 204 to follow the posture adjustment feature points in real time.

Step 2: Fit the translation axis based on the real-time position of the posture feature points measured during the translation of the posture large component; fit the rotation center based on the real-time position of the posture feature points measured during the rotation of the posture large component; establish a posture alignment coordinate system based on the translation axis and the rotation center;

Specifically:

The posture adjustment and alignment equipment drives the posture adjustment large component to perform precise movement in translation and rotation. The laser tracker follows the movement of any posture adjustment feature point on the posture adjustment large component and measures its position information during the movement.

A set of posture adjustment and alignment equipment is composed of several CNC positioners, and a set of posture adjustment and alignment equipment drives the posture adjustment large parts to translate in the three directions of X, Y, and Z in the Cartesian coordinate system and rotate around the three directions of A, B, and C axes;

Through the built-in program of the motion post-solving module 202, the motion axes of each CNC positioner are controlled to drive the posture adjustment large component to move according to the calculated trajectory planning path, ensuring that no external force that pulls or squeezes the posture adjustment large component is generated during the movement of the posture adjustment large component.

The posture adjustment large component is translated in two directions, Y and Z, along with the posture adjustment alignment equipment. The laser tracker follows and measures the posture adjustment feature points on the posture adjustment large component in the tracker coordinate system TCS and translates along the Y direction. The multiple position information during the translation along the Z direction is as follows:

Position information of the posture adjustment feature point in the Y direction: , where/> Indicates the position information of 1 to m positions of the posture adjustment feature points translated along the Y direction, specifically the position coordinates.

Position information of the posture adjustment feature point in the Z direction: , where/> It represents the position information of 1 to m positions of the posture adjustment feature points translated along the Z direction, specifically the position coordinates.

The large posture adjustment component rotates along with the posture adjustment device in any rotation coordinate direction, and the laser tracker follows and measures the position information of multiple posture adjustment feature points in any rotation direction in the tracker coordinate system TCS. For example, if the large posture adjustment component rotates along with the posture adjustment device around the A axis, the position information of the posture adjustment feature points rotating around the A axis is: , where/> Represents the position information of 1 to m positions of the posture adjustment feature point rotated along the A direction, specifically the position coordinates.

The posture adjustment coordinate system creation module 203 is based on , Fit the Y translation axis and the Z translation axis respectively, specifically:

Through the program built into the pose adjustment coordinate system creation module 203, according to , , and substitute it into the linear equation (1):

Formula 1)

Where: x represents the x coordinate in the location information, y represents the y coordinate in the location information, z represents the z coordinate in the location information, Represents the parameters of the line equation.

Convert equation (1) into the matrix form of equation (2):

Formula (2)

Wherein: xi represents the i -group x- _coordinate in the position information, _yi represents the i _- group y -coordinate in the position information, zi represents the i -group z -coordinate in the position information, and T represents the transpose operation of the matrix.

Simplify formula (2) into formula (3):

Formula (3)

Based on formula (3), let , and use the multivariate linear regression least squares method to estimate the model (4):

Formula (4)

And the optimal solution matrix algorithm (5):

Formula (5)

in: Indicates about/> The optimal solution matrix.

Solve for the best straight line equation parameters , and the parameters of the straight line equation/> Substituting into equation (1), we can obtain the linear equations of the Y translation axis and the Z translation axis.

Let z in equation (1) be any constant z ₀ and constant z _i , and calculate the constants according to equation (1): , constants/> , constants x _i , constants y _i , and use the coordinates of two points on the line to solve the unit direction vector of line L (L _x , _Ly , L _z ):

Formula (6)

Wherein: _Lx represents the unit direction vector of the straight line L in the X direction; _Ly represents the unit direction vector of the straight line L in the Y direction; _Lz represents the unit direction vector of the straight line L in the Z direction.

