CN114923467A - Space measurement accessibility simulation analysis and arrangement method of laser tracker and IGPS - Google Patents
Space measurement accessibility simulation analysis and arrangement method of laser tracker and IGPS Download PDFInfo
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Abstract
The application relates to the technical field of digital measurement, in particular to a method for simulating, analyzing and arranging accessibility of space measurement of a laser tracker and an IGPS (integrated gate system), which comprises the following steps: constructing a robot simulation environment, configuring a three-dimensional model of each measuring instrument as a robot model, and giving position coordinates of a plurality of key measuring points, wherein a laser radar with two rotational degrees of freedom is installed at the tail end of the measuring model as a laser transmitter; calculating two rotation angles of the laser radar according to the position coordinates of each measuring point, enabling light rays emitted by the laser radar to sequentially point to each key measuring point, obtaining the actual measurement distance between each measuring point and the measuring instrument, and analyzing the difference value between the actual measurement distance and the theoretical distance to judge the accessibility of the measuring point; if the measurement of the measuring points is not reachable, the laser tracker station position enabling all the measuring points to be measurable is further searched in a gridding search mode, the arrangement of the measuring instruments is completed, and then the arrangement position of the reachable reference points (ERS) is measured through gridding search analysis, and the station transfer of the measuring instruments is completed.
Description
Technical Field
The application relates to the technical field of digital measurement, in particular to a laser tracker and an indoor GPS (integrated global positioning system) (IGPS) space measurement accessibility simulation analysis and arrangement method.
Background
In the process of airplane digital assembly, airplane pose, fuselage part form and position tolerance and the like need to be measured, and large-size measuring instruments such as a laser tracker and an IGPS (integrated waveguide display) are two common devices. The measurement principle is to emit a laser beam and receive reflected light from key points to determine their spatial three-dimensional coordinates. Therefore, during the use of devices such as laser trackers and IGPS, it is necessary to ensure that an unobstructed light line is formed between the point to be measured and the device to ensure the accessibility of the measurement. However, in the digital assembly environment of the airplane, the product size is large, the number of key measurement feature points is large, and objects such as a working ladder, a tool, a measuring device and the like in the environment except the product can shield a measurement light path, so that the measurement cannot be achieved, and the digital assembly error of the airplane is large or the assembly fails. Therefore, during the digital assembly of the aircraft, the accessibility of the measurement beam path of the measuring instrument to the measurement key point must be analyzed.
The measurement optical path accessibility analysis of the measurement instruments (laser tracker and IGPS) to the measurement key points has the following difficulties: (1) because the measurement environment model is complex, theoretical analysis cannot be performed in a mathematical modeling mode; (2) at present, any software or platform which can be directly used for simulating the accessibility of a measuring instrument light path does not exist, and most analysis methods are based on engineering experience and lack of theoretical support; (3) the measurement site environment is complex and may change, and the measurement light path accessibility needs to be analyzed quickly so as to re-plan the measurement station, which puts high demands on the speed and simplicity of the method.
Currently, some documents have developed related measurement optical path accessibility analysis. Yangxiaohui of Nanjing aerospace university proposes a measurement accessibility analysis method based on CATIA, which establishes a line segment or a slender cylinder simulation light path between measurement equipment and a point to be measured, further detects collision interference points of the line segment/cylinder and all models in space, and observes whether the nearest interference point is located near the measurement point to detect the measurement accessibility. DELMIA software is developed secondarily by stone tracking and other people of the university of qinghua, a small entity ball is launched from a tracker to the position of a measurement target ball, and if collision occurs in the movement process of the small ball, light rays are considered to be shielded by a real object, so that the accessibility of a light path of a measurement point is judged. However, the core of the above research is model interference inspection or motion collision detection, and thus the calculation amount is large and takes a long time. The method is poor in man-machine interaction friendliness and cannot realize visual observation of the optical path of the measuring point. Therefore, a set of brand-new systematic solution is developed, the simulation analysis of the accessibility of the light path measurement can be simply, quickly and visually carried out on the two measuring instruments, namely the laser tracker and the IGPS, and the pose of the measuring instrument is planned based on the method.
Disclosure of Invention
The application provides a space measurement accessibility simulation analysis and arrangement method and device of a laser tracker and an IGPS, electronic equipment and a storage medium, and aims to solve the problem of feasibility verification and planning of measurement arrangement positions of the laser tracker and the IGPS in airplane digital assembly.
The embodiment of the first aspect of the application provides a laser tracker and a method for simulating, analyzing and arranging space measurement accessibility of an IGPS.
As shown in fig. 2, the set of simulation analysis methods includes the following structural elements: (1) three-dimensional modeling software: the method is mainly used for constructing physical models of an object to be measured, an environmental object and measuring equipment; (2) a robot simulation engine: the engine is provided with a laser radar sensor, allows an environment model and a multi-degree-of-freedom robot model generated by modeling software to be introduced, and has dynamic performance to control the motion of each joint of the robot; (3) and (3) control program: the system is used for communicating with a robot simulation engine, controlling the joint motion of the measuring equipment, detecting the accessibility of the measurement, optimizing the station position of the measuring equipment and the like.
