CN114923467B - 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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- CN114923467B CN114923467B CN202210363899.8A CN202210363899A CN114923467B CN 114923467 B CN114923467 B CN 114923467B CN 202210363899 A CN202210363899 A CN 202210363899A CN 114923467 B CN114923467 B CN 114923467B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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Abstract
The application relates to the technical field of digital measurement, in particular to a space measurement accessibility simulation analysis and arrangement method of a laser tracker and an IGPS, 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 arranged 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 actual measuring distances between each measuring point and a measuring instrument, and analyzing differences between the actual measuring distances and the theoretical distances to judge the accessibility of the measuring points; if the measurement points are not reachable, the station positions of the laser tracker which can be used for measuring all the measurement points are further searched in a gridding searching mode, the arrangement of the measuring instrument is completed, and then the arrangement positions of the reference points (ERS) which can be reached are analyzed and measured in a gridding searching mode, so that the transfer of the measuring instrument is completed.
Description
Technical Field
The application relates to the technical field of digital measurement, in particular to a space measurement reachability simulation analysis and arrangement method of a laser tracker and an Indoor GPS (IGPS).
Background
In the process of digital assembly of an aircraft, the pose, the form and position tolerance of the fuselage components and the like of the aircraft need to be measured, and large-size measuring instruments such as a laser tracker, an IGPS and the like are two common devices. The measuring principle is that a laser beam is emitted and reflected light from a measuring key point is received to determine the space three-dimensional coordinates of the measuring key point. Therefore, in the use process of the laser tracker, the IGPS and other devices, an unobstructed light beam must be formed between the point to be measured and the device, so as to ensure the accessibility of measurement. However, in the digital assembly environment of the aircraft, the product size is large, the number of the key feature points to be measured is large, besides the product itself, objects such as a working ladder, a tool, measuring equipment and the like are likely to shade a measuring light path, so that the measurement is not reachable, and the digital assembly error of the aircraft is large or the assembly fails. The accessibility of the measuring instrument to the measuring beam path of the measuring key point must be analyzed during the digital assembly design phase of the aircraft.
The measuring instruments (laser tracker and IGPS) have the following difficulties for measuring light path accessibility analysis of measurement key points: (1) Because the measuring environment model is complex, theoretical analysis cannot be performed in a mathematical modeling mode; (2) At present, any software or platform capable of being directly used for simulating the accessibility of the optical path of the measuring instrument does not exist, and most analysis methods are based on engineering experience and lack theoretical support; (3) The measuring site environment is complex and possibly changes, and the accessibility of a measuring light path needs to be rapidly analyzed, so that the measuring site is re-planned, and high requirements are placed on the speed and the simplicity of the method.
Currently, some documents develop relevant measurement light path accessibility analysis. Yang Xiaohui of the university of aerospace in Nanjing proposes a measurement accessibility analysis method based on CATIA, which detects measurement accessibility by establishing a line segment or an elongated cylinder analog light path between a measurement device and a point to be measured, further detecting collision interference points of the line segment/cylinder and all models in space, and observing whether the nearest interference point is located near the measurement point. Dan Xunlei to Qinghua university et al developed DELMIA software secondarily to launch a small solid sphere from the tracker to the position of the measurement target sphere, and if collision occurs during the movement of the sphere, consider that light rays are blocked by the object, so as to judge the accessibility of the light path of the measurement point. However, the core of the above-described studies is model interference inspection or motion collision detection, and thus the calculation amount is relatively large and time-consuming. The method is poor in man-machine interaction friendliness and can not realize visual observation of the measuring point light path. Therefore, a brand new systematic solution is developed, the light path measurement accessibility simulation analysis can be simply and quickly carried out on the two measuring instruments, namely the laser tracker and the IGPS, visually, 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, a device, electronic equipment and a storage medium of a laser tracker and an IGPS (intelligent gas sensor system) so as to solve the problems of feasibility verification and planning of measurement arrangement positions of the laser tracker and the IGPS in digital assembly of an airplane.
An embodiment of a first aspect of the application provides a space measurement reachability simulation analysis and arrangement method of a laser tracker and an IGPS.