Thus, the Y vector of the straight line is (Y _x , Y _y , Y _z ), and the three-dimensional Z vector of the straight line is (Z _x , Z _y , Z _z ). The cross product operation of the three-dimensional Y vector and the three-dimensional Z vector of the straight line is performed as follows:

Formula (7)

in: Represents the cross product operation of the Y-vector of the straight line and the Z-vector of the straight line; i, j, k are the unit direction vectors of the rectangular coordinate system, and the coefficients in front of i, j, k are the component values of the X-vector _Vx ; _Vx represents the X-vector of the straight line.

The posture adjustment coordinate system creation module 203 is based on Fit the rotation center, specifically:

The posture adjustment coordinate system creation module 203 is based on , establish the spherical equation:

Formula (8)

in: represents the ith x- coordinate variable of the spherical equation,/> Represents the i -th y- coordinate variable of the spherical equation;/> represents the i -th z- coordinate variable of the spherical equation,/> represents the coordinates of the center of the sphere; r represents the radius of the sphere.

According to formula (8), the distance square adjustment equation is established and Taylor expansion is performed to obtain:

Formula (9)

Formula (9) is consistent with the multivariate linear regression least squares estimation model (4). Using the optimal solution matrix algorithm (5), the coordinates of the rotation center are solved as .

The Y vector of the straight line is converted into As the Y direction of the posture adjustment coordinate system, the Z direction vector of the straight line is As the Z direction of the posture adjustment coordinate system, the obtained X direction vector As the X direction of the pose adjustment coordinate system, the rotation center of the fitting calculation is As the origin, the posture adjustment coordinate system is obtained .

Step 3. In the pose adjustment coordinate system, establish alignment feature positions on the target large component and the pose adjustment large component, perform iterative pose fitting based on the shape error parameters between the alignment feature positions on the target large component and the alignment feature positions on the pose adjustment large component, and solve the translation parameters, rotation parameters, and scale scaling parameters of the pose adjustment large component relative to the target large component.

Specifically:

The large posture adjustment component is used as the active adjustment object of the posture adjustment, and the target large component is used as the passive target object of the posture adjustment; the laser tracker coordinate system is transformed into the posture adjustment coordinate system, and the positions of all the alignment features are measured in the posture adjustment coordinate system.

The laser tracker coordinate system TCS is transformed into the attitude adjustment coordinate system WCS by the measurement device control module 204, so that the data measured by the laser tracker coordinate system TCS Transformed into data under the posture adjustment coordinate system WCS/> .

Right now:

Formula (10)

Formula (11)

Where: R represents the rotation parameter of the pose adjustment coordinate system WCS relative to the coordinate system TCS, and ; t represents the translation parameter of the pose adjustment coordinate system WCS relative to the coordinate system TCS, and ; /> represents the x- coordinate of the position of the i -th involute feature in the coordinate system of the laser tracker; represents the y coordinate of the position of the i -th involute feature in the coordinate system of the laser tracker;/> represents the z coordinate of the i -th involute feature position in the coordinate system of the laser tracker; V _x represents the straight line X vector; V _y represents the straight line Y vector; V _z represents the straight line Z vector; /> They respectively represent the three-axis coordinates of the origin of the pose adjustment coordinate system WCS in the coordinate system TCS.

In the large-component posture adjustment coordinate system, the posture optimization fitting transformation operation is performed based on the target position and the current position, and the posture adjustment device is controlled to perform posture adjustment movement according to the transformation translation and rotation parameters, including:

Based on the feature matching position on the target large component and the feature matching position on the posture adjustment large component, the shape error parameters between the target large component and the posture adjustment large component are fitted to obtain the boundary of the ideal posture adjustment error;

If the ideal posture adjustment error boundaries are within the process tolerance range, the posture optimization fitting transformation operation is performed to find a feasible solution that meets all process tolerances; if the ideal posture adjustment error boundaries exceed its process tolerance range, the posture optimization fitting transformation operation is performed through iteration to find the global optimal solution. The results of the above posture optimization fitting transformation operation are the translation parameter t and the rotation parameter R.

The posture adjustment and alignment equipment drives the posture adjustment large component to move in the posture adjustment and alignment coordinate system according to the translation parameter t and the rotation parameter R, and moves to the position where the alignment is completed with the characteristic alignment position on the target large component, thereby completing the alignment of the posture adjustment large component with the target large component.

Specifically, the pose optimization fitting transformation operation is performed by the pose fitting transformation operation module 205 based on the position of the i-th reference pin point on the target large component. The position of the i-th reference pin point on the posture adjustment large component , using weighted ICP iteration to obtain/> and The transformation parameters between them include translation parameter t , rotation parameter R , and scale parameter s .

Specifically:

1. Establishment With/> The transformation parameter matrix between is as follows:

Formula (12)

make ; ;

Then we have:

Formula (13)

Where: R represents the rotation parameter; t represents the translation parameter; Indicates the i -th reference pin point on the target large component/> The three-axis coordinates of; /> Indicates the i -th reference pin point on the posture adjustment large component/> The three-axis coordinates of .

2. The least squares residual model is established as follows:

Formula (14)

in: represents the benchmark residual of the i -th benchmark nail point;

make ; /> ; /> ;

Then we have:

Formula (15)

Formula (16)

in: Expressing support for/> The transpose operation of .

According to formula (16), we have:

Formula (17)

in: Indicates the optimal solution. />

The rotation parameter R and the translation parameter t are iteratively solved by equations (14) to (17), and the reference residual of the reference pin point is iteratively solved by using the iterative rotation parameter R and translation parameter t .

Based on the benchmark residual Calculate the weight of each benchmark pin point:

Formula (18)

in: Represents the weight of the i -th reference nail point;/> represents the benchmark residual of the i -th benchmark nail point; n represents the number of benchmark nail points.

The weighted centralization value of the benchmark pin point is further solved according to the weight of each benchmark pin point:

Formula (19)

; /> (20)

in: Represents the weighted centralization value of all reference pin points on the target large component; /> Represents the weighted centralization value of all reference pins on the posture adjustment large component; /> Indicates the centralization value of the i-th reference pin point on the target large component; /> Indicates the centralization value of the i-th reference pin point on the posture adjustment large component; /> Indicates the decentralized value of the i-th reference pin point on the target large component; /> Represents the decentralized value of the i-th reference pin point on the large pose adjustment component.

The SVD posture adjustment model is established according to the weighted central value of each benchmark pin point:

Formula (21)

Among them: H represents the matrix to be decomposed by SVD operation; U and V are the eigenvectors of matrix H; S is the eigenvalue of matrix H; ^VT is the transpose of matrix V.

Based on formula (20) and formula (21), using 、/> First solve H, then perform singular value decomposition (SVD) on H to obtain the eigenvectors U and V, and perform dot product operation on V and ^UT to obtain the rotation parameters of the pose fitting transformation/> ,use Then obtain the translation parameters of the pose fitting transformation/> :/>

Formula (22)

in: Represents the weighted rotation parameters; /> Represents the weighted translation parameter.

The weighted rotation parameters and the weighted translation parameters are used as new initial values for the ICP iterative operation, and the above iterative steps are repeated until the variance of the involute feature position converges, and the optimized translation parameters and rotation parameters are derived.

Based on the optimized translation parameters and rotation parameters, the adjustment model of scale parameters is established:

Formula (23)

in: represents the benchmark residual of the i -th benchmark pin point based on the scale scaling parameter; s represents the scale scaling parameter; /> Represents the optimized rotation parameters; /> Represents the optimized translation parameters.

make ; /> , then the optimized scaling parameters are solved by the least squares method as follows:

based on Available:

; Formula (24)

in: Represents the optimized scaling parameter.

Step 4: According to the translation parameters, rotation parameters, and scale parameters obtained in step 3, the posture adjustment and alignment equipment is controlled to drive the posture adjustment large component to move and align relative to the target large component.

Specifically:

The attitude adjustment and alignment device control module 206 controls the attitude adjustment and alignment device according to the calculated rotation parameters, translation parameters, and scale scaling parameter inputs. At the same time, the motion post-calculation module 202 calculates the geometric data of the motion axes of each CNC positioner. The attitude adjustment and alignment device control module 206 drives the attitude adjustment large component to perform corresponding translation and rotation movements based on the geometric data of the motion axes in combination with the rotation parameters, translation parameters, and scale scaling parameters until the attitude adjustment large component is aligned with the target large component.

After the large posture adjustment component moves into place, the position of the posture adjustment feature point is measured again by a laser tracker. When the feasible solution of the posture fitting operation is used for the posture adjustment alignment movement, the measured data of the large posture adjustment component after it moves into place is directly compared with the target data to judge whether the posture adjustment alignment is qualified. If it is unqualified, the posture fitting operation is performed again based on the current position and the posture adjustment alignment is performed until the posture adjustment alignment is qualified. When the global optimal solution of the posture fitting operation is used for the posture adjustment alignment movement, the measured data of the large posture adjustment component after it moves into place is added with the scale scaling coefficient, and the measured data is compared with the target data through the operation of formula (23) to judge whether the posture adjustment alignment is qualified. If it is unqualified, the posture fitting operation is performed again based on the current position and the posture adjustment alignment is performed until the posture adjustment alignment is qualified.

The other parts of this embodiment are the same as any one of Embodiments 1-3, so they are not described again.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the present invention.

Claims (9)

1. A component posture adjustment and alignment method without a fixed measurement field, which realizes the alignment of a posture adjustment large component with a target large component based on a posture adjustment and alignment device, and is characterized in that it includes the following steps: Step 1, place the posture adjustment large component on the posture adjustment matching device, and establish posture adjustment feature points on the posture adjustment large component, drive the posture adjustment large component to perform translation and rotation movements through the posture adjustment matching device, and measure the real-time positions of the posture adjustment feature points on the posture adjustment large component during the movement of the posture adjustment large component; Step 2: Fit the translation axis based on the real-time position of the posture feature points measured during the translation of the posture large component; fit the rotation center based on the real-time position of the posture feature points measured during the rotation of the posture large component; establish a posture alignment coordinate system based on the translation axis and the rotation center; Step 3: In the pose adjustment coordinate system, establish the alignment feature positions on the target large component and the pose adjustment large component, perform iterative pose fitting based on the alignment feature positions on the target large component and the alignment feature positions on the pose adjustment large component, and solve the translation parameters, rotation parameters, and scale scaling parameters of the pose adjustment large component relative to the target large component; Step 4: According to the translation parameters, rotation parameters, and scale parameters obtained in step 3, the posture adjustment and alignment equipment is controlled to drive the posture adjustment large component to move and align relative to the target large component. 2. The component posture adjustment and alignment method without a fixed measurement field according to claim 1, characterized in that the step 3 specifically comprises: Step 3.1, based on the aligned feature positions, establish several reference pin points on the target large part and the posture adjustment large part, solve the translation parameters and rotation parameters of the reference pin points on the posture adjustment large part to move and align to the reference pin points on the target large part, and use the solved translation parameters and rotation parameters as the initial values of the ICP iterative operation; Step 3.2, based on the reference residual between the reference pin point on the pose adjustment large part and the reference pin point on the target large part, weighted centralization is performed on each reference pin point; Step 3.3, establish an SVD posture adjustment model based on the weighted central reference pin points, and optimize the translation parameters and rotation parameters through the SVD posture adjustment model; Step 3.4, repeat steps 3.1 to 3.3 iteratively until the variance of the aligned feature positions on the target large part and the posture adjustment large part converges, and derive the translation parameters and rotation parameters at this time; Step 3.5: Establish an adjustment model for scale parameters based on the translation parameters and rotation parameters derived in step 3.4, and calculate the scale parameters based on the adjustment model for scale parameters. 3. The component posture adjustment and alignment method without a fixed measurement field according to claim 2 is characterized in that the reference residual includes a process tolerance and a posture variance. 4. The component posture adjustment and alignment method without a fixed measurement field according to claim 3 is characterized in that the shape error parameters between the alignment feature positions on the target large component and the alignment feature positions on the posture adjustment large component are solved. If the shape error parameters are within the process tolerance range, step 3.4 iteratively solves the feasible solutions that meet all process tolerance ranges as translation parameters and rotation parameters; if the shape error parameters exceed the process tolerance range, step 3.4 iteratively solves the global optimal solution as translation parameters and rotation parameters. 5. The component posture adjustment and alignment method without a fixed measurement field according to claim 4 is characterized in that the shape error parameter is an ideal posture adjustment error boundary obtained after shape error fitting of the alignment feature position on the target large component and the alignment feature position on the posture adjustment large component, or the shape error parameter is a reference residual between a reference pin point on the posture adjustment large component and a reference pin point on the target large component. 6. The component posture adjustment and alignment method without a fixed measurement field according to any one of claims 1 to 5, characterized in that step 2 specifically comprises: Step 2.1, driving the posture adjustment large component to translate along the first direction through the posture adjustment and alignment device, measuring the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component during the translation of the large component along the first direction, and obtaining the first translation axis by fitting according to the real-time position coordinates, and solving the first direction vector of the first translation axis; Step 2.2, driving the posture adjustment large component to translate along the second direction by the posture adjustment and alignment device, measuring the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component during the translation of the posture adjustment large component toward the second direction, and obtaining the second translation axis according to the real-time position coordinates, and solving the second direction vector of the second translation axis; Step 2.3, performing a cross product operation on the first direction vector and the second direction vector to obtain the third direction vector; Step 2.4, the posture adjustment large component is driven to rotate in several directions by the posture adjustment matching device. During the rotation of the posture adjustment large component in several directions, the real-time position coordinates of the posture adjustment feature points on the posture adjustment large component are measured, and the spherical equation is fitted according to the real-time position coordinates, and the rotation center is solved according to the spherical equation; Step 2.5: Use the first direction vector as the Y direction, the second direction vector as the Z direction, the third direction vector as the X direction, and the rotation center as the origin to establish a posture adjustment coordinate system. 7. A storage medium for component posture adjustment and alignment without a fixed measurement field, characterized in that the storage medium stores an operating system for implementing the large component posture adjustment and alignment method without a fixed measurement field as described in any one of claims 1 to 6. 8. The storage medium for component posture adjustment without a fixed measurement field according to claim 7, characterized in that the operating system in the storage medium comprises an operation module (201), a motion post-calculation module (202), a posture adjustment coordinate system creation module (203), a measurement device control module (204), a posture fitting transformation operation module (205), and a posture adjustment device control module (206), wherein the operation module (201) is used to execute a program code for implementing a method for large component posture adjustment without a fixed measurement field; the motion post-calculation module (202) is used to control the numerical control positioner in the attitude adjustment and alignment device to move according to the planned path; the attitude adjustment and alignment coordinate system creation module (203) is used to create the attitude adjustment and alignment coordinate system; the measurement device control module (204) is used to control the measurement device to measure the real-time position of the attitude adjustment feature point; the posture fitting transformation operation module (205) is used to solve the translation parameters, rotation parameters, and scale scaling parameters of the attitude adjustment large component relative to the target large component; the attitude adjustment and alignment device control module (206) is used to connect and control the attitude adjustment and alignment device. 9. A component attitude adjustment and alignment control system without a fixed measurement field, comprising the storage medium according to claim 7 or 8, characterized in that it also comprises a processor (101), a communication bus (102), an attitude adjustment and alignment device interface (103), and a measuring device interface (104), wherein the processor (101) is connected to the attitude adjustment and alignment device interface (103), the measuring device interface (104), and the storage medium respectively through the communication bus (102), the attitude adjustment and alignment device interface (103) is connected to the attitude adjustment and alignment device, and the measuring device interface (104) is connected to the measuring device.