As shown in fig. 3, the set of simulation analysis methods includes the following dynamic interaction relationships between the following elements: building a model of an object to be measured, a measurement environment model and a measurement instrument model in modeling software, and extracting key measurement point cloud information from the object to be measured; the robot simulation engine allows the input of a measurement object and a measurement environment model, configures a measurement device model as a multi-degree-of-freedom robot model, and configures a laser radar sensor as a laser emitting device at the end of a measurement instrument. In addition, the robot simulation engine configures the robot with dynamic joint drivers and controllers, which can control the motion of the surveying instrument. The control program is used as a centralized control module, receives real-time data of the simulation engine and measurement key point data provided by modeling software, contains a basic measurement accessibility analysis algorithm, and a measuring instrument station optimization algorithm and an ERS point arrangement algorithm on the basis of the basic measurement accessibility analysis algorithm, communicates with the robot simulation engine, controls the robot simulation engine and analyzes the measurement data of the robot simulation engine.
The set of simulation analysis method comprises the following steps: constructing a robot simulation environment, configuring a three-dimensional model of each measuring instrument as a robot model, and giving position coordinates of a plurality of key measuring points, wherein a laser radar with two rotational degrees of freedom is installed at the tail end of the measuring model as a laser transmitter; calculating two rotation angles of the laser radar according to the position coordinates of each measuring point, enabling light rays emitted by the laser radar to sequentially point to each key measuring point, obtaining the actual measurement distance between each measuring point and the measuring instrument, and analyzing the difference value of the actual measurement distance and the theoretical distance to judge the accessibility of the measuring point; if the measurement of the measurement points is not reachable, the laser tracker station position enabling all the measurement points to be measurable is further searched in a gridding searching mode, the arrangement of the measurement instruments is completed, and then the arrangement position of the reachable reference points (ERS) is measured through gridding searching analysis, and the station transfer of the measurement instruments is completed.
Further, the building of the robot simulation environment and the building of the simulation model of each measuring instrument as the robot model specifically include: establishing a laser tracker as a robot model with multiple degrees of freedom; a laser radar simulation laser emitting device with two rotational degrees of freedom is added at the tail end of the laser tracker; and importing and configuring the whole measuring environment model and the robot model into the robot simulation platform.
Further, the calculating two rotation angles of the laser radar according to the position coordinates of each measurement point, so that the light emitted by the laser radar points to each measurement point in sequence, and analyzing the accessibility of the measurement points includes: calculating two-degree-of-freedom rotation angles of the laser emitting device according to the three-dimensional coordinates of the measuring points; controlling the laser emitting device to rotate and measuring the actual measurement distance in the simulation; analyzing the accessibility of the measuring point by comparing the actual measuring distance with the theoretical distance, and if the difference between the actual measuring distance and the theoretical distance is larger than an accessibility threshold, determining that the measuring point cannot be accessed; and obtaining the measurement performance of the laser tracker at the station according to the accessibility analysis result of all the measurement points.
Further, the finding of the laser tracker stations with measurable measuring points by means of gridding search to complete the arrangement of the measuring instruments, and the analyzing and measuring of the arrangement positions of the reachable reference points by means of gridding search to complete the station transfer of the measuring instruments includes: dividing a plurality of grid points around each preset measurement initial station of each measuring instrument; generating an n-dimensional measurement vector according to the accessibility analysis result of each measurement point of the measuring instrument; traversing the n-dimensional measurement vector of each measuring instrument to form a measurement combination, and traversing all the measurement combinations to obtain a combination station with reachable measurement; and determining the arrangement position of the reference point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the station transfer of the measuring instrument according to the arrangement position.
In the second aspect of the present application, for example, the measurement instrument arrangement in a certain environment in actual aviation digital assembly is provided, and an application case of the laser tracker and the spatial measurement reachability simulation analysis and arrangement module of the IGPS is provided, including: the modeling module is used for establishing three-dimensional models of a measuring instrument and a measuring environment, configuring a robot model of the measuring instrument and a laser transmitter at the tail end of the measuring instrument, and establishing a robot simulation environment; the calculation module is used for analyzing the accessibility of the optical path of each key measuring point and further analyzing the measurement accessibility of the measuring instrument to all measuring points under a certain station combination; and the planning module is used for planning the combined station of the measuring instrument on the whole field in a gridding searching mode when the measurement accessibility is not ideal, and planning the arrangement method of ERS points under the combined station through gridding searching analysis to complete station transfer of the measuring instrument.
Further, the modeling module is specifically configured to: establishing a laser tracker as a robot model with multiple degrees of freedom; a laser radar simulation laser emission device with two rotational degrees of freedom is added at the tail end of the laser tracker; and importing and configuring the whole measuring environment model and the robot model into the robot simulation platform.
Further, the calculation module is specifically configured to: calculating two-degree-of-freedom rotation angles of the laser emitting device according to the three-dimensional coordinates of the measuring points; controlling the laser emitting device to rotate and measuring the actual measurement distance in the simulation; analyzing the accessibility of the measuring point by comparing the actual measuring distance with the theoretical distance, and if the difference between the actual measuring distance and the theoretical distance is larger than an accessibility threshold, determining that the measuring point cannot be accessed; and obtaining the measurement performance of the laser tracker under the station according to the accessibility analysis results of all the measurement points.