As shown in fig. 2, the simulation analysis method comprises the following structural elements: (1) three-dimensional modeling software: the method is mainly used for constructing physical models of the object to be measured, the environmental object and the measuring equipment; (2) a robotic simulation engine: the engine is provided with a laser radar sensor, allows an environmental model and a multi-degree-of-freedom robot model generated by modeling software to be imported, and has dynamics performance so as to control the movement of each joint of the robot; (3) control program: the system is used for communicating with a robot simulation engine, controlling the articulation of the measuring equipment, detecting the accessibility of the measurement and optimizing the station position of the measuring equipment, and the like.
As shown in FIG. 3, the set of simulation analysis methods comprises the following dynamic interaction relations among the elements: building an object model to be measured, a measuring environment model and a measuring instrument model in modeling software, and extracting key measuring 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 equipment 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 dynamic joint driver and the controller for the robot and can control the movement of the measuring 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, a measurement instrument station optimization algorithm and an ERS point arrangement algorithm based on the basic measurement accessibility analysis algorithm, and is communicated with the robot simulation engine to control the robot simulation engine and analyze 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 arranged 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 actual measuring distances between each measuring point and a measuring instrument, and analyzing differences between the actual measuring distances and the theoretical distances to judge the accessibility of the measuring points; if the measurement points are not reachable, the station positions of the laser tracker which can be used for measuring all the measurement points are further searched in a gridding searching mode, the arrangement of the measuring instrument is completed, and then the arrangement positions of the reference points (ERS) which can be reached are analyzed and measured in a gridding searching mode, so that the transfer of the measuring instrument 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 includes: establishing a laser tracker as a robot model with multiple degrees of freedom; a laser radar simulation laser emission device with two rotation 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 a robot simulation platform.
Further, the calculating the 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 is sequentially directed to each measurement point, and the analyzing the accessibility of the measurement points includes: calculating two-degree-of-freedom rotation angles of the laser emission device according to the three-dimensional coordinates of the measurement 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 the accessibility threshold value, determining that the measuring point is not accessible; and obtaining the measurement performance of the laser tracker at the station according to the accessibility analysis results of all the measurement points.
Further, the step of searching the station positions of the laser tracker with measurable measuring points in a gridding searching mode to complete the arrangement of the measuring instrument and analyzing the arrangement positions of the accessible reference points through gridding searching to complete the transfer of the measuring instrument 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 vectors of each measuring instrument to form a measurement combination, and traversing all the measurement combinations to obtain a combination station position with reachable measurement; and determining the arrangement position of the datum point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the transfer of the measuring instrument according to the arrangement position.
In a second aspect of the present application, taking the arrangement of measuring instruments in a certain environment in actual aviation digital assembly as an example, a space measurement reachability simulation analysis and arrangement module application case of a laser tracker and IGPS is provided, including: the modeling module is used for establishing a three-dimensional model of the measuring instrument and the measuring environment, configuring a robot model of the measuring instrument and the tail end laser transmitter thereof and establishing a robot simulation environment; the calculation module is used for analyzing the light path accessibility of each key measurement point and further analyzing the measurement accessibility of the measurement instrument to all the measurement points under certain station combination; and the planning module is used for planning the combined station of the measuring instrument in the whole field in a gridding searching mode when the measurement accessibility is not ideal, and completing the transfer of the measuring instrument by analyzing the arrangement method of ERS points under the planned combined station in the gridding searching mode.
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 rotation 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 a robot simulation platform.
Further, the computing module is specifically configured to: calculating two-degree-of-freedom rotation angles of the laser emission device according to the three-dimensional coordinates of the measurement 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 the accessibility threshold value, determining that the measuring point is not accessible; and obtaining the measurement performance of the laser tracker at 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 points 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 position with reachable measurement; and determining the arrangement position of the datum point which can be reached by measurement according to the combined station position which can be reached by measurement, and completing the 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: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the space measurement reachability simulation analysis and arrangement method of the laser tracker and the IGPS.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing the spatial measurement reachability simulation analysis and arrangement method of a laser tracker and IGPS as described in the above embodiments.
Therefore, the application has at least the following beneficial effects:
(1) The method only needs to perform configuration of a robot model and configuration of a laser radar model, is simple, has high efficiency and has high running speed; (2) When the actual environment is changed or the key measurement points are changed, the station position of the measuring instrument can be rapidly re-planned by only modifying the 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 actual application is difficult because the calculated amount of the reachability analysis of the measuring instrument is large based on the model interference check or the motion collision detection in the related technology; (4) The method can mutually and visually display the measurement effect of each measurement point in a light path mode, is good in man-machine interaction friendliness, and can assist in observing measurement margin, which is not possessed by other methods.
