CN114674222A - Method for aligning coordinate systems of composite material part and forming tool of airplane - Google Patents
Method for aligning coordinate systems of composite material part and forming tool of airplane Download PDFInfo
- Publication number
- CN114674222A CN114674222A CN202210145200.0A CN202210145200A CN114674222A CN 114674222 A CN114674222 A CN 114674222A CN 202210145200 A CN202210145200 A CN 202210145200A CN 114674222 A CN114674222 A CN 114674222A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- probe
- longitudinal direction
- horizontal bar
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/70—Maintenance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/70—Maintenance
- B29C2033/705—Mould inspection means, e.g. cameras
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to the field of maintenance of aircraft manufacturing equipment, in particular to a method for aligning an aircraft composite part with a forming tool coordinate system, which comprises the steps of measuring a certain number of point coordinates on two horizontal and vertical lines of a tool by using a dual-camera system and a probe, and scanning by using a laser scanner to obtain a tool film surface model; during digital-analog analysis, two straight lines are respectively fitted according to points on the transverse and longitudinal scribed lines obtained through measurement, and then the two straight lines are aligned with the corresponding scribed lines in the design model, so that alignment of the scanning model and the design model is completed, alignment effectiveness of tool scanning data and the design model can be guaranteed through the method, and analysis accuracy is improved.
Description
Technical Field
The invention relates to the technical field of digital photogrammetry, in particular to a method for aligning an aircraft composite part with a forming tool coordinate system.
Background
With the increasing demands on the use performance of airplanes, the aviation manufacturing industry needs to face not only the challenge of further improving the assembly quality of airplanes, but also the challenges in the aspects of new material application, precise processing of airplane parts and the like.
Due to the characteristics of high strength, low density and the like, the composite material becomes one of important part production raw materials in the modern aviation manufacturing industry. Among the various composite parts, aircraft ailerons are representative composite parts. During production, a specific forming tool is needed, and composite material laying and subsequent processes are carried out on the surface of the tool, so that the final appearance size precision of the aileron is directly determined by the size precision of the surface of the tool pasting film for production. However, after the tool is used for a long time, the tool can deform to a certain extent due to factors such as abrasion and corrosion, and when the tool is serious, the whole film sticking surface deforms, so that the quality of a produced product is influenced. At present, the deformation degree of the tool cannot be fully reflected by a detection method of the tool, and the actual geometric size condition of the tool cannot be effectively analyzed by data acquired in a laser scanning mode without adopting a reasonable method and designing a digital model for alignment.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method for performing coordinate alignment on a production tool model and a design model of an airplane composite material aileron obtained by using a laser scanner so as to ensure the alignment effectiveness of tool scanning data and the design model and further improve the analysis accuracy.
In order to realize the technical effects, the invention is realized by the following technical scheme:
a method for aligning an aircraft composite part with a forming tool coordinate system specifically comprises the following steps:
step 1: the points on the horizontal and vertical lines are measured with a probe. During measurement, the double-camera system shoots the probe, and the mark point P on the probe is identified according to the coding point on the probe1、P2、P3The coordinate of the probe coordinate system is (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3) And the measurement is carried out in advance by a three-coordinate measuring machine.
Step 2: and calculating the coordinate value of the probe mark point on the left camera. Calculating the mark point P on the probe according to the binocular vision principle1、P2、P3Coordinate value (x) in the left camera coordinate system1’,y1’,z1’)、(x2’,y2’,z2’)、 (x3’,y3’,z3’)。
The mark point P on the probe1、P2、P3Coordinates in the probe coordinate system and coordinates in the left camera coordinate system have the following coordinate conversion relationship:
where Rc is a rotation matrix of 3 × 3 and Tc is a translation vector of 3 × 1, which together define the transformation relationship between the probe coordinate system and the camera coordinate system.
In the above formula, according to the mark point P on the probe1、P2、P3And (3) calculating a rotation matrix Rc and a translation vector Tc between the camera coordinate system and the probe coordinate system through optimization algorithms such as a singular value decomposition method, a quaternion method, a least square method and the like on the coordinates under the probe coordinate system and the coordinates under the camera coordinate system.
