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

Component posture adjustment and alignment method without fixed measuring field, storage medium and control system Download PDF

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Publication number
CN118239003A
CN118239003A CN202410677004.7A CN202410677004A CN118239003A CN 118239003 A CN118239003 A CN 118239003A CN 202410677004 A CN202410677004 A CN 202410677004A CN 118239003 A CN118239003 A CN 118239003A
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gesture
adjusting
alignment
component
pose
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CN118239003B (en
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申少泽
干继才
刘顺涛
刘松
王飞
李国进
杨涛
李斌
国宏达
蔡明�
王晨
王宪
江源渊
罗欢
张英豪
王也
赵帅
刘秦腕
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Chengdu Aircraft Industrial Group Co Ltd
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Chengdu Aircraft Industrial Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
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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 measuring field, storage medium and control system
Technical Field
The invention belongs to the technical field of component alignment and assembly, and relates to a component alignment and alignment method without a fixed measuring field, a storage medium and a control system.
Background
With the rapid development of digital factory technology, the assembly of aircraft components increasingly uses digital equipment systems, so that the assembly efficiency, assembly precision and quality of the aircraft components can be greatly improved. At present, in the field of digital attitude adjustment and alignment assembly of large parts of airplanes at home and abroad, along with the acceleration of development, update and iteration of airplane products and the improvement of assembly and manufacturing requirements, the problem that a currently ubiquitous airplane product corresponds to a set of special attitude adjustment and alignment equipment and a special measuring field is solved, and it is important to explore how to adapt to an implementation method for quickly performing digital assembly on various airplane products.
The traditional digital attitude adjustment and alignment of the large parts of the aircraft is to determine a theoretical aircraft coordinate system at an assembly site, accurately mount all the attitude adjustment equipment, measurement fields and the large parts of the aircraft on the site under the theoretical aircraft coordinate system according to the respective digital-analog theoretical attitudes, and perform attitude adjustment and alignment work by taking theoretical features in the digital-analog of the large parts of the aircraft as attitude adjustment target positions. When another large aircraft component is replaced and alignment is needed, the theoretical aircraft coordinate system of the current aircraft type is required to be determined again on site, the pose determining or calibrating equipment, the measuring field and the pose of the large aircraft component are reinstalled, the pose adjusting target theoretical position of the component is obtained again from the digital model, and the pose adjusting and alignment global element is based on the digital pose adjusting mode of the theoretical offline digital model, so that the updating and manufacturing efficiency of the aircraft products is restricted, and the requirements of quick digital assembly of various aircraft cannot be met.
Therefore, the invention discloses a component pose alignment method without a fixed measuring field, a storage medium and a control system aiming at the defects existing in the existing digital pose alignment process of large components of an airplane.
Disclosure of Invention
The invention aims to provide a component attitude and alignment method without a fixed measuring field, a storage medium and a control system, which can get rid of the dependence of digital attitude and alignment of large components of an airplane on the consistency of the fixed measuring field, a theoretical airplane coordinate system, a theoretical characteristic target position and an equipment axial direction and the airplane coordinate system in the prior art, and solve the problems that the current attitude and alignment system cannot be quickly adapted to large components of various airplanes and adapt to the manufacturing shape errors of the components to carry out digital attitude and alignment.
The invention is realized by the following technical scheme:
The component gesture adjusting and matching method without a fixed measuring field realizes matching of a gesture adjusting large component and a target large component based on gesture adjusting and matching equipment, and comprises the following steps:
Step 1, placing a gesture adjusting large part on gesture adjusting and matching equipment, establishing gesture adjusting characteristic points on the gesture adjusting large part, driving the gesture adjusting large part to perform translational and rotational movement through the gesture adjusting and matching equipment, and measuring real-time positions of the gesture adjusting characteristic points on the gesture adjusting large part in the movement process of the gesture adjusting large part;
step 2, fitting a translation axis based on real-time positions of the gesture adjusting feature points measured in the gesture adjusting large part translation process; fitting a rotation center based on real-time positions of the gesture-adjusting feature points measured in the rotation process of the gesture-adjusting large part; establishing an attitude adjusting and involution coordinate system based on the translation axis and the rotation center;
Step 3, under the alignment coordinate system of the alignment, establishing alignment feature positions on the target large component and the alignment large component, performing the fitting of the substitution pose based on the alignment feature positions on the target large component and the alignment feature positions on the alignment large component, and solving translation parameters, rotation parameters and scaling parameters of the alignment large component relative to the movement alignment of the target large component;
and step 4, controlling the gesture adjusting and matching equipment to drive the gesture adjusting large part to move and match relative to the target large part according to the translation parameter, the rotation parameter and the scale scaling parameter obtained in the step 3.