Additional aspects and advantages of the 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 application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic flow chart of a method for simulating analysis and arrangement of spatial measurement reachability of a laser tracker and an IGPS according to an embodiment of the present application;
FIG. 2 is a schematic diagram of static structural elements of a simulation system constructed in accordance with the present application;
FIG. 3 is a schematic diagram of a simulation analysis system for laser tracker and IGPS measurement accessibility provided according to an embodiment of the present application;
FIG. 4 shows a point P to be measured in a simulation environment according to an embodiment of the present application i And a laser i Is an example graph of a mathematical abstraction model;
FIG. 5 is a diagram of an implementation laser according to an embodiment of the present application i A measurement reachability analysis flow chart for all measurement points;
FIG. 6 is a flow chart of a measurement reachability analysis for integrating all measurement instruments provided in accordance with an embodiment of the present application;
FIG. 7 is a flowchart of a grid search method for measuring instrument sites according to an embodiment of the present application;
FIG. 8 is an exemplary diagram of an exemplary model of an url that is provided for establishing a desired measuring instrument in accordance with an embodiment of the present application;
FIG. 9 is a diagram of an example of the construction of a laser tracker and IGPS measurement simulation environment provided in accordance with an embodiment of the present application;
FIG. 10 is an exemplary diagram of an observation of a certain point to be measured on a hub by certain measurement devices according to an embodiment of the present application;
FIG. 11 is an exemplary view of an observation of an ERS point on the ground by some measurement devices according to an embodiment of the present application;
FIG. 12 is a block schematic diagram of a spatial measurement reachability simulation analysis and placement apparatus for a laser tracker and IGPS 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
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The spatial measurement reachability simulation analysis and arrangement method, apparatus, electronic device and storage medium of the laser tracker and IGPS of the embodiments of the present application are described below with reference to the accompanying drawings. Aiming at the problems that in the related art, the light path measurement accessibility detection based on model interference detection or motion collision detection is large in calculated amount and low in efficiency, and visual observation of a light path of a measurement point cannot be realized, 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 flow chart of a method for simulating and analyzing and arranging the accessibility of the space measurement of a laser tracker and IGPS according to an embodiment of the present application.
As shown in fig. 1, the method for simulating, analyzing and arranging the space measurement accessibility 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 measuring instrument is configured as a robot model, and position coordinates of a plurality of key measuring points are given, wherein two laser radars with rotational degrees of freedom are installed at the end of the measuring model.
It can be understood that the embodiment of the application can utilize the robot simulation engine to configure the measuring environment, and specifically comprises the steps of importing a model to be measured and an environment model, configuring a measuring instrument into a robot with multiple degrees of freedom, and adding a laser radar as a laser transmitter on the robot simulation engine.
In the embodiment of the application, a robot simulation environment is built, and a simulation model of each measuring instrument is configured as a robot model, which specifically comprises the following steps: in 3D modeling software, a three-dimensional model of a measuring instrument and a measuring environment is established; configuring a measuring instrument into a multi-degree-of-freedom robot model in a robot simulation engine; a laser radar simulation laser emission device with two rotation 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 a robot simulation platform.
As shown in fig. 3, the whole system is combined to form a simulation analysis system of the accessibility of the laser tracker and the IGPS measurement, and the simulation analysis comprises the following structural elements: (1) modeling software: the method is mainly used for constructing physical models of the object to be measured, the environmental object and the measuring equipment; (2) a robotic simulation engine: the engine is provided with a laser radar sensor, allows an environmental model generated by modeling software and a multi-degree-of-freedom robot model (mainly measuring equipment) to be imported, and controls the movement of each joint of the robot; (3) control program: the system is used for communicating with a robot simulation engine, controlling the articulation of the measuring equipment, detecting the accessibility of the measurement and optimizing the station position of the measuring equipment, and the like.
Specifically, based on the system shown in fig. 3, the construction method of the measurement simulation environment is specifically as follows:
(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 at the center of the object to be measured. The model is imported and fixed in the robot simulation engine. The step simultaneously needs to give out the three-dimensional coordinate P of the point cloud to be measured in the object model to be measured under the world i (i＝1,2,3,…,n)。
(2) Configuration of a measuring instrument robot model: the required measuring instrument model (the measuring instrument of the embodiment can comprise a laser tracker, an IGPS and a base thereof) is established as a multi-degree-of-freedom moving robot, and is led into a robot simulation engine. The measuring instrument should be provided with at least two degrees of freedom of rotation of the end laser transmitter to simulate the situation of the actual laser tracker or IGPS transmitting laser light, and a laser radar transmitting laser beam is fixed at the end of the measuring instrument to simulate the laser transmitting and receiving situation of the measuring instrument, which will be used for the detection of the accessibility of the light path. A laser coordinate system (laser) is established on a measuring instrument, the axis of the laser radar emitted light is set to be the positive direction of the X axis of the laser, and two rotating shafts of the tail laser emitter are set to be the Z axis and the Y axis of the laser respectively. More generally, to facilitate the positioning of the laser tracker or IGPS device, the translational degrees of freedom of the X, Y, Z axes and the rotational degrees of freedom along the vertical ground axis may be added 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 may be controlled by programming.
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 rays emitted by the laser radar are sequentially directed to each measurement point, the measured distances between each measurement point and the measuring instrument are obtained, and the difference between the measured distances and the theoretical distances is analyzed to determine the accessibility of the measurement points.
It can be understood that after the point cloud to be measured on a given measurement model is obtained, the embodiment of the application can calculate two rotation angles of the laser radar joint, so that the light is sequentially directed to each point to be measured and returns to the measurement distance, and analyze whether the rotation angle reaches the limit or not and the similarity of the measurement distance and the real distance of the point to be measured and the measurement device to obtain whether the measurement point is measurable or not, thereby completing the measurement accessibility analysis.
In the embodiment of the application, two rotation angles of the laser radar are calculated according to the position coordinates of the key measurement points, so that the light rays emitted by the laser radar are sequentially directed to each measurement point, and the accessibility of the measurement points is analyzed, which comprises the following steps: calculating two-degree-of-freedom rotation angles of the laser emission device according to the three-dimensional coordinates of the measurement point, and controlling the joint rotation of the laser emission device to point to the measurement point; measuring the actual measured light path distance in the simulation, and analyzing the accessibility of the measuring point by comparing the actual measured distance with the theoretical distance: if the difference between the actual measured distance and the theoretical distance is greater than the reachable threshold, determining that the measurement of the measuring point is not reachable; and obtaining the measurement performance of the measuring instrument at the station according to the accessibility analysis results of all the measurement points.
If the difference between the actual measured distance and the theoretical distance is greater than the reachable threshold, it can be understood that the difference is too large, the measurement of the measured point is not reachable, and the reachable threshold can be specifically set or calibrated according to the actual situation, which is not specifically limited.
Specifically, whether a certain measurement point can be detected by a certain measuring device is analyzed. Detecting a point P to be measured i And a measuring device (laser i ) The basic principle of whether the barrier shielding exists or not is that the laser is used for shielding i The laser radar with fixed tail end emits a beam of measuring light in a simulation mode, and the measuring light is used for measuring the light according to P i Coordinate calculation laser of (c) i The rotation angle of the two rotation axes at the end, thereby controlling the robot movement such that the direction of the measuring light is directed to the measuring point P i . If the distance measured by the laser is equal to P i And a laser i Is not greater than a certain difference in actual distanceIf the threshold t of the laser is not blocked by the obstacle, the laser can strike the measuring point, and the measuring point can be measured; if the distance and P measured by the laser i If the difference between the actual distance of the laser and the actual distance of the laser is greater than a certain threshold t, then the situation that an obstacle is blocked exists in the laser, the laser cannot strike the measuring point, and the measuring of the point is not reachable; or if the rotation angle of the two rotation axes is larger than that of the laser i And the angular rotation of the device is limited, the measurement cannot be realized at the same point.
a 1 ＝-atan(P i l (y)/P i l (x) If P i l (x)>0
a 1 ＝-atan(P i l (y)/P i l (x) +180°, 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 is a diagram showing a point P to be measured in a simulation environment i And a laser i According to P i Coordinates in world coordinate system world and laser i Coordinate transformation matrix between them, calculate P i In a laser coordinate system i Lower coordinate P i l Further calculate a laser according to equations 1 and 2 i Rotation angle a of two rotation shafts at the end 1 And a 2 . Rotating the laser at this angle i At the two end of the rotation axis, a laser i The X-axis (i.e. laser direction) of (a) will point to P i l The point is that the measuring light is directed to the point to be measured, and then the laser can be realized according to the flow of FIG. 5 i Measurement reachability analysis for all measurement points.