And 3, step 3: and acquiring coordinates of the probe in a camera coordinate system. Probe PCThe coordinate under the probe coordinate system is (x)c,yc,zc) The values are calibrated in advance by means of a three-coordinate measuring machine. For a probe in a probe coordinate systemCoordinates, then its coordinates in the camera coordinate system are:
and 4, step 4: and measuring and fitting the horizontal and vertical lines. Respectively taking the number k of the transverse scribed lines and the longitudinal scribed lines by using a measuring pen probe1And k2More than 3 points, the horizontal spacing u and the vertical spacing v of the sampling are respectively as follows:
u＝Lu/(k1-1)
v＝Lv/(k2-1)
the sets of points on the transverse and longitudinal scribe lines measured by the measuring pen are respectively represented by U ═ U (U ═i, i＝1,2…,k1) And V ═ V (V)i,i＝1,2…,k2). Under a measurement coordinate system, the equations of the horizontal and vertical lines are respectively as follows:
transversely scribing: lHorizontal bar＝f(x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar) I.e. by
Longitudinal scribing: lLongitudinal direction＝f(x0,y0,z0,mLongitudinal direction,nLongitudinal direction,rLongitudinal direction) I.e. by
Wherein (x)0,y0,z0) Is the intersection point of the transverse scribed line and the longitudinal scribed line, (m)Horizontal bar,nHorizontal bar,rHorizontal bar) Is the cosine of the angle of the transverse scribe line, (m)Longitudinal direction,nLongitudinal direction,rLongitudinal direction) The cosine of the angle of the longitudinal scribe line.
Substituting U into lHorizontal bar＝f(x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar) Substituting V into lLongitudinal direction＝f(x0,y0,z0,mLongitudinal direction,nLongitudinal direction,rLongitudinal direction) Parallel connection can be solved to obtain x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar，mLongitudinal direction,nLongitudinal direction,rLongitudinal directionAnd 9 unknowns.
In a product design digital model, extracting a transverse reticle and a longitudinal reticle respectively:
Theoretical value of transverse reticle: l'Horizontal bar＝f(x0’,y0’,z0’,m’Horizontal bar,n’Horizontal bar,r’Horizontal bar) Namely:
theoretical value of longitudinal scale: l'Longitudinal direction＝f(x0’,y0’,z0’,m’Longitudinal direction,n’Longitudinal direction,r’Longitudinal direction) I.e. by
And 5: and acquiring a translation matrix of a horizontal and vertical reticle coordinate system. For a point in the product design coordinate system, the following conversion relationship exists between the coordinate value P ' (x ', y ', z ') in the design coordinate system and the coordinate value P ' (x, y, z) in the measurement coordinate system:
(x’,y’,z’)T＝R(x,y,z)T+T
wherein, (x ', y ', z ')TAnd (x, y, z)TRespectively, (x ', y ', z ') and (x, y, z), R is a rotational matrix of 3 × 3, and T is a translational vector of 3 × 1. R and T define a conversion relationship between the measurement coordinate values and the design coordinate values.
In FIG. 4, let x0’＝x0，y0’＝y0，z0’＝z0And then the translation of the coordinate system can be completed to obtain T:
step 6: and acquiring a rotation matrix of a horizontal and vertical reticle coordinate system. For a plane composed of transverse scribes and longitudinal scribes, it can be expressed in the design coordinate system and the measurement coordinate system, respectively
S’:A’X+B’Y+C’Z+1＝0
S’:AX+BY+CZ+1＝0
Wherein, (A ', B', C ') is a normal vector of the plane S', and (A, B, C) is a normal vector of the plane S.
Rotating the X of the measuring coordinate system to coincide with the X' axis of the design coordinate system by an angle alpha,
α＝arccos A’-arccos A
rotating Y of the measuring coordinate system to coincide with Y' axis of the design coordinate system by a rotation angle beta,
β＝arccos B’-arccos B
Rotating the Z of the measuring coordinate system to coincide with the Z' axis of the design coordinate system by a rotation angle beta,
γ＝arccos C’-arccos C
solving a rotation matrix R:
and finishing the alignment of the measurement model and the design model. According to the obtained R and T, the following can be obtained:
(x’,y’,z’)T＝R(x,y,z)T+T
and 7: the measurement straight line is aligned with the design model. Scanning the surface of the workpiece film by using a laser scanner to obtain a point cloud data set Q ═ QiI ═ 1,2, …, n }, where q is equal toiN is the total number of points for the points on the film side acquired by the scanner.