Further, the planning module is specifically configured to: dividing a plurality of grid points around each preset measurement initial station of each measuring instrument; generating an n-dimensional measurement vector according to the accessibility analysis result of the measurement point of the measuring instrument; generating a measurement combination for the n-dimensional measurement vector of each measuring instrument, and traversing all the measurement combinations to obtain a combination station with reachable measurement; and determining the arrangement position of the reference point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the station transfer of the measuring instrument according to the arrangement position.
An embodiment of a third aspect of the present application provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the laser tracker and IGPS spatial measurement reachability simulation analysis and placement methods as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor, so as to implement the laser tracker and the spatial measurement reachability simulation analysis and arrangement method of the IGPS as described in the foregoing embodiments.
Therefore, the application has at least the following beneficial effects:
(1) the method has the advantages that the measurement accessibility simulation analysis of measuring instruments such as the laser tracker and the IGPS is realized by utilizing the robot simulation engine for the first time, and the arrangement of the laser tracker and the IGPS station with the measurement accessibility of all points to be measured as the principal principle can be further realized; (2) when the actual environment is changed or the key measuring point is changed, the station position of the measuring instrument can be quickly re-planned only by modifying data, and the practicability and the efficiency of the arrangement of the measuring instrument are effectively improved. (3) The method solves the main problem that the measurement instrument accessibility analysis calculation amount is large based on model interference inspection or motion collision detection in the related technology, so that the practical application is difficult to carry out; (4) the method can visually display the measuring effect of each measuring point in the form of the light path, is friendly and good in man-machine interaction, and can assist people to observe the measuring margin, which is not possessed by other methods.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a method for simulated analysis and placement of spatial measurement reachability of a laser tracker and an IGPS provided in accordance with an embodiment of the present application;
FIG. 2 is a schematic diagram of a static structural element of the simulation system constructed by the invention;
FIG. 3 is a schematic structural diagram of a laser tracker and an IGPS simulation analysis system for measuring accessibility according to an embodiment of the present application;
FIG. 4 is a diagram illustrating a point P to be measured in a simulation environment according to an embodiment of the present application i And laser i Example diagrams of mathematical abstraction models of (1);
FIG. 5 is a diagram illustrating implementation of a laser according to an embodiment of the present application i Analyzing a flow chart of the measurement accessibility of all the measurement points;
FIG. 6 is a flow chart illustrating measurement reachability analysis for all measurement instruments according to an embodiment of the present application;
FIG. 7 is a flowchart of a grid search method for a surveying instrument site according to an embodiment of the present application;
FIG. 8 is an exemplary diagram of establishing a urdf model of a desired measurement instrument provided in accordance with an embodiment of the present application;
FIG. 9 is a diagram illustrating an example of a laser tracker and an IGPS measurement simulation environment provided in accordance with an embodiment of the present application;
FIG. 10 is an exemplary illustration of observation of a point to be measured on a hub by some of the measurement devices provided in accordance with embodiments of the present application;
FIG. 11 is a diagram illustrating an example of some measurement devices observing an ERS point on the ground according to an embodiment of the present disclosure;
FIG. 12 is a block schematic diagram of a laser tracker and IGPS spatial measurement reachability simulation analysis and placement device provided in accordance with an embodiment of the present application;
fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The method, apparatus, electronic device, and storage medium for simulation analysis and arrangement of spatial measurement reachability in a laser tracker and IGPS according to the embodiments of the present application are described below with reference to the accompanying drawings. Aiming at the problems of large calculated amount, low efficiency and incapability of realizing visual observation of a measuring point optical path in the related technology based on model interference inspection or motion collision detection mentioned in the background technology, the application provides a space measurement accessibility simulation analysis and arrangement method of a laser tracker and an IGPS.
Specifically, fig. 1 is a schematic flowchart of a method for simulating, analyzing and arranging space measurement reachability of a laser tracker and an IGPS provided in an embodiment of the present application.
As shown in FIG. 1, the space measurement accessibility simulation analysis and arrangement method of the laser tracker and the IGPS comprises the following steps:
in step S101, a robot simulation environment is built, a three-dimensional model of each measurement instrument is configured as a robot model, and position coordinates of a plurality of key measurement points are given, wherein a laser radar with two rotational degrees of freedom is installed at the end of the measurement model.
It can be understood that the embodiment of the application can configure a measurement environment by using a robot simulation engine, and specifically includes importing a model to be measured and an environment model, configuring a measurement instrument as a multi-degree-of-freedom robot, and attaching a laser radar as a laser transmitter thereto.
In this application embodiment, build the simulation environment of robot, configure the simulation model of every measuring instrument as the robot model, specifically include: establishing three-dimensional models of a measuring instrument and a measuring environment in 3D modeling software; configuring a measuring instrument into a robot model with multiple degrees of freedom in a robot simulation engine; a laser radar simulation laser emitting device with two rotational degrees of freedom is arranged at the tail end of the measuring instrument; and importing the three-dimensional model of the measuring environment and the robot model of the measuring instrument into the robot simulation platform and configuring the three-dimensional model and the robot model in the robot simulation platform.