In order to better implement the present invention, further, the step 3 specifically includes:
step 3.1, establishing a plurality of reference nail points on the target large component and the gesture adjusting large component based on the matching characteristic positions, solving translation parameters and rotation parameters of the reference nail points on the gesture adjusting large component when the reference nail points on the gesture adjusting large component move to the reference nail points on the target large component, and taking the solved translation parameters and rotation parameters as initial values of ICP iterative operation;
step 3.2, based on the reference residual error between the reference nail point on the gesture adjusting large component and the reference nail point on the target large component, carrying out weighted centering on each reference nail point;
Step 3.3, establishing an SVD gesture-adjusting model based on the reference nail points after weighted centering, and optimizing translation parameters and rotation parameters through the SVD gesture-adjusting model;
Step 3.4, repeating the iteration to carry out the steps 3.1-3.3 until the variances of the involution characteristic positions on the target large part and the gesture adjusting large part are converged, and deriving the translation parameter and the rotation parameter at the moment;
and 3.5, establishing a adjustment model of the scaling parameters based on the translation parameters and the rotation parameters obtained in the step 3.4, and resolving the scaling parameters based on the adjustment model of the scaling parameters.
To better implement the invention, further, the reference residuals include process tolerances and pose variances.
In order to better realize the invention, further, if the shape error parameter between the involution characteristic position on the target large component and the involution characteristic position on the gesture adjusting large component is within the process tolerance range, step 3.4 is used for iteratively solving the feasible solutions meeting all the process tolerance ranges as translation parameters and rotation parameters; if the shape error parameters between the involution feature positions on the target large component and the involution feature positions on the gesture adjusting large component are beyond the process tolerance range, step 3.4 is to iteratively solve the global optimal solution to serve as translation parameters and rotation parameters.
In order to better realize the invention, the shape error parameter is an ideal posture adjustment error boundary obtained after shape error fitting is carried out on the involution characteristic position on the target large component and the involution characteristic position on the posture adjustment large component, or the shape error parameter is a reference residual error between a reference nail point on the posture adjustment large component and a reference nail 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 gesture adjusting large part to translate along a first direction through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process of translating along the first direction, fitting according to the real-time position coordinates to obtain a first translation shaft, and solving a first direction vector of the first translation shaft;
step 2.2, driving the gesture adjusting large part to translate along a second direction through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process of translating the gesture adjusting large part towards the second direction, fitting according to the real-time position coordinates to obtain a second translation axis, and solving a second direction vector of the second translation axis;
Step 2.3, performing cross product operation on the first direction vector and the second direction vector, and solving a third direction vector;
step 2.4, driving the gesture adjusting large part to rotate in a plurality of directions through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process that the gesture adjusting large part rotates in a plurality of directions, fitting a spherical equation according to the real-time position coordinates, and solving a rotation center according to the spherical equation;
And 2.5, taking the first direction vector as a Y direction, taking the second direction vector as a Z direction, taking the third direction vector as an X direction, taking the rotation center as an origin, and further establishing an attitude adjusting and matching coordinate system.
And the storage medium stores an operating system for realizing the large component attitude adjustment and alignment method without the fixed measuring field.
In order to better realize the invention, the operating system further comprises an operating module, a motion post-resolving module, a pose adjusting and matching coordinate system creation module, a measuring equipment control module, a pose fitting and transformation operation module and a pose adjusting and matching equipment control module, wherein the operating module is used for executing program codes for realizing a large part pose adjusting and matching method without a fixed measuring field; the motion post-resolving module is used for controlling a numerical control positioner in the gesture adjusting and matching device to move according to a planned path; the gesture-adjusting and matching coordinate system creation module is used for creating a gesture-adjusting and matching coordinate system; the measuring equipment control module is used for controlling the measuring equipment to measure the real-time position of the gesture feature point; the pose fitting transformation operation module is used for solving translation parameters, rotation parameters and scale scaling parameters of the moving involution of the pose demodulation large part relative to the target large part; the gesture adjusting and matching device control module is used for connecting and controlling gesture adjusting and matching devices.
The component gesture-adjusting and matching control system without the fixed measuring field comprises a storage medium, and further comprises a processor, a communication bus, a gesture-adjusting and matching device interface and a measuring device interface, wherein the processor is respectively connected with the gesture-adjusting and matching device interface, the measuring device interface and the storage medium through the communication bus, the gesture-adjusting and matching device interface is connected with gesture-adjusting and matching equipment, and the measuring device interface is connected with the measuring device.
Compared with the prior art, the invention has the following advantages:
According to the invention, a measurement and gesture adjustment reference coordinate system is created on line by utilizing initial movement of the large component along with gesture adjustment equipment, and the gesture adjustment large component pose is adjusted to the target large component matching position by taking the measured characteristics of the target large component and the gesture adjustment large component as the gesture adjustment target position and the current position respectively, so that dependence of a traditional gesture adjustment matching mode on the theoretical aircraft coordinate system, a field fixed measurement field, a digital gesture adjustment target position and the consistency of equipment axial direction and the aircraft coordinate system is eliminated, the digital gesture adjustment matching work of different aircraft large components can be quickly adapted on line, the problem that a currently-existing one-type aircraft product corresponds to a set of special gesture adjustment matching equipment and a special measurement field is solved, and the requirements of updating iteration and efficient digital assembly manufacturing of various aircraft products are met.
Drawings
FIG. 1 is a flow chart of the steps of a method for aligning components without a fixed measurement field;
FIG. 2 is a detailed flow diagram of a method for component pose alignment without a fixed measurement field;
FIG. 3 is a schematic diagram of a component alignment control system without a fixed measurement field;
FIG. 4 is a schematic illustration of the alignment of a target macro block with a posture adjustment macro block.
Wherein: a 101-processor; 102-a communication bus; 103-adjusting an attitude and closing equipment interface; 104-measuring device interface; 201-an operation module; 202-a post-motion calculation module; 203, creating a pose-adjusting involution coordinate system; 204-a measurement device control module; 205-pose fitting transformation operation module; 206, adjusting the pose and closing the control module of the equipment.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the invention clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
For convenience of description, the words "upper", "lower", "left" and "right" in the present invention, if they mean only that the directions are consistent with the upper, lower, left, and right directions of the drawings per se, and do not limit the structure, only for convenience of description and simplification of the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "mounted," "connected," "secured," and the like are to be construed broadly and refer to either a fixed connection, a removable connection, or an integral body, for example; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.
Example 1:
the component alignment and alignment method without a fixed measurement field in this embodiment, as shown in fig. 1 and fig. 4, includes the following steps:
Step 1, placing a gesture adjusting large part on gesture adjusting and matching equipment, establishing gesture adjusting characteristic points on the gesture adjusting large part, driving the gesture adjusting large part to perform translational and rotational movement through the gesture adjusting and matching equipment, and measuring real-time positions of the gesture adjusting characteristic points on the gesture adjusting large part in the movement process of the gesture adjusting large part;
step 2, fitting a translation axis based on real-time positions of the gesture adjusting feature points measured in the gesture adjusting large part translation process; fitting a rotation center based on real-time positions of the gesture-adjusting feature points measured in the rotation process of the gesture-adjusting large part; establishing an attitude adjusting and involution coordinate system based on the translation axis and the rotation center;
Step 3, under the alignment coordinate system of the alignment, establishing alignment feature positions on the target large component and the alignment large component, performing the fitting of the substitution pose based on the alignment feature positions on the target large component and the alignment feature positions on the alignment large component, and solving translation parameters, rotation parameters and scaling parameters of the alignment large component relative to the movement alignment of the target large component;
and step 4, controlling the gesture adjusting and matching equipment to drive the gesture adjusting large part to move and match relative to the target large part according to the translation parameter, the rotation parameter and the scale scaling parameter obtained in the step 3.
The step 2 specifically comprises the following steps:
step 2.1, driving the gesture adjusting large part to translate along a first direction through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process of translating along the first direction, fitting according to the real-time position coordinates to obtain a first translation shaft, and solving a first direction vector of the first translation shaft;
step 2.2, driving the gesture adjusting large part to translate along a second direction through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process of translating the gesture adjusting large part towards the second direction, fitting according to the real-time position coordinates to obtain a second translation axis, and solving a second direction vector of the second translation axis;
Step 2.3, performing cross product operation on the first direction vector and the second direction vector, and solving a third direction vector;
step 2.4, driving the gesture adjusting large part to rotate in a plurality of directions through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process that the gesture adjusting large part rotates in a plurality of directions, fitting a spherical equation according to the real-time position coordinates, and solving a rotation center according to the spherical equation;
And 2.5, taking the first direction vector as a Y direction, taking the second direction vector as a Z direction, taking the third direction vector as an X direction, taking the rotation center as an origin, and further establishing an attitude adjusting and matching coordinate system.
The step 3 specifically comprises the following steps:
step 3.1, establishing a plurality of reference nail points on the target large component and the gesture adjusting large component based on the matching characteristic positions, solving translation parameters and rotation parameters of the reference nail points on the gesture adjusting large component when the reference nail points on the gesture adjusting large component move to the reference nail points on the target large component, and taking the solved translation parameters and rotation parameters as initial values of ICP iterative operation;
step 3.2, based on the reference residual error between the reference nail point on the gesture adjusting large component and the reference nail point on the target large component, carrying out weighted centering on each reference nail point;
Step 3.3, establishing an SVD gesture-adjusting model based on the reference nail points after weighted centering, and optimizing translation parameters and rotation parameters through the SVD gesture-adjusting model;
Step 3.4, repeating the iteration to carry out the steps 3.1-3.3 until the variances of the involution characteristic positions on the target large part and the gesture adjusting large part are converged, and deriving the translation parameter and the rotation parameter at the moment;
and 3.5, establishing a adjustment model of the scaling parameters based on the translation parameters and the rotation parameters obtained in the step 3.4, and resolving the scaling parameters based on the adjustment model of the scaling parameters.
Further, the reference residuals include process tolerances and pose variances.
Further, solving a shape error parameter between the involution characteristic position on the target large component and the involution characteristic position on the gesture adjusting large component, and if the shape error parameter is within the process tolerance range, performing iterative solution on feasible solutions meeting all the process tolerance ranges to serve as translation parameters and rotation parameters in step 3.4; if the shape error parameter between the involution characteristic position on the target large component and the involution characteristic position on the gesture adjusting large component exceeds the process tolerance range, step 3.4 is to iteratively solve the global optimal solution to serve as a translation parameter and a rotation parameter.
Further, the shape error parameter is an ideal posture adjustment error boundary obtained after shape error fitting is carried out on the involution characteristic position on the target large component and the involution characteristic position on the posture adjustment large component, or the shape error parameter is a reference residual error between a reference nail point on the posture adjustment large component and a reference nail point on the target large component.
Example 2:
in the storage medium for large component alignment without fixed measurement field of this embodiment, as shown in fig. 3, an operating system for implementing the large component alignment method without fixed measurement field is stored in the storage medium.
The operating system comprises an operating module 201, a motion post-resolving module 202, a pose matching coordinate system creation module 203, a measuring equipment control module 204, a pose fitting transformation operation module 205 and a pose matching equipment control module 206, wherein the operating module 201 is used for executing program codes for realizing a large part pose matching method without a fixed measuring field; the motion post-resolving module 202 is used for controlling a numerical control positioner in the gesture adjusting and matching device to move according to a planned path; the pose-adjusting and matching coordinate system creation module 203 is used for creating a pose-adjusting and matching coordinate system; the measuring equipment control module 204 is used for controlling the measuring equipment to measure the real-time position of the gesture feature point; the pose fitting transformation operation module 205 is used for solving translation parameters, rotation parameters and scaling parameters of the moving involution of the pose demodulation large component relative to the target large component; the gesture adjusting and matching device control module 206 is used for connecting and controlling gesture adjusting and matching devices.
Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.
Example 3:
The control system for adjusting and matching the large component without the fixed measuring field of the embodiment comprises a storage medium, a processor 101, a communication bus 102, an adjusting and matching device interface 103 and a measuring device interface 104, wherein the processor 101 is respectively connected with the adjusting and matching device interface 103, the measuring device interface 104 and the storage medium through the communication bus 102, the adjusting and matching device interface 103 is connected with adjusting and matching device, and the measuring device interface 104 is connected with measuring device.
Other portions of this embodiment are the same as those of embodiment 1 or 2, and thus will not be described in detail.
Example 4:
The component gesture adjustment and alignment method, storage medium and control system without a fixed measurement field of the embodiment refer to fig. 1, and the control system without a fixed measurement field comprises a storage medium, a processor 101, a communication bus 102, a gesture adjustment and alignment device interface 103 and a measurement device interface 104, wherein the processor 101 is respectively connected with the gesture adjustment and alignment device interface 103, the measurement device interface 104 and the storage medium through the communication bus 102, the gesture adjustment and alignment device interface 103 is connected with gesture adjustment and alignment devices, and the measurement device interface 104 is connected with the measurement devices.
The processor 101 may be any one or a combination of several of a central processing unit, a network processor, a digital signal processor, an integrated circuit, a field programmable gate array, a programmable logic device, discrete gates, a transistor logic device, discrete hardware components.
Referring to fig. 4, a large component pose adjustment storage medium without a fixed measurement field stores an operating system for implementing a large component pose adjustment method without a fixed measurement field in the storage medium; the operating system comprises an operating module 201, a motion post-resolving module 202, a pose matching coordinate system creation module 203, a measuring equipment control module 204, a pose fitting transformation operation module 205 and a pose matching equipment control module 206, wherein the operating module 201 is used for executing program codes for realizing a large part pose matching method without a fixed measuring field; the motion post-resolving module 202 is used for controlling a numerical control positioner in the gesture adjusting and matching device to move according to a planned path; the pose-adjusting and matching coordinate system creation module 203 is used for creating a pose-adjusting and matching coordinate system; the measuring equipment control module 204 is used for controlling the measuring equipment to measure the real-time position of the gesture feature point; the pose fitting transformation operation module 205 is used for solving translation parameters, rotation parameters and scaling parameters of the moving involution of the pose demodulation large component relative to the target large component; the gesture adjusting and matching device control module 206 is used for connecting and controlling gesture adjusting and matching devices.
Based on the storage medium and the control system, the component posture adjustment and alignment method without a fixed measurement field is provided:
Referring to fig. 1 and 2, the method comprises the steps of:
And 1, placing the gesture adjusting large part on gesture adjusting and closing equipment, establishing gesture adjusting characteristic points on the gesture adjusting large part, driving the gesture adjusting large part to perform translational and rotational movement through the gesture adjusting and closing equipment, and measuring real-time positions of the gesture adjusting characteristic points on the gesture adjusting large part in the movement process of the gesture adjusting large part.
The method comprises the following steps:
The gesture adjusting and matching device determines the supporting positions of the target large component and the gesture adjusting large component on the upper frame according to the gravity center, the supportable position and the gesture adjusting and matching stroke of the large component, then the gesture adjusting and matching device is controlled by the gesture adjusting and matching device control module 206 to move to the upper frame supporting positions, and then the target large component and the gesture adjusting large component are respectively hoisted to the corresponding gesture adjusting and matching device. After the involubility of the target large part and the gesture adjusting large part is ensured, the gesture of the target large part which is put on a rack is kept fixed, and the gesture adjusting large part moves along with gesture adjusting involution equipment. And erecting the measuring equipment at a fixed position, wherein the measuring equipment adopts a laser tracker. The laser tracker is controlled by the measuring equipment control module 204 to follow the gesture adjusting feature points in real time.
Step 2, fitting a translation axis based on real-time positions of the gesture adjusting feature points measured in the gesture adjusting large part translation process; fitting a rotation center based on real-time positions of the gesture-adjusting feature points measured in the rotation process of the gesture-adjusting large part; establishing an attitude adjusting and involution coordinate system based on the translation axis and the rotation center;
The method comprises the following steps:
the gesture adjusting and closing device drives the gesture adjusting large part to do translation and accurate movement in the rotation direction, and the gesture adjusting large part moves along any gesture adjusting characteristic point through the laser tracker and measures the position information of the gesture adjusting large part in the movement process.
The posture adjusting and matching device comprises a plurality of numerical control positioners, and drives the posture adjusting large component to translate in X, Y, Z directions under a Cartesian coordinate system and rotate around three rotation directions of an A axis, a B axis and a C axis;
The motion axes of the numerical control positioners are controlled to drive the gesture adjusting large part to move according to the calculated track planning path through a program built in the motion post-resolving module 202, so that external force for pulling and extruding the gesture adjusting large part is not generated in the motion process of the gesture adjusting large part.
The gesture adjusting large part translates along with the gesture adjusting and closing device in two Y, Z two directions, the laser tracker translates along the Y direction along with the gesture adjusting characteristic point on the gesture adjusting large part under the tracker coordinate system TCS, and a plurality of position information in the translation process along the Z direction are as follows:
Position information of the gesture adjusting feature point in Y-direction translation: wherein/> And 1 to m pieces of position information, specifically position coordinates, representing the translation of the gesture adjusting feature points along the Y direction.
Position information of the gesture adjusting feature point in Z-direction translation: wherein/> And 1 to m pieces of position information, specifically position coordinates, representing the translation of the gesture adjusting feature points along the Z direction.
The gesture adjusting large part rotates along with the gesture adjusting and matching device in any rotation coordinate direction, and the laser tracker follows and measures the position information of a plurality of gesture adjusting feature points in any rotation direction under a tracker coordinate system TCS. If the position information that the gesture adjusting large part rotates around the A axis along with the gesture adjusting and matching equipment to obtain the rotation of the gesture adjusting feature point around the A axis isWherein/>And 1 to m pieces of position information, specifically position coordinates, representing the rotation of the gesture adjusting feature points along the direction A.
The pose adjustment and involution coordinate system creation module 203 is based on、Fitting the Y translation axis and the Z translation axis respectively, specifically:
By adjusting the pose and matching the program built in the coordinate system creation module 203, according to 、Substituting it for equation (1):
(1)
Wherein: x represents an x-coordinate in the position information, y represents a y-coordinate in the position information, z represents a z-coordinate in the position information,Representing the linear equation parameters.
Converting formula (1) into formula (2) in matrix form:
(2)
Wherein: x i denotes an i-group x coordinate in the position information, y i denotes an i-group y coordinate in the position information, z i denotes an i-group z coordinate in the position information, and T denotes a transpose operation of the matrix.
The formula (2) is simplified into a formula (3):
(3)
Based on (3), letAnd estimating the model form (4) by using a multiple linear regression least square method:
(4)
Solving for an optimal solution matrix algorithm (5):
(5)
Wherein: representation of/> Is a matrix of optimal solutions.
Solving the optimal linear equation parametersParameter of Linear equation/>And (3) carrying out the equation (1) to obtain a linear group equation of the Y translation axis and the Z translation axis.
Let z in formula (1) be any constant z 0 and constant z i, respectively, and calculate the constants according to formula (1)Constant/>Constant x i, constant y i, solving the linear L unit direction vector (L x,Ly,Lz) using the two-point coordinates on the linear:
(6)
Wherein: l x denotes a unit direction vector of the straight line L in the X direction; l y denotes a unit direction vector of the straight line L in the Y direction; l z denotes a unit direction vector of the straight line L in the Z direction.
Thus, a linear Y-direction vector (Y x,Yy,Yz) and a linear three-dimensional Z-direction vector (Z x,Zy,Zz) are obtained, and the cross product operation of the formula (7) is carried out on the linear three-dimensional Y-direction vector and the linear three-dimensional Z-direction vector:
(7)
Wherein: A cross product operation of a Y-direction vector representing a straight line and a Z-direction vector representing the straight line; i. j and k are rectangular coordinate system unit direction vectors, and coefficients in front of i, j and k are X-direction vector V x component values; v x denotes the X-direction vector of the straight line.
The pose adjustment and involution coordinate system creation module 203 is based onFitting a rotation center, specifically:
The pose-adjusting and involution coordinate system creation module 203 is based on Establishing a spherical equation:
(8)
Wherein: the ith x-coordinate variable representing the spherical equation,/> An ith y-coordinate variable representing the spherical equation; /(I)The ith z-coordinate variable representing the spherical equation,/>Representing the coordinates of the sphere center; r denotes the spherical radius.
Establishing a distance square adjustment equation according to the formula (8) and performing taylor expansion to obtain the following components:
(9)
Equation (9) accords with the multiple linear regression least square method estimation model type (4), and the coordinate of the rotation center is solved by utilizing the optimal solution matrix solving algorithm equation (5)。
Straight line Y vector is created by the attitude adjustment and matching coordinate system creation module 203As the Y direction of the alignment coordinate system, the straight line Z direction vector/>As the Z direction of the alignment coordinate system, the obtained X direction vector/>, is usedAs the X direction of the attitude-adjusting and matching coordinate system, the rotation center calculated by fitting is usedAs the origin, then obtain the coordinate system for adjusting the posture。
And 3, under the alignment coordinate system of the alignment, establishing alignment characteristic positions on the target large component and the alignment large component, performing the fitting of the overlapping pose based on shape error parameters between the alignment characteristic positions on the target large component and the alignment characteristic positions on the alignment large component, and solving translation parameters, rotation parameters and scaling parameters of the alignment large component relative to the movement alignment of the target large component.
The method comprises the following steps:
The gesture adjusting large part is used as an active adjustment object for gesture adjustment and the target large part is used as a passive target object for gesture adjustment and adjustment; and transforming the laser tracker coordinate system into an attitude-adjusting and matching coordinate system, and measuring all matching characteristic positions in the attitude-adjusting and matching coordinate system.
The coordinate system TCS of the laser tracker is transformed into the coordinate system WCS of alignment by the measuring equipment control module 204, so that the data measured by the coordinate system TCS of the laser trackerTransformed into data/>, under the coordinate system WCS of alignment and matching。
Namely:
(10)
(11)
Wherein: r represents the rotation parameter of the coordinate system WCS relative to the coordinate system TCS for adjusting the pose and closing the coordinate system, and; T represents the translational parameter of the coordinate system WCS relative to the coordinate system TCS for posture adjustment and combination, and；/>An x coordinate representing an ith involution feature position in a coordinate system of the laser tracker; a y-coordinate representing an ith involution feature position in a coordinate system of the laser tracker; /(I) A z coordinate representing an ith involution feature position in a coordinate system of the laser tracker; v x denotes a straight line X vector; v y denotes a straight line Y vector; v z denotes a straight line Z vector; /(I)Respectively representing the three-axis coordinates of the origin of the coordinate system WCS under the coordinate system TCS.
Under the large component gesture-adjusting and matching coordinate system, performing gesture-optimizing fitting transformation operation based on the target position and the current position, controlling gesture-adjusting equipment to perform gesture-adjusting and matching movement according to transformation translation and rotation parameters, and comprising the following steps:
Fitting shape error parameters between the target large component and the gesture adjusting large component based on the characteristic matching position on the target large component and the characteristic matching position on the gesture adjusting large component to obtain an ideal gesture adjusting error boundary;
If the ideal attitude adjustment error boundaries are all within the process tolerance range, solving feasible solutions meeting all the process tolerance by attitude optimization fitting transformation operation; if the ideal attitude adjustment error boundary exceeds the process tolerance range, the pose optimization fitting transformation operation is used for solving a global optimal solution through iteration, and the pose optimization fitting transformation operation results are translation parameters t and rotation parameters R.
And the gesture adjusting and matching equipment drives the gesture adjusting large part to move to a position where matching with the characteristic matching position on the target large part is completed according to the translation parameter t and the rotation parameter R under the gesture adjusting and matching coordinate system, and the matching of the gesture adjusting large part and the target large part is completed.
Specifically, the pose optimization fitting transformation operation is based on the position of the ith reference nail point on the target large component through the pose fitting transformation operation module 205With the position of the ith reference nail point on the gesture-adjusting large partFinding/>, using weighted ICP iterative operationsAnd (3) withThe transformation parameters include translation parameter t, rotation parameter R and scaling parameter s.
The method comprises the following steps:
1. Establishment of And/>The transformation parameter matrix between them is as follows:
(12)
Order the；；
Then there are:
(13)
Wherein: r represents a rotation parameter; t represents a translation parameter; representing the i-th reference nail point/>, on the target large part Is a three-axis coordinate of (2); /(I)Represents i-th reference nail point/>, on the gesture-adjusting large componentIs defined by the three axes of (a).
2. The least square method residual error model is established as follows:
(14)
Wherein: A reference residual representing an i-th reference nail point;
Order the ；/>；/>；
Then there are:
(15)
(16)
Wherein: representation pair/> Is a transpose operation of (a).
According to formula (16), there are:
(17)
Wherein: Representing the optimal solution. /(I)
Iteratively solving a rotation parameter R and a translation parameter t through formulas (14) to (17), and iteratively solving a reference residual error of a reference nail point by using the iterated rotation parameter R and the iterated translation parameter t。
From reference residualsThe weight of each reference nail point is calculated:
(18)
Wherein: the weight representing the ith reference spike point; /(I) A reference residual representing an i-th reference nail point; n represents the number of reference nail points.
Further solving a weighted centering value of the reference nail points according to the weights of the reference nail points:
(19)
；/>（20）
Wherein: representing weighted centralisation values for all reference nail points on the target large part; /(I) The weighted centering values of all the reference nail points on the gesture adjusting large component are represented; /(I)A centralizing value representing an ith reference nail point on the target large part; /(I)Representing the centralizing value of the ith reference nail point on the gesture adjusting large component; /(I)A decentralization value representing an ith reference nail point on the target large part; /(I)And the decentration value of the ith reference nail point on the gesture adjusting large part is represented.
Establishing an SVD attitude-adjusting model according to the weighted centering values of all the reference nail points:
(21)
Wherein: h represents a matrix to be decomposed by SVD operation; u, V is the eigenvector of matrix H; s is the eigenvalue of matrix H; v T is the transpose of matrix V.
Based on the formulas (20) and (21), the method uses、/>Solving H, performing singular value decomposition (SVD operation) operation on H to obtain feature vectors U and V, and performing dot product operation on V and U T to obtain rotation parameters/>, of pose fitting transformationBy usingFurther solving the pose fitting transformation translation parameter/>：/>
(22)
Wherein: representing the weighted rotation parameters; /(I) Representing the weighted translation parameters.
And taking the weighted rotation parameters and the weighted translation parameters as new initial values of ICP iterative operation, and repeating the iterative steps until the variance of the involution characteristic position converges, so as to derive optimized translation parameters and rotation parameters.
Based on the optimized translation parameters and rotation parameters, establishing a adjustment model of the scaling parameters:
(23)
Wherein: representing a reference residual of the ith reference nail point based on the scaling parameter; s represents a scaling parameter; /(I) Representing the optimized rotation parameters; /(I)Representing the optimized translation parameters.
Order the；/>The optimized scaling parameters are solved by using the least square method as follows:
Based on The method can obtain:
; (24)
Wherein: Representing the optimized scaling parameters.
And step 4, controlling the gesture adjusting and matching equipment to drive the gesture adjusting large part to move and match relative to the target large part according to the translation parameter, the rotation parameter and the scale scaling parameter obtained in the step 3.
The method comprises the following steps:
The pose adjusting and matching device control module 206 inputs and controls pose adjusting and matching device according to the calculated rotation parameter, translation parameter and scale scaling parameter, meanwhile the motion post-resolving module 202 resolves the geometric data of the motion axes of the numerical control locators, and the pose adjusting and matching device control module 206 drives the pose adjusting large component to perform corresponding translation and rotation motion according to the geometric data of the motion axes in combination with the rotation parameter, the translation parameter and the scale scaling parameter until the pose adjusting large component and the target large component are matched.
And after the gesture adjusting large part moves in place, measuring the position of the gesture adjusting feature point again by adopting a laser tracker, when gesture adjusting and matching movement is carried out by adopting feasible demodulation of gesture fitting operation, directly comparing measured data after the gesture adjusting large part moves in place with target data, judging whether gesture adjusting and matching is qualified or not, and if not, carrying out gesture fitting operation again based on the current position and gesture adjusting and matching until the gesture adjusting and matching is qualified. When the global optimal solution of pose fitting operation is adopted for pose matching movement, the measurement data of the pose matching large part after movement is added into a scale scaling coefficient, the measurement data is compared with target data through operation of (23), whether pose matching is qualified or not is judged, if not, pose fitting operation is carried out again based on the current position, pose matching is carried out, and the pose matching is carried out until the pose matching is qualified.
Other portions of this embodiment are the same as any of embodiments 1 to 3, and thus will not be described in detail.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in any way, and any simple modification and equivalent changes of the above embodiments according to the technical substance of the present invention fall within the protection scope of the present invention.

Claims (9)

1. The component gesture-adjusting and matching method without a fixed measuring field is based on gesture-adjusting and matching equipment to realize matching of a gesture-adjusting large component and a target large component and is characterized by comprising the following steps:
Step 1, placing a gesture adjusting large part on gesture adjusting and matching equipment, establishing gesture adjusting characteristic points on the gesture adjusting large part, driving the gesture adjusting large part to perform translational and rotational movement through the gesture adjusting and matching equipment, and measuring real-time positions of the gesture adjusting characteristic points on the gesture adjusting large part in the movement process of the gesture adjusting large part;
step 2, fitting a translation axis based on real-time positions of the gesture adjusting feature points measured in the gesture adjusting large part translation process; fitting a rotation center based on real-time positions of the gesture-adjusting feature points measured in the rotation process of the gesture-adjusting large part; establishing an attitude adjusting and involution coordinate system based on the translation axis and the rotation center;
Step 3, under the alignment coordinate system of the alignment, establishing alignment feature positions on the target large component and the alignment large component, performing the fitting of the substitution pose based on the alignment feature positions on the target large component and the alignment feature positions on the alignment large component, and solving translation parameters, rotation parameters and scaling parameters of the alignment large component relative to the movement alignment of the target large component;
and step 4, controlling the gesture adjusting and matching equipment to drive the gesture adjusting large part to move and match relative to the target large part according to the translation parameter, the rotation parameter and the scale scaling parameter obtained in the step 3.
2. The method for aligning and matching the parts without fixed measuring fields according to claim 1, wherein the step 3 specifically comprises:
step 3.1, establishing a plurality of reference nail points on the target large component and the gesture adjusting large component based on the matching characteristic positions, solving translation parameters and rotation parameters of the reference nail points on the gesture adjusting large component when the reference nail points on the gesture adjusting large component move to the reference nail points on the target large component, and taking the solved translation parameters and rotation parameters as initial values of ICP iterative operation;
step 3.2, based on the reference residual error between the reference nail point on the gesture adjusting large component and the reference nail point on the target large component, carrying out weighted centering on each reference nail point;
Step 3.3, establishing an SVD gesture-adjusting model based on the reference nail points after weighted centering, and optimizing translation parameters and rotation parameters through the SVD gesture-adjusting model;
Step 3.4, repeating the iteration to carry out the steps 3.1-3.3 until the variances of the involution characteristic positions on the target large part and the gesture adjusting large part are converged, and deriving the translation parameter and the rotation parameter at the moment;
And 3.5, establishing a adjustment model of the scaling parameters based on the translation parameters and the rotation parameters derived in the step 3.4, and resolving the scaling parameters based on the adjustment model of the scaling parameters.
3. The method of component alignment without fixed measurement field of claim 2, wherein the reference residuals include process tolerances and pose variances.
4. The component pose alignment method without fixed measurement field according to claim 3, wherein, solving a shape error parameter between the alignment feature position on the target large component and the alignment feature position on the pose alignment large component, if the shape error parameter is within the process tolerance range, step 3.4 solves a feasible solution meeting all the process tolerance ranges through iteration as a translation parameter and a rotation parameter; if the shape error parameter exceeds the process tolerance range, step 3.4 is to iteratively solve the global optimal solution as a translation parameter and a rotation parameter.
5. The component pose alignment method without fixed measurement field according to claim 4, wherein the shape error parameter is an ideal pose error boundary obtained after shape error fitting of an alignment feature position on a target large component and an alignment feature position on a pose alignment large component, or the shape error parameter is a reference residual error between a reference nail point on the pose alignment large component and a reference nail point on the target large component.
6. The method for aligning and matching a component without a fixed measuring field according to any one of claims 1 to 5, wherein the step 2 specifically includes:
step 2.1, driving the gesture adjusting large part to translate along a first direction through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process of translating along the first direction, fitting according to the real-time position coordinates to obtain a first translation shaft, and solving a first direction vector of the first translation shaft;
step 2.2, driving the gesture adjusting large part to translate along a second direction through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process of translating the gesture adjusting large part towards the second direction, fitting according to the real-time position coordinates to obtain a second translation axis, and solving a second direction vector of the second translation axis;
Step 2.3, performing cross product operation on the first direction vector and the second direction vector, and solving a third direction vector;
step 2.4, driving the gesture adjusting large part to rotate in a plurality of directions through gesture adjusting and closing equipment, measuring real-time position coordinates of gesture adjusting feature points on the gesture adjusting large part in the process that the gesture adjusting large part rotates in a plurality of directions, fitting a spherical equation according to the real-time position coordinates, and solving a rotation center according to the spherical equation;
And 2.5, taking the first direction vector as a Y direction, taking the second direction vector as a Z direction, taking the third direction vector as an X direction, taking the rotation center as an origin, and further establishing an attitude adjusting and matching coordinate system.
7. A component pose alignment storage medium without a fixed measurement field, characterized in that an operating system for realizing the large component pose alignment method without a fixed measurement field according to any one of claims 1-6 is stored in the storage medium.
8. The component pose alignment storage medium without fixed measurement field according to claim 7, wherein an operating system in the storage medium comprises an operating module (201), a motion post-resolving module (202), a pose alignment coordinate system creation module (203), a measuring device control module (204), a pose fitting transformation operation module (205) and a pose alignment device control module (206), wherein the operating module (201) is used for executing a program code for realizing a large component pose alignment method without fixed measurement field; the motion post-resolving module (202) is used for controlling a numerical control positioner in the gesture adjusting and matching device to move according to a planned path; the pose-adjusting and involution coordinate system creation module (203) is used for creating a pose-adjusting and involution coordinate system; the measuring equipment control module (204) is used for controlling the measuring equipment to measure the real-time position of the gesture feature point; the pose fitting transformation operation module (205) is used for solving translation parameters, rotation parameters and scaling parameters of the moving involution of the pose demodulation large part relative to the target large part; the gesture adjusting and matching device control module (206) is used for connecting and controlling gesture adjusting and matching devices.
9. The component gesture-adjusting and matching control system without the fixed measuring field comprises the storage medium according to claim 7 or 8 and is characterized by further comprising a processor (101), a communication bus (102), a gesture-adjusting and matching device interface (103) and a measuring device interface (104), wherein the processor (101) is respectively connected with the gesture-adjusting and matching device interface (103), the measuring device interface (104) and the storage medium through the communication bus (102), the gesture-adjusting and matching device interface (103) is connected with gesture-adjusting and matching equipment, and the measuring device interface (104) is connected with the measuring equipment.
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