The obtained point cloud data can be converted to a design coordinate system according to [ R T ], namely:
Q’＝RQ+T
the invention has the advantages that:
the patent provides a method for carrying out coordinate alignment on an airplane composite flap production tool model and a design model acquired by using a laser scanner, wherein a certain number of point coordinates on two horizontal and vertical scribed lines of the tool are measured by using a double-camera system and a probe, and then the tool film surface model is obtained by scanning by using the laser scanner; during digital-analog analysis, two straight lines are respectively fitted according to points on the transverse and longitudinal scribed lines obtained through measurement, and then the two straight lines are aligned with the corresponding scribed lines in the design model, so that alignment of the scanning model and the design model is completed, alignment effectiveness of tool scanning data and the design model can be guaranteed through the method, and analysis accuracy is improved.
Drawings
Fig. 1 is a flowchart of a method for aligning an aircraft composite part with a forming tool coordinate system.
FIG. 2 is a schematic view of a horizontal and vertical scribe line of the tool.
FIG. 3 is a schematic view of measurement points.
Fig. 4 is a schematic diagram of coordinate system transformation.
Detailed Description
The following examples are given for the purpose of illustrating the present invention, and the detailed embodiments and specific procedures are given for the purpose of implementing the present invention on the premise of the technical solution of the present invention.
It should be noted that all directional indicators (such as two sides, an edge, an upper side, a lower side, a left side, a right side, a front side, a rear side, a middle side, a top side, a bottom side, a tail side, an axial side, and a radial side) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion state, and the like in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicators are changed accordingly.
Example 1
A method for aligning an aircraft composite material part with a forming tool coordinate system comprises the steps of measuring a certain number of point coordinates on two horizontal and vertical lines of a tool by using a double-camera system and a probe, and scanning by using a laser scanner to obtain a tool film surface model; during digital-analog analysis, two straight lines are respectively fitted according to points on the transverse and longitudinal scribed lines obtained through measurement, and then the two straight lines are aligned with the corresponding scribed lines in the design model, so that the alignment of the scanning model and the design model is completed. The patent provides a method for carrying out coordinate alignment on an airplane composite flap production tooling model and a design model acquired by using a laser scanner, wherein a double-camera system and a probe are utilized to measure a certain number of point coordinates on two horizontal and vertical lines of a tooling, and then the tooling is scanned by using the laser scanner to obtain a tooling film surface model; during digital-analog analysis, two straight lines are respectively fitted according to points on the transverse and longitudinal scribed lines obtained through measurement, and then the two straight lines are aligned with the corresponding scribed lines in the design model, so that alignment of the scanning model and the design model is completed, alignment effectiveness of tool scanning data and the design model can be guaranteed through the method, and analysis accuracy is improved. Before measurement, reflecting mark points are required to be pasted on the surface of a tool to be measured, and a universal calibration method is used for calibrating the double-camera system to obtain a rotation matrix R and a translation vector T between the double cameras.
Example 2
As shown in fig. 1-3, the method comprises the following steps:
step 1: the points on the horizontal and vertical lines are measured with a probe. During measurement, the double-camera system shoots the probe, and the mark point P on the probe is identified according to the coding point on the probe1、P2、P3The coordinate of the probe coordinate system is (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3) And the measurement is carried out in advance by a three-coordinate measuring machine.
Step 2: and calculating the coordinate value of the probe mark point on the left camera. Calculating the mark point P on the probe according to the binocular vision principle1、P2、P3Coordinate value (x) in the left camera coordinate system1’,y1’,z1’)、(x2’,y2’,z2’)、 (x3’,y3’,z3’)。
The mark point P on the probe1、P2、P3Coordinates in the probe coordinate system and in the left camera coordinate systemThe following coordinate transformation relationship exists between the two coordinates:
where Rc is a rotation matrix of 3 × 3 and Tc is a translation vector of 3 × 1, which together define the transformation relationship between the probe coordinate system and the camera coordinate system.