It should be noted that, as shown in fig. 3, the whole set of system is combined to form a simulation analysis system for measuring accessibility of the laser tracker and the IGPS, and the simulation analysis includes the following structural elements: (1) modeling software: the method is mainly used for constructing physical models of an object to be measured, an environmental object and measuring equipment; (2) robot simulation engine: the engine is provided with a laser radar sensor, allows an environment model and a multi-degree-of-freedom robot model (mainly measuring equipment) generated by modeling software to be introduced, and controls the motion of each joint of the robot; (3) and (3) control program: the system is used for communicating with a robot simulation engine, controlling the joint motion of the measuring equipment, detecting the accessibility of the measurement, optimizing the station position of the measuring equipment and the like.
Specifically, based on the system shown in fig. 3, the method for constructing the measurement simulation environment specifically includes the following steps:
(1) configuration of the measurement object and the environmental model: an object model to be measured and an obstacle model are established by modeling software, and an origin of the object model to be measured is set as an origin of a world coordinate system (world) and is usually set in the center of the object to be measured. The model is imported and fixed in a robot simulation engine. The step needs to give a three-dimensional coordinate P of the point cloud to be measured in the object model to be measured under world i (i＝1,2,3,…,n)。
(2) Configuration of the surveying instrument robot model: a required measuring instrument model (the measuring instrument in the embodiment can comprise a laser tracker, an IGPS (integrated into the system of the invention) is established as a multi-degree-of-freedom motion robot, and a robot simulation engine is introduced. The surveying instrument should have at least two rotational degrees of freedom of the end laser transmitter to simulate the situation of laser emission of an actual laser tracker or an IGPS, and a laser radar for emitting a laser beam is fixed at the end of the surveying instrument to simulate the situation of laser emission and reception of the surveying instrument, which is used for detecting accessibility of a light path. A laser coordinate system (laser) is established on a measuring instrument, the axis of light emitted by a laser radar is set to be the positive direction of the X axis of the laser, and two rotating shafts of a tail end laser emitter are respectively set to be the Z axis and the Y axis of the laser. More generally, to facilitate the standing arrangement of the laser tracker or IGPS device, the X, Y, Z-axis translational degrees of freedom and the rotational degrees of freedom along the vertical ground axis can be attached to the base of the laser tracker or IGPS device, so that the movement of the laser tracker or IGPS device in the measurement field can be controlled by way of the programmed program.
In step S102, two rotation angles of the laser radar are calculated according to the position coordinates of each key measurement point, so that the light emitted by the laser radar sequentially points to each measurement point, the measured distance between each measurement point and the measurement instrument is obtained, and the difference between the measured distance and the theoretical distance is analyzed to determine the accessibility of the measurement point.
It can be understood that, in the embodiment of the application, after point clouds to be measured on a measurement model are given, two rotation angles of a laser radar joint are calculated, so that light rays sequentially point to each point to be measured and return to a measurement distance, whether a rotation angle reaches a limit position or not and similarity between the measurement distance and a real distance between the point to be measured and measurement equipment is analyzed to obtain whether the measurement point is measurable or not, and measurement accessibility analysis is completed.
In this application embodiment, two rotation angles of the laser radar are calculated according to the position coordinates of the key measurement point, so that the light emitted by the laser radar sequentially points to each measurement point, and the reachability of the measurement point is analyzed, including: calculating two-degree-of-freedom rotation angles of the laser emitting device according to the three-dimensional coordinates of the measuring points, and controlling the joint of the laser emitting device to rotate so as to enable the joint to point to the measuring points; measuring the actual measurement light path distance in the simulation, and analyzing the accessibility of the measurement point by comparing the actual measurement distance with the theoretical distance: if the difference between the actual measurement distance and the theoretical distance is larger than an reachable threshold, determining that the measurement of the measurement point is unreachable; and obtaining the measurement performance of the measuring instrument at the station according to the accessibility analysis results of all the measuring points.
If the difference between the actual measurement distance and the theoretical distance is greater than the reachable threshold, it can be understood that the measurement point cannot be reached if the difference is too large, and the reachable threshold can be specifically set or calibrated according to actual conditions, which is not specifically limited.
Specifically, whether a certain point to be measured can be detected by a certain measuring device is analyzed. Detecting a certain point P to be measured i And a measuring device (laser) i ) The basic principle of whether the barrier exists between the two is to pass through a laser i The laser radar with fixed tail end emits a beam of measuring light in a simulation mode according to P i Coordinate calculation of (2) laser i The rotation angles of the two rotating shafts at the tail end are controlled, so that the robot moves to enable the direction of the measuring light to point to a measuring point P i . If the distance measured by the laser is equal to P i And laser i If the difference between the actual distances is not more than a certain threshold value t, the situation that no barrier exists in the distance is considered, the laser can be emitted to the measuring point, and the point can be measured and reached; if the sum of the distances measured by the laser and P i If the difference between the actual distance and the laser is larger than a certain threshold value t, the situation that the obstacle shelters exists in the laser, the laser cannot hit the measuring point, and the measuring point cannot be reached is considered; or if the rotation angle of the two rotation axes is larger than that of the laser i The angular rotation of (2) is limited, and the measurement cannot be realized at the same point.
a 1 ＝-atan(P i l (y)/P i l (x) If P) is detected i l (x)>0
a 1 ＝-atan(P i l (y)/P i l (x) +180 deg., if P i l (x)<0 (1)
a 2 ＝atan(P i l (z)/sqrt(P i l (y) 2 +P i l (x) 2 ) (2)
FIG. 4 represents the point P to be measured in the simulation environment i And laser i According to the mathematical abstract model of P i Coordinates in world coordinate System world and laser i Coordinate transformation matrix between, calculate P i In the laserOptical coordinate system laser i Coordinate of lower P i l And then calculates laser according to formula 1 and formula 2 i Angle of rotation a of two rotating shafts at the ends 1 And a 2 . Rotate the laser according to the angle i Two rotary shafts at the ends, then laser i Will point to P (i.e. the laser direction) i l Point, namely finishing the measurement light to point to the point to be measured, and then realizing laser according to the flow of figure 5 i Measurement accessibility analysis for all measurement points.
And analyzing whether all the point clouds to be detected can be jointly detected by all the measuring equipment. Laser for integrating all measuring instruments i And (i-1, 2,3, …, m), judging whether each point to be measured has at least one laser tracker measurable quantity or at least two IGPS measurable quantities, namely, judging whether all the measuring points are measurable in a measuring field set up by the current measuring instrument at the station position. Fig. 6 shows a measurement reachability analysis flowchart of all the measurement instruments, and if a certain measurement point is not measurable under the current station, station optimization of the measurement equipment is performed.
In step S103, if the measurement point is not reachable, the laser tracker stations that enable all measurement points to be measurable are found in a gridding search manner, so as to complete the arrangement of the measurement instruments, and the arrangement positions of the reachable reference points are further analyzed and measured in a gridding search manner, so as to complete the station transfer of the measurement instruments.
It can be understood that, if some measurement points are not reachable, the measurement station positions may be automatically optimized by a grid search method in the embodiments of the present application, and after the measurement station positions are configured, the arrangement positions of ERS points that can be reached by grid search measurement on the ground or on a set rigid body are set, so as to complete station switching of the laser tracker.
In this embodiment, finding the combination stations of the measuring instrument with measurable key measuring points by means of gridding search to complete the arrangement of the measuring instruments, and analyzing and measuring the arrangement positions of the reachable ERS points by means of gridding search to complete the station transfer of the measuring instrument, includes: dividing a plurality of grid points around an initial station of each measuring instrument; generating n-dimensional measurement vectors according to the accessibility analysis result of the key measurement points of each measuring instrument; combining the n-dimensional measurement vectors of a plurality of measuring instruments to analyze whether the measuring instrument combination station is measurable to a whole-field key measurement point; traversing all possible measurement combinations to obtain a combination station where the measurement can be reached; and analyzing the arrangement position of the ERS point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the station transfer of the measuring instrument.
The preset measurement initial station may be specifically set according to an actual situation, which is not specifically limited.
Specifically, in the embodiment of the present application, the site optimization of the measuring equipment may be performed by using the grid search method for measuring instrument sites as shown in fig. 7, and the specific implementation method for grid searching for reasonable sites of the measuring instrument may include the following three steps:
s301: the initial stations of the measuring equipment which are distributed more uniformly are given manually, and a series of grid points which represent the possible stations of the measuring equipment are divided near each initial station, the grid intervals can be set to be 0.2m, 0.5m and 1m and the angle interval is set to be 10 degrees according to the overall size of the measuring field, so that a group of positions (X, Y, Z, angle) to be detected is formed for each measuring equipment z )，X,Y,Z,angle z Respectively representing the position and angle at which the measuring instrument can be adjusted.
S302: at each position (X, Y, Z, angle) to be examined of each measuring device z ) Analyzing which measuring points can be measured by the measuring equipment to generate an n-dimensional measuring vector (n is the total number of the measuring points), and if the ith dimension of the vector is 1, representing the measuring point P i Visible to the measuring equipment at this station; if the ith dimension of the vector is 0, it represents the measurement point P i Not visible to the measuring device in this position. For each measuring device, a record file is generated for recording the measuring vectors of the tracker at different stations, so that m record files (m represents the total number of the measuring devices) are formed.
S303: the log file is processed. By traversing method, 1 test is respectively taken out from the K CSV files each timeVector quantity, forming a measuring combination, directly adding the K n-dimensional vectors, and the ith element of the newly generated vector represents the measuring point P under the measuring combination i Can be seen by several measuring devices. If the measuring equipment is a laser tracker, each element of the newly generated vector is more than or equal to 1, and the measurement of the measuring combination station can be reached; if the measurement device is an IGPS, it is ensured that each element of the newly generated vector is greater than or equal to 2, which indicates that the measurement combination station measurement is reachable. All the combination conditions are traversed in this way, and laser tracker (IGPS) combination stations which can be reached by measurement are searched. The step only needs data processing calculation, and the operation is fast.
S304: after all the combined stations of the laser tracker (IGPS) which can be measured can be obtained, further station screening can be carried out according to actual requirements, such as stations with higher screening precision (the measuring distance is as short as possible) or stations which are easier to install and the like. The steps are flexible and can be combined with the use requirements of users.
Further, the embodiment of the present application may search for a position of an ERS point where measurement is reachable and manually observe each measurement point and an actual measurement situation of the ERS point, which is specifically as follows:
(1) after the laser tracker station position which can reach all the measuring points is searched, ERS points need to be arranged on the ground (or on other tools with better rigidity) to complete the station transfer of the laser tracker. A group of possible ERS points are set on the ground (or on a tool expected to set the ERS points) in a gridding mode, then whether every two laser trackers can measure the ERS points is analyzed, and finally 4-5 measurable common points are selected for every two laser trackers to serve as the final actually-arranged ERS points.
(2) After the point cloud coordinates of the model to be measured are given, the station position arrangement generation of the laser tracker and the IGPS and the arrangement of the ERS points are realized through the steps of S1-S4. The laser is now visually applied to each measuring point or ERS point (by calculating the rotation angle a) 1 、a 2 So that the measuring equipment sequentially emits laser to each measuring point and ERS point), the measured condition of each measuring point can be visually observed, the method is favorable for manual verification and observation of the measurement reachable marginFine tuning is performed.
In summary, the measurement reachability analysis method and the measurement instrument site arrangement method described in the embodiments of the present application have high universality: (1) the support of the measuring instrument can be designed according to actual requirements, and simulation can be realized according to the method of the embodiment of the application; (2) the method for searching the grid station position of the laser tracker can be further optimized according to requirements, for example, besides measurement accessibility, measurement precision optimization and the like can also be considered, for example, on the premise of considering measurement accessibility, the shortest measurement distance is further considered, and the planning based on the measurement accessibility analysis is in the protection range of the application; (3) when the actual measuring environment changes, the re-planning of the station position of the measuring equipment can be completed quickly only by changing the environment model.
In the embodiment, taking the measurement of the whole airplane on an actual station of a certain type of airplane as an example, the measurement reachable station of the laser tracker and the IGPS is designed, the modeling software used in the embodiment is solidworks, the robot simulation engine used in the embodiment is Gazebo, the robot model format is urdf, and the control program is written by Python. The method comprises the following specific steps:
s1: building of measurement simulation environment
An airplane model to be measured and a working ladder model are established in solidworks modeling software and are guided into stl format, the format can be directly guided into a Gazebo simulation platform, and the origin of the airplane model is set in the center of the bottom of the airplane and is set as the origin of a world coordinate system (world).
The urdf models of the required measuring instruments are built as shown in fig. 8, and when built, they have X, Y, Z axis translational degrees of freedom and X, Y, Z axis rotational degrees of freedom along the vertical ground axis in addition to the two rotational degrees of freedom of the end lidar.
And importing the established stl environment model into a Gazebo simulation environment, modifying the urdf model of the measuring instrument into the sdf format of the Gazebo, importing the model into the Gazebo simulation environment, configuring a laser radar plug-in, and configuring a driver and a PID (proportion integration differentiation) controller for a plurality of degrees of freedom of the measuring instrument model, so that the building of the laser tracker and the IGPS measurement simulation environment is completed, as shown in FIG. 9. In this example there are 4 ground laser trackers (5 degrees of freedom) which, in addition to the two end lidar rotational degrees of freedom, can translate along the X, Y axis and rotate along the Z axis; 6 aerial laser trackers (7 degrees of freedom) placed on a designed bracket, except for the rotational degrees of freedom of two end laser radars, the bracket can translate along an X, Y, Z axis and rotate along a Z axis, and the included angle between the laser trackers and the bracket can be adjusted (initially set to be 45 degrees); the bracket is also provided with 6 IGPS. The ends of these devices may emit a laser (visible in fig. 8) and be connected to the distance measured by the laser. The number of measuring instruments is 10.
S2: measurement accessibility analysis algorithm and visualization implementation
As shown in fig. 9, the initial station combination of the measuring devices calculates the joint rotation angle according to the measurement accessibility analysis algorithm, so that the laser beams emitted by all the measuring devices simultaneously point to a certain measuring point, and the measurement accessibility of the point to be measured is analyzed. And (4) completing the operation for all the points to be measured n times (n is the total number of the points to be measured), namely, checking the measurement accessibility of the station combination.
S3: laser tracker (IGPS) station position grid searching method
If the station combination is not measurable to all points to be measured, then 1m x 10 degree (x y z angle) is near each station z ) The grid spacing was 3m x 30 ° (x y z angle) z ) Generates 81 feasible measuring stations, records the measuring vectors into 10 (measuring instrument number) CSV files according to the laser tracker (IGPS) station grid searching method, wherein each line of the CSV files represents one measuring vector. And (3) taking out one line from the K CSV files each time by adopting a traversing method, directly adding the K n-dimensional vectors, and selecting all combined station positions of the laser tracker (IGPS) which can reach the measurement. In order to facilitate installation of the aerial laser tracker in this embodiment, it is desirable that the aerial laser tracker be as close to the working ladder as possible, and then the situation where | y | is as small as possible is selected from all the combined station positions selected above as a real station position.
S4: searching for locations of ERS points where measurements are reachable
Setting 50 ERS points to be distributed at different positions on the ground, analyzing the measurement accessibility of the ERS points, and selecting 5-6 ERS points on two sides of the airplane respectively for the transfer stations of an air tracker and a ground tracker; at different heights on the support column, 5 groups (6 ERS points in each group, respectively arranged on 6 stand columns) of ERS points to be arranged are arranged, the measurement accessibility of the ERS points is analyzed, and a group of feasible ERS points is selected, wherein the ERS points meet the conditions that: except that the ERS point can not be seen by the measuring instrument on the column, the other aerial measuring instruments can all see the point and are used for mutual station transfer of the aerial tracker. Thus completing the establishment and the station transfer of the whole measuring field.
S5: manually observing the actual measurement conditions of each measurement point and ERS point
Finally, the laser measurement conditions of each measurement point can be observed manually, and fig. 10 and 11 respectively show the observation conditions of some measurement devices on a certain point to be measured on the hub and a certain ERS point on the ground.
According to the space measurement accessibility simulation analysis and arrangement method of the laser tracker and the IGPS, measurement accessibility simulation analysis of the laser tracker, the IGPS and other measuring instruments is achieved through the robot simulation engine, arrangement of the laser tracker and the IGPS station with all points to be measured with measurement accessibility as the primary principle can be achieved, simplicity and high efficiency are achieved, when the environment or the measuring points are changed, fast re-planning can be achieved, and practicality and efficiency of arrangement of the measuring instruments are effectively improved.
Next, a space measurement reachability simulation analysis and arrangement device of the laser tracker and the IGPS proposed according to an embodiment of the present application is described with reference to the drawings.
Fig. 12 is a block schematic diagram of a laser tracker and IGPS space measurement reachability simulation analysis and placement device of an embodiment of the present application.
As shown in fig. 12, the laser tracker and IGPS space measurement reachability simulation analysis and placement apparatus 10 includes: a modeling module 100, a calculation module 200, and a planning module 300.
The modeling module 100 is used for establishing three-dimensional models of a measuring instrument and a measuring environment, configuring a robot model of the measuring instrument and a laser transmitter at the tail end of the measuring instrument, and establishing a robot simulation environment; the calculation module 200 is configured to analyze the accessibility of the optical path of each key measurement point, and further analyze the measurement accessibility of the measurement instrument to all measurement points in a certain station combination; the planning module 300 is configured to plan a combined station of the measuring instrument on the whole field in a grid search manner when the measurement accessibility is not ideal, and complete station transfer of the measuring instrument by analyzing and planning an arrangement method of ERS points under the combined station through grid search.
In the embodiment of the present application, the modeling module 100 is specifically configured to: configuring a measuring instrument into a robot model with multiple degrees of freedom; a laser radar simulation laser transmitting device with two rotational degrees of freedom is added at the tail end of the measuring instrument; and importing and configuring the whole measuring environment model and the measuring instrument model into the robot simulation platform.
In this embodiment of the application, the computing module 200 is specifically configured to: calculating two-degree-of-freedom rotation angles of the laser emitting device according to the three-dimensional coordinates of the key measuring points; controlling the laser emitting device to rotate and calculating the actual measurement distance in the simulation; analyzing the accessibility of the light path of the measuring point by comparing the measured distance with the theoretical distance; and obtaining the measurement performance of the laser tracker at the station position according to the accessibility analysis results of all the measurement points.
In this embodiment of the application, the planning module 300 is specifically configured to: dividing a plurality of grid points around each preset measurement initial station of each measuring instrument; generating an n-dimensional measurement vector according to the accessibility analysis result of each measurement point of the measuring instrument; generating a measurement combination for the n-dimensional measurement vector of each measuring instrument, and traversing all the measurement combinations to obtain a combination station with reachable measurement; and determining the arrangement position of the ERS point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the station transfer of the measuring instrument according to the arrangement position.
It should be noted that the foregoing explanation of the embodiment of the simulation analysis and layout method for accessibility in space measurement of the laser tracker and the IGPS is also applicable to the simulation analysis and layout device for accessibility in space measurement of the laser tracker and the IGPS in this embodiment, and will not be described again here.
According to the space measurement accessibility simulation analysis and arrangement device of the laser tracker and the IGPS, the robot simulation engine is used for realizing the measurement accessibility simulation analysis of the laser tracker, the IGPS and other measuring instruments, the arrangement of the laser tracker and the IGPS station with the principle that the measurement accessibility of all points to be measured is the first principle can be realized, the operation is simple and efficient, and when the environment is changed or the measuring points are changed, the operation can be rapidly re-planned, and the practicability and the efficiency of the arrangement of the measuring instruments are effectively improved.
Fig. 13 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
The processor 1302, when executing programs, implements the laser tracker and the spatial measurement reachability simulation analysis and placement methods of the IGPS provided in the embodiments described above.
Further, the electronic device further includes:
a communication interface 1303 for communication between the memory 1301 and the processor 1302.
A memory 1301 for storing a computer program that is executable on the processor 1302.
The Memory 1301 may include a high-speed RAM (Random Access Memory) Memory, and may also include a non-volatile Memory, such as at least one disk Memory.
If the memory 1301, the processor 1302, and the communication interface 1303 are implemented independently, the communication interface 1303, the memory 1301, and the processor 1302 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 13, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 1301, the processor 1302, and the communication interface 1303 are integrated on one chip, the memory 1301, the processor 1302, and the communication interface 1303 may complete mutual communication through an internal interface.
The processor 1302 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
Embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the laser tracker and the spatial measurement reachability simulation analysis and placement method of the IGPS as described above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A space measurement accessibility simulation analysis and arrangement method of a laser tracker and an IGPS is characterized by comprising the following steps:
constructing a robot simulation environment, configuring a three-dimensional model of each measuring instrument as a robot model, and giving position coordinates of a plurality of key measuring points, wherein the tail end of the measuring model is provided with a laser radar with two rotational degrees of freedom;
calculating two rotation angles of the laser radar according to the position coordinates of each key measuring point, enabling light rays emitted by the laser radar to sequentially point to each measuring point, obtaining the actual measurement distance between each measuring point and a measuring instrument, and analyzing the difference value of the actual measurement distance and the theoretical distance to judge the accessibility of the measuring points;
if the measurement of the measuring points is not reachable, the laser tracker stations which enable all the measuring points to be measurable are searched in a gridding search mode, the arrangement of the measuring instruments is completed, and the arrangement positions of the reachable reference points are further measured through gridding search analysis, so that the station transfer of the measuring instruments is completed.
2. The method according to claim 1, wherein the building of the robot simulation environment, the configuring of the three-dimensional model of each measuring instrument as the robot model specifically comprises:
establishing three-dimensional models of a measuring instrument and a measuring environment in 3D modeling software;
configuring a measuring instrument into a robot model with multiple degrees of freedom in a robot simulation engine;
a laser radar simulation laser emitting device with two rotational degrees of freedom is arranged at the tail end of the measuring instrument;
and importing and configuring the three-dimensional model of the measuring environment and the robot model of the measuring instrument into the robot simulation platform.
3. The method of claim 1, wherein the step of calculating two rotation angles of the lidar based on the position coordinates of the key measurement points so that the light emitted by the lidar is sequentially directed to each measurement point, and analyzing the accessibility of the measurement points comprises:
calculating two-degree-of-freedom rotation angles of the laser transmitting device according to the three-dimensional coordinates of the measuring points, and controlling the joint of the laser transmitting device to rotate so as to enable the joint to point to the measuring points;
measuring the actual measurement light path distance in the simulation, and analyzing the accessibility of the measurement point by comparing the actual measurement distance with the theoretical distance: if the difference between the actual measurement distance and the theoretical distance is larger than an reachable threshold, determining that the measurement point measurement is unreachable;
and obtaining the measurement performance of the measuring instrument at the station according to the accessibility analysis results of all the measuring points.
4. The method as claimed in claim 1, wherein the step of finding measurable combination stations of the measuring instrument with all key measuring points by means of gridding search to complete the arrangement of the measuring instrument, and measuring the arrangement position of reachable ERS points by means of gridding search analysis to complete the transfer of the measuring instrument comprises the following steps:
dividing a plurality of grid points around an initial station of each measuring instrument;
generating n-dimensional measurement vectors according to the accessibility analysis result of the key measurement points of each measuring instrument;
combining the n-dimensional measurement vectors of a plurality of measuring instruments to analyze whether the measuring instrument combination station is measurable to a whole-field key measurement point;
traversing all possible measurement combinations to obtain a combination station where the measurement can be reached;
and analyzing the arrangement position of the ERS point which can be reached by the measurement according to the combined station position which can be reached by the measurement, and completing the station transfer of the measuring instrument.
5. A laser tracker and IGPS space measurement accessibility simulation analysis and arrangement device is characterized by comprising:
the modeling module is used for establishing three-dimensional models of the measuring instrument and the measuring environment, configuring a robot model of the measuring instrument and a terminal laser transmitter thereof, and establishing a robot simulation environment;
the calculation module is used for analyzing the accessibility of the optical path of each key measuring point and further analyzing the measurement accessibility of the measuring instrument to all measuring points under a certain station combination;
and the planning module is used for planning the combined station of the measuring instrument on the whole field in a gridding search mode when the measurement accessibility is not ideal, and planning the arrangement method of ERS points under the combined station through gridding search analysis to complete station transfer of the measuring instrument.
6. The apparatus of claim 5, wherein the modeling module is specifically configured to: configuring a measuring instrument into a robot model with multiple degrees of freedom; a laser radar simulation laser emitting device with two rotational degrees of freedom is added at the tail end of the measuring instrument; and importing and configuring the whole measurement environment model and the measurement instrument model into the robot simulation platform.
7. The apparatus of claim 5, wherein the computing module is specifically configured to: calculating two-degree-of-freedom rotation angles of the laser emitting device according to the three-dimensional coordinates of the key measuring points; controlling the laser transmitting device to rotate and calculating the actual measurement distance in the simulation; analyzing the accessibility of the light path of the measuring point by comparing the measured distance with the theoretical distance; and obtaining the measurement performance of the laser tracker at the station according to the accessibility analysis result of all the measurement points.
8. The apparatus according to claim 5, wherein the planning module is specifically configured to: dividing a plurality of grid points around each preset measurement initial station of each measuring instrument; generating an n-dimensional measurement vector according to the accessibility analysis result of each measurement point of the measuring instrument; generating a measurement combination for the n-dimensional measurement vector of each measuring instrument, and traversing all the measurement combinations to obtain a combination station where the measurement can reach; and determining the arrangement position of the ERS point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the station transfer of the measuring instrument according to the arrangement position.
9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the laser tracker and the method of spatial measurement reachability simulation analysis and placement of IGPS of any of claims 1-4.
10. A computer-readable storage medium, having stored thereon a computer program, characterized in that the program is executable by a processor for implementing the laser tracker and IGPS spatial measurement reachability simulation analysis and placement method according to any of claims 1-4.
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