CN214276792U

CN214276792U - Airplane large-size measuring system based on laser radar and indoor GPS (global positioning system)

Info

Publication number: CN214276792U
Application number: CN202022833721.4U
Authority: CN
Inventors: 张刚; 董富
Original assignee: Wuxi Liman Robot Technology Co ltd
Current assignee: Wuxi Liman Robot Technology Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-09-24
Anticipated expiration: 2030-11-30

Abstract

The utility model relates to an aircraft large-size measuring system based on laser radar and indoor GPS system, comprising an AGV trolley provided with a robot, a laser radar clamped at the tail end of a mechanical arm of the robot, a standard coordinate system reference plate and an indoor GPS system; the indoor GPS system is provided with a global coordinate system Q; and the indoor GPS system monitors the position of the reference plate of the standard coordinate system under the global coordinate system Q established by the indoor GPS system. The utility model aims at overcoming the measurement inefficiency that prior art exists, the frequent low grade defect that leads to measurement accuracy of transfer station, providing an aircraft jumbo size measurement system and method based on laser radar and indoor GPS system.

Description

Airplane large-size measuring system based on laser radar and indoor GPS (global positioning system)

Technical Field

The utility model relates to a machine vision field especially relates to an aircraft jumbo size measurement system based on laser radar and indoor GPS system.

Background

With the development of advanced manufacturing technology in China, the digital measurement technology is widely applied to the fields of aerospace, aviation, ship manufacturing and the like. In particular, the digital large-size measuring system is gradually applied to the processing and assembling process of large-size workpieces of the airplane, and the assembly precision of the airplane is improved by using the high-precision measurement of the digital measuring system.

The digital large-size measurement technology is mainly divided into contact measurement and non-contact measurement at present, the contact measurement mainly comprises a laser tracker and indoor GPS measurement, and the non-contact measurement mainly comprises an electronic theodolite measurement system, a digital close-range industrial measurement system and a laser radar measurement system. When the surface of a large component of an airplane is measured, the non-contact measurement mode of the laser radar is preferred, because the laser radar can quickly and accurately measure in a large range, but the laser radar has the defects that the horizontal and vertical angle measurement ranges of the laser radar are limited, and the laser radar needs to frequently perform station switching operation, so that the accumulated error caused by station switching can be introduced. In addition, the current measuring system generally needs to occupy a large amount of space and is not mechanical. For aircraft manufacturing assembly plants, mobile measurement systems are highly desirable for aircraft large component measurements.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the defect that prior art exists, a aircraft jumbo size measurement system based on laser radar and indoor GPS system is provided, this system regards as global coordinate system with indoor GPS system's global coordinate system, in the measured data of laser radar at a plurality of stations is whole to be converted to global coordinate system, the accumulative error that produces owing to change the station has been reduced, simultaneously because the mode that uses the AGV dolly to add the robot carries laser radar to scan, it is nimble to measure, satisfy the requirement of aircraft manufacturing assembly shop to the space.

Realize the utility model discloses the technical scheme of purpose is: a large-size airplane measuring system based on a laser radar and an indoor GPS system comprises an AGV trolley provided with a robot, the laser radar clamped at the tail end of a mechanical arm of the robot, a reference plate of a standard coordinate system and the indoor GPS system; the indoor GPS system is provided with a global coordinate system Q; the indoor GPS system monitors the position and posture of the reference plate of the standard coordinate system under a global coordinate system Q established by the indoor GPS system.

Preferably, the relative pose between the laser radar and the reference plate of the standard coordinate system is kept unchanged when the large-size measuring system of the airplane works.

Preferably, the lidar is operable to establish a lidar coordinate system L.

Preferably, three spherical receivers are arranged on the reference plate of the standard coordinate system; the sphere centers of three of the spherical receivers can establish a standard reference coordinate system S.

Preferably, the connecting line of the three spherical receivers is a right angle, and the distances from the spherical receivers at two ends of the right angle to the spherical receivers at the right angle are different.

Preferably, the indoor GPS system comprises an IGPS transmitter, a spherical receiver and a central processor respectively arranged on the indoor and standard coordinate system reference plates; the IGPS transmitters are arranged at a plurality of positions of an indoor space.

After the technical scheme is adopted, the utility model discloses following positive effect has:

(1) the utility model discloses regard as the global coordinate system with the global coordinate system of indoor GPS system, in all being converted to the global coordinate system at the measured data of a plurality of stations with laser radar, reduced because the accumulative error that produces of switching, simultaneously because the mode that uses the AGV dolly to add the robot carries laser radar and scans, measure in a flexible way, it is little to the requirement of interior space, satisfy the requirement of aircraft manufacturing assembly shop to the space.

(2) The utility model discloses the demarcation of laser radar coordinate system and standard reference system is the key part of this system, this system is in the relative position appearance relation between laser radar coordinate system and the standard reference coordinate system of during operation and remains unchanged, consequently only need through once mark can, when the system at follow-up during operation, laser radar is under data conversion to the standard reference coordinate system, then according to current standard reference coordinate system and indoor measurement coordinate's relative position appearance relation convert point cloud data under the measurement coordinate from the standard reference coordinate system in real time can.

(3) The utility model discloses indoor GPS system is a contact measurement system, and IGPS transmitter is arranged in the space to this kind of measurement system, can detect the three-dimensional coordinate of spherical receiver in indoor GPS system, does not have the problem that is in the light or the angle restriction moreover.

(4) The utility model avoids the problems of large workload, complicated calibration, low precision and the like caused by the arrangement of the frog jumping balls on the large component in the prior art; the scheme needs less calibration, high measurement efficiency and strong real-time property.

Drawings

In order that the present invention may be more readily and clearly understood, the following detailed description of the present invention is given in conjunction with the accompanying drawings, in which

FIG. 1 is a diagram of the overall system layout of the present invention;

fig. 2 is a distribution diagram of the spherical receiver of the present invention on a reference plate of a standard coordinate system;

fig. 3 is a measurement flow chart of the present invention.

The reference numbers in the drawings are as follows: AGV dolly 10, standard coordinate system reference plate 20, spherical receiver 21, connecting rod 22, indoor GPS system 30, IGPS transmitter 31, lidar 40.

Detailed Description

Referring to fig. 1 to 3, the present invention includes an AGV cart 10 with a robot, a laser radar 40 clamped at the end of the robot arm, a reference plate 20 of a standard coordinate system, and an indoor GPS system 30; specifically, a reference plate 20 of a standard coordinate system is fixed at the tail end of a robot manipulator through a connecting plate 22 parallel to the ground, and a laser radar 40 is directly fixed at the lower end of the connecting position of the connecting plate 22 and the robot manipulator; the indoor GPS system 30 establishes a global coordinate system Q; the indoor GPS system 30 monitors the pose of the standard coordinate system reference plate 20 in the global coordinate system Q established by the indoor GPS system 30.

More specifically, in the present embodiment, the relative pose between the lidar 40 and the reference plate 20 of the standard coordinate system remains unchanged during the operation of the large-size measurement system of the aircraft.

The lidar 40 may establish a lidar coordinate system L.

The reference plate 20 of the standard coordinate system is provided with three spherical receivers 21; the centers of the three spherical receivers 21 establish a standard reference coordinate system S.

The connecting lines of the three spherical receivers 21 are right-angled, and the distances from the spherical receivers 21 at two ends of the right-angled to the spherical receivers 21 at the right-angled position (i.e., the origin) are different, so that the origin can be identified, the X-axis and the Y-axis can be distinguished conveniently, and a fixed standard reference coordinate system S is established.

The indoor GPS system 30 comprises an IGPS transmitter 31, a spherical receiver 21 and a central processor respectively arranged on the indoor and standard coordinate system reference plates 20; the IGPS transmitters 31 are disposed at a plurality of positions in the indoor space, and the specific arrangement point is required to satisfy that the spherical receivers 21 on the reference plate 20 of the standard coordinate system can receive signals of more than two IGPS transmitters 31, so that the coordinate positions of the spherical receivers 21 on the reference plate 20 of the standard coordinate system can be calculated.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides an aircraft jumbo size measurement system based on laser radar and indoor GPS system which characterized in that: the system comprises an AGV trolley (10) provided with a robot, a laser radar (40) clamped at the tail end of a mechanical arm of the robot, a standard coordinate system reference plate (20) and an indoor GPS system (30); the indoor GPS system (30) is provided with a global coordinate system Q; the indoor GPS system (30) monitors the pose of the standard coordinate system reference plate (20) in a global coordinate system Q established by the indoor GPS system (30).

2. An aircraft large-size measurement system based on a laser radar and an indoor GPS system, according to claim 1, is characterized in that: when the large-size measuring system of the airplane works, the relative pose between the laser radar (40) and the reference plate (20) of the standard coordinate system is kept unchanged.

3. An aircraft large-size measurement system based on a laser radar and an indoor GPS system, according to claim 2, is characterized in that: the lidar (40) may establish a lidar coordinate system L.

4. An aircraft large-size measurement system based on a laser radar and an indoor GPS system, according to claim 1, 2 or 3, characterized in that: the standard coordinate system reference plate (20) is provided with three spherical receivers (21); the spherical centers of three spherical receivers (21) can establish a standard reference coordinate system S.

5. An aircraft large-size measurement system based on a laser radar and an indoor GPS system, according to claim 4, is characterized in that: the connecting lines of the three spherical receivers (21) are right-angled, and the distances from the spherical receivers (21) at two ends of the right-angled to the spherical receivers (21) at the right-angled are different.

6. An aircraft large-size measurement system based on a laser radar and an indoor GPS system, according to claim 5, is characterized in that: the indoor GPS system (30) comprises an IGPS transmitter (31), a spherical receiver (21) and a central processing unit, wherein the spherical receiver (21) and the central processing unit are respectively arranged on an indoor and standard coordinate system reference plate (20); the IGPS transmitter (31) is disposed at a plurality of positions of an indoor space.