In the above formula, according to the mark point P on the probe1、P2、P3The rotation matrix R between the camera coordinate system and the probe coordinate system can be calculated by optimizing algorithms such as a singular value decomposition method, a quaternion method, a least square method and the like on the coordinates under the probe coordinate system and the coordinates under the camera coordinate system cAnd translation vector Tc。
And 3, step 3: and acquiring coordinates of the probe in a camera coordinate system. Probe PCThe coordinate under the probe coordinate system is (x)c,yc,zc) The values are calibrated beforehand by means of a three-coordinate measuring machine. For probe coordinates in the probe coordinate system, the coordinates in the camera coordinate system are:
and 4, step 4: and measuring and fitting the horizontal and vertical lines. Respectively taking the number k of the transverse scribed lines and the longitudinal scribed lines by using a measuring pen probe1And k is2More than 3 points, the horizontal spacing u and the vertical spacing v of the sampling are respectively as follows:
u＝Lu/(k1-1)
v＝Lv/(k2-1)
the sets of points on the transverse and longitudinal scribe lines measured by the measuring pen are respectively represented by U ═ U (U ═i, i＝1,2…,k1) And V ═ V (V)i,i＝1,2…,k2). Under a measurement coordinate system, the equations of the horizontal and vertical lines are respectively as follows:
transversely scribing:lhorizontal bar＝f(x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar) I.e. by
Longitudinal scribing: lLongitudinal direction＝f(x0,y0,z0,mLongitudinal direction,nLongitudinal direction,rLongitudinal direction) I.e. by
Wherein (x)0,y0,z0) Is the intersection point of the transverse scribed line and the longitudinal scribed line, (m)Horizontal bar,nHorizontal bar,rHorizontal bar) Is the cosine of the angle of the transverse scribe line, (m)Longitudinal direction,nLongitudinal direction,rLongitudinal direction) The cosine of the angle of the longitudinal scribe line.
Substituting U into lHorizontal bar＝f(x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar) Substituting V into lLongitudinal direction＝f(x0,y0,z0,mLongitudinal direction,nLongitudinal direction,rLongitudinal direction) Parallel connection can be solved to obtain x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar，mLongitudinal direction,nLongitudinal direction,rLongitudinal directionAnd 9 unknowns.
In a product design digital model, extracting a transverse reticle and a longitudinal reticle respectively:
Theoretical value of transverse reticle: l'Cross bar＝f(x0’,y0’,z0’,m’Horizontal bar,n’Horizontal bar,r’Horizontal bar) Namely:
theoretical value of longitudinal scale: l'Longitudinal direction＝f(x0’,y0’,z0’,m’Longitudinal direction,n’Longitudinal direction,r’Longitudinal direction) I.e. by
And 5: and acquiring a translation matrix of a horizontal and vertical reticle coordinate system. For a point in the product design coordinate system, the following conversion relationship exists between the coordinate value P 'in the design coordinate system and the coordinate value P' in the measurement coordinate system:
(x’,y’,z’)T＝R(x,y,z)T+T
wherein, (x ', y ', z ')TAnd (x, y, z)TRespectively, (x ', y ', z ') and (x, y, z), R is a rotational matrix of 3 × 3, and T is a translational vector of 3 × 1. R and T define a conversion relationship between the measurement coordinate values and the design coordinate values.
In FIG. 4, let x0’＝x0，y0’＝y0，z0’＝z0And then the translation of the coordinate system can be completed to obtain T:
step 6: and acquiring a rotation matrix of a horizontal and vertical reticle coordinate system. For a plane composed of transverse scribes and longitudinal scribes, it can be expressed in the design coordinate system and the measurement coordinate system, respectively
S’:A’X+B’Y+C’Z+1＝0
S’:AX+BY+CZ+1＝0
Wherein, (A ', B', C ') is a normal vector of the plane S', and (A, B, C) is a normal vector of the plane S.
Rotating the X of the measuring coordinate system to coincide with the X' axis of the design coordinate system by an angle alpha,
α＝arccos A’-arccos A
rotating Y of the measuring coordinate system to coincide with Y' axis of the design coordinate system by a rotation angle beta,
β＝arccos B’-arccos B
Rotating the Z of the measuring coordinate system to coincide with the Z' axis of the design coordinate system by a rotation angle beta,
γ＝arccos C’-arccos C
solving a rotation matrix R:
and finishing the alignment of the measurement model and the design model. According to the obtained R and T, the following can be obtained:
(x’,y’,z’)T＝R(x,y,z)T+T
and 7: the measurement straight line is aligned with the design model. Scanning the surface of the workpiece film by using a laser scanner to obtain a point cloud data set Q ═ QiI ═ 1,2, …, n }, where q is equal toiN is the total number of points for the points on the film side acquired by the scanner.
The obtained point cloud data can be converted to a design coordinate system according to [ R T ], namely:
Q’＝RQ+T。
Claims (10)
1. a method for aligning an aircraft composite material part with a forming tool coordinate system is characterized in that a double-camera system and a probe are utilized to measure a certain number of point coordinates on two horizontal and vertical lines of the tool, and then a laser scanner is used for scanning to obtain a tool film surface model; during digital-analog analysis, two straight lines are respectively fitted according to points on the transverse and longitudinal scribed lines obtained through measurement, and then the two straight lines are aligned with the corresponding scribed lines in the design model, so that the alignment of the scanning model and the design model is completed.
2. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 1, wherein before measurement, a light-reflecting mark point needs to be pasted on the surface of the tool to be measured, and a universal calibration method is used for calibrating a dual-camera system to obtain a rotation matrix R and a translational vector T between the dual cameras.
3. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 1 or 2, characterized by comprising the following steps:
step 1: measuring points on the horizontal and vertical scribed lines by using a probe;
and 2, step: calculating the coordinate value of the probe mark point on the left camera;
and step 3: acquiring coordinates of the probe under a camera coordinate system;
and 4, step 4: measuring horizontal and vertical line fitting;
and 5: acquiring a translation matrix of a horizontal and vertical reticle coordinate system;
step 6: acquiring a horizontal and vertical reticle coordinate system rotation matrix;
and 7: the measurement straight line is aligned with the design model.
4. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 3, wherein the step 1 specifically comprises: during measurement, the double-camera system shoots the probe, and the mark point P on the probe is identified according to the coding point on the probe1、P2、P3The coordinate of the probe coordinate system is (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3) And the measurement is carried out in advance by a three-coordinate measuring machine.
5. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 4, wherein the step 2 specifically comprises: calculating the mark point P on the probe according to the binocular vision principle 1、P2、P3Coordinate value (x) in the left camera coordinate system1’,y1’,z1’)、(x2’,y2’,z2’)、(x3’,y3’,z3’)；
The mark point P on the probe1、P2、P3The coordinates in the probe coordinate system and the coordinates in the left camera coordinate system have the following coordinate conversion relationship:
wherein R iscIs a rotation matrix of 3 x 3 and TcThe translation vector is 3 multiplied by 1, and the translation vector jointly define the transformation relation between the probe coordinate system and the camera coordinate system;
in the above formula, according to the mark point P on the probe1、P2、P3The rotation matrix R between the camera coordinate system and the probe coordinate system can be calculated by the coordinate under the probe coordinate system and the coordinate under the camera coordinate system through a singular value decomposition method, a quaternion method or a least square method optimization algorithmcAnd translation vector Tc。
6. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 5, wherein the step 3 is specifically as follows: probe PCThe coordinate in the probe coordinate system is (x)c,yc,zc) The value is calibrated in advance by a three-coordinate measuring machine, and for the coordinates of the probe under a probe coordinate system, the coordinates under a camera coordinate system are as follows:
7. the method for aligning the aircraft composite part with the forming tool coordinate system according to claim 6, wherein the step 4 is specifically as follows: respectively taking the number k of the transverse scribed lines and the longitudinal scribed lines by using a measuring pen probe 1And k2More than 3 points, the horizontal spacing u and the vertical spacing v of the sampling are respectively as follows:
u＝Lu/(k1-1)
v＝Lv/(k2-1)
the sets of points on the transverse and longitudinal scribe lines measured by the measuring pen are respectively represented by U ═ U (U ═i,i＝1,2…,k1) And V ═ V (V)i,i＝1,2…,k2) (ii) a Under a measurement coordinate system, the equations of the horizontal and vertical lines are respectively as follows:
transversely scribing: lHorizontal bar＝f(x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar) I.e. by
Longitudinal scribing: lLongitudinal direction＝f(x0,y0,z0,mLongitudinal direction,nLongitudinal direction,rLongitudinal direction) I.e. by
Wherein (x)0,y0,z0) Is the intersection point of the transverse scribed line and the longitudinal scribed line, (m)Horizontal bar,nHorizontal bar,rHorizontal bar) Is the cosine of the angle of the transverse scribe line, (m)Longitudinal direction,nLongitudinal direction,rLongitudinal direction) Is the cosine of the angle of the longitudinal scribe line;
substituting U into lHorizontal bar＝f(x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar) Substituting V into lLongitudinal direction＝f(x0,y0,z0,mLongitudinal direction,nLongitudinal direction,rLongitudinal direction) Parallel, can be solved to obtain x0,y0,z0,mHorizontal bar,nHorizontal bar,rHorizontal bar，mLongitudinal direction,nLongitudinal direction,rLongitudinal direction9 unknowns;
in a product design digital model, extracting a transverse reticle and a longitudinal reticle respectively:
theoretical value of transverse reticle: l'Horizontal bar＝f(x0’,y0’,z0’,m’Horizontal bar,n’Horizontal bar,r’Horizontal bar) Namely:
theoretical value of longitudinal scale: l'Longitudinal direction＝f(x0’,y0’,z0’,m’Longitudinal direction,n’Longitudinal direction,r’Longitudinal direction) I.e. by
8. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 7, wherein the step 5 specifically comprises:
for a point in the product design coordinate system, the following conversion relationship exists between the coordinate value P 'in the design coordinate system and the coordinate value P' in the measurement coordinate system:
(x’,y’,z’)T＝R(x,y,z)T+T
Wherein, (x ', y ', z ')TAnd (x, y, z)TTranspose matrices of (x ', y ', z ') and (x, y, z), respectively, R is a rotation matrix of 3 × 3, T is a translation vector of 3 × 1, and R and T define a conversion relationship between the measurement coordinate values and the design coordinate values.
9. The method for aligning the aircraft composite part with the forming tool coordinate system according to claim 8, wherein the step 6 is specifically as follows:
for the plane formed by the transverse scribed lines and the longitudinal scribed lines, the design coordinate system and the measurement coordinate system can be expressed as
S’:A’X+B’Y+C’Z+1＝0
S’:AX+BY+CZ+1＝0
Wherein, (A ', B', C ') is a normal vector of the plane S', and (A, B, C) is a normal vector of the plane S.
Rotating the X of the measuring coordinate system to coincide with the X' axis of the design coordinate system by an angle alpha,
α＝arccos A’-arccos A
rotating Y of the measuring coordinate system to coincide with Y' axis of the design coordinate system by a rotation angle beta,
β＝arccos B’-arccos B
rotating the Z of the measuring coordinate system to coincide with the Z' axis of the design coordinate system by a rotation angle beta,
γ＝arccos C’-arccos C
solving a rotation matrix R:
and finishing the alignment of the measurement model and the design model, and obtaining the following results according to the obtained R and T:
(x’,y’,z’)T＝R(x,y,z)T+T。
10. the method for aligning the aircraft composite part with the forming tool coordinate system according to claim 9, wherein the step 7 is specifically as follows:
Scanning the surface of the workpiece film by using a laser scanner to obtain a point cloud data set Q ═ QiI ═ 1,2, …, n }, where q is equal toiN is the total number of points on the film sticking surface acquired by the scanner,
the obtained point cloud data can be converted to a design coordinate system according to [ R T ], namely:
Q’＝RQ+T。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210145200.0A CN114674222B (en) | 2022-02-17 | 2022-02-17 | Alignment method for aircraft composite part and forming tool coordinate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210145200.0A CN114674222B (en) | 2022-02-17 | 2022-02-17 | Alignment method for aircraft composite part and forming tool coordinate system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114674222A true CN114674222A (en) | 2022-06-28 |
| CN114674222B CN114674222B (en) | 2023-06-09 |
Family
ID=82071698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210145200.0A Active CN114674222B (en) | 2022-02-17 | 2022-02-17 | Alignment method for aircraft composite part and forming tool coordinate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114674222B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118031805A (en) * | 2024-04-12 | 2024-05-14 | 深圳三思检测技术有限公司 | Visual detection method, visual detection device and film sticking system |
| CN118031805B (en) * | 2024-04-12 | 2024-07-02 | 深圳三思检测技术有限公司 | Visual detection method, visual detection device and film sticking system |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001101410A (en) * | 1999-09-28 | 2001-04-13 | Suzuki Motor Corp | Transformation matrix data generating method, correction jig and three-dimensional measuring system |
| CN1570547A (en) * | 2004-04-23 | 2005-01-26 | 天津大学 | Light pen type portable three dimensional coordinates measuring system |
| JP2006292426A (en) * | 2005-04-06 | 2006-10-26 | Sharp Corp | Coordinate-measuring method and dimension measuring method |
| CN101634544A (en) * | 2009-09-02 | 2010-01-27 | 郑州辰维科技有限公司 | Water turbine blade blank profile measuring and machining allowance analyzing method |
| JP2012068062A (en) * | 2010-09-21 | 2012-04-05 | Fuji Xerox Co Ltd | Alignment device, alignment system and alignment program |
| CN102589437A (en) * | 2012-03-09 | 2012-07-18 | 天津大学 | Calibration method for measuring head center position in light pen-type portable three-coordinate measuring system |
| CN108692688A (en) * | 2018-04-28 | 2018-10-23 | 武汉理工大学 | A kind of robot measurement-system of processing scanner coordinate system automatic calibration method |
| CN109373895A (en) * | 2018-10-18 | 2019-02-22 | 九江精密测试技术研究所 | A kind of light pen measuring system light pen |
| CN109443207A (en) * | 2018-11-19 | 2019-03-08 | 华中科技大学 | A kind of light pen robot in-situ measurement system and method |
| CN110095060A (en) * | 2019-03-12 | 2019-08-06 | 中建三局第一建设工程有限责任公司 | Steel construction rapid quality detection method based on 3-D scanning technology |
| CN110440769A (en) * | 2019-08-20 | 2019-11-12 | 中国铁建大桥工程局集团有限公司 | A kind of measurement method of positioning line fault deviator in length and breadth |
| CN111578873A (en) * | 2020-04-22 | 2020-08-25 | 上海市基础工程集团有限公司 | Method for measuring initial positioning and rapid centering of shield machine |
| CN111806720A (en) * | 2020-06-24 | 2020-10-23 | 成都飞机工业（集团）有限责任公司 | Rectification skin construction method based on measured data of wing body butt joint |
| CN112828878A (en) * | 2019-11-22 | 2021-05-25 | 中国科学院沈阳自动化研究所 | Three-dimensional measurement and tracking method for large-scale equipment in butt joint process |
| CN113240674A (en) * | 2021-07-09 | 2021-08-10 | 深圳市艾视铂智能技术有限公司 | Coplanarity detection method based on three-dimensional point cloud and two-dimensional image fusion |
-
2022
- 2022-02-17 CN CN202210145200.0A patent/CN114674222B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001101410A (en) * | 1999-09-28 | 2001-04-13 | Suzuki Motor Corp | Transformation matrix data generating method, correction jig and three-dimensional measuring system |
| CN1570547A (en) * | 2004-04-23 | 2005-01-26 | 天津大学 | Light pen type portable three dimensional coordinates measuring system |
| JP2006292426A (en) * | 2005-04-06 | 2006-10-26 | Sharp Corp | Coordinate-measuring method and dimension measuring method |
| CN101634544A (en) * | 2009-09-02 | 2010-01-27 | 郑州辰维科技有限公司 | Water turbine blade blank profile measuring and machining allowance analyzing method |
| JP2012068062A (en) * | 2010-09-21 | 2012-04-05 | Fuji Xerox Co Ltd | Alignment device, alignment system and alignment program |
| CN102589437A (en) * | 2012-03-09 | 2012-07-18 | 天津大学 | Calibration method for measuring head center position in light pen-type portable three-coordinate measuring system |
| CN108692688A (en) * | 2018-04-28 | 2018-10-23 | 武汉理工大学 | A kind of robot measurement-system of processing scanner coordinate system automatic calibration method |
| CN109373895A (en) * | 2018-10-18 | 2019-02-22 | 九江精密测试技术研究所 | A kind of light pen measuring system light pen |
| CN109443207A (en) * | 2018-11-19 | 2019-03-08 | 华中科技大学 | A kind of light pen robot in-situ measurement system and method |
| CN110095060A (en) * | 2019-03-12 | 2019-08-06 | 中建三局第一建设工程有限责任公司 | Steel construction rapid quality detection method based on 3-D scanning technology |
| CN110440769A (en) * | 2019-08-20 | 2019-11-12 | 中国铁建大桥工程局集团有限公司 | A kind of measurement method of positioning line fault deviator in length and breadth |
| CN112828878A (en) * | 2019-11-22 | 2021-05-25 | 中国科学院沈阳自动化研究所 | Three-dimensional measurement and tracking method for large-scale equipment in butt joint process |
| CN111578873A (en) * | 2020-04-22 | 2020-08-25 | 上海市基础工程集团有限公司 | Method for measuring initial positioning and rapid centering of shield machine |
| CN111806720A (en) * | 2020-06-24 | 2020-10-23 | 成都飞机工业（集团）有限责任公司 | Rectification skin construction method based on measured data of wing body butt joint |
| CN113240674A (en) * | 2021-07-09 | 2021-08-10 | 深圳市艾视铂智能技术有限公司 | Coplanarity detection method based on three-dimensional point cloud and two-dimensional image fusion |
Non-Patent Citations (2)
| Title |
|---|
| 李绪武: "汽车钣金件逆向工程中数据分层处理技术研究及应用", 《中国优秀硕士学位论文全文数据库（信息科技辑）》 * |
| 梅龙: "激光跟踪仪在飞机钣金零件检测中的应用研究", 《自动化应用》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118031805A (en) * | 2024-04-12 | 2024-05-14 | 深圳三思检测技术有限公司 | Visual detection method, visual detection device and film sticking system |
| CN118031805B (en) * | 2024-04-12 | 2024-07-02 | 深圳三思检测技术有限公司 | Visual detection method, visual detection device and film sticking system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114674222B (en) | 2023-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3715780B1 (en) | Method for the establishment and the spatial calibration of a 3d measurement model based on a 1d displacement sensor | |
| WO2020118970A1 (en) | On-machine inspection and compensation method employing point clouds and applied to complex surface processing | |
| CN109883443B (en) | Line structure optical sensor spatial attitude calibration method | |
| CN109341546B (en) | Light beam calibration method of point laser displacement sensor at any installation pose | |
| CN112325796A (en) | Large-scale workpiece profile measuring method based on auxiliary positioning multi-view point cloud splicing | |
| CN110202318B (en) | Aviation blade positioning and attitude adjusting method based on bilateral ultrasonic rolling processing | |
| CN112614098B (en) | Blank positioning and machining allowance analysis method based on augmented reality | |
| CN111912335B (en) | Airplane surface datum hole identification method suitable for robot drilling and riveting system | |
| CN106767567A (en) | A kind of large-sized composite material component pastes mould degree non-contact detection method | |
| CN112697058A (en) | Machine vision-based large-size plate assembly gap on-line measurement system and method | |
| CN107941471A (en) | A kind of detection method of free form surface | |
| CN117272522B (en) | Portable aircraft curved surface skin rivet hole profile measurement system and method thereof | |
| CN108801193B (en) | Error and variation rule-based error measurement method for three-coordinate measuring machine | |
| CN110940296A (en) | Hypersonic aircraft rudder deflection angle measuring method | |
| CN114115123A (en) | Parameterized numerical control machining method and system for large-scale aviation thin-wall non-rigid part | |
| CN204514271U (en) | A kind of system of turbo blade vision-based detection | |
| CN113916128A (en) | Method for improving precision based on optical pen type vision measurement system | |
| CN108257184B (en) | Camera attitude measurement method based on square lattice cooperative target | |
| CN113295092B (en) | Line laser three-dimensional measurement system and method for thin-wall part | |
| CN113566735A (en) | Laser in-situ measurement method for rocket engine nozzle cooling channel line | |
| CN112344849B (en) | High-precision measurement method for bending degree and torsion degree of connecting rod | |
| CN110017770A (en) | A kind of vision-based detection scaling method applied to three coordinate measuring machine | |
| CN114674222A (en) | Method for aligning coordinate systems of composite material part and forming tool of airplane | |
| CN106323587B (en) | The monocular video high-precision measuring method of wing model in wind tunnel flexible deformation | |
| CN110132195B (en) | Three-dimensional radius compensation method for probe ball measurement of blade section contact type scanning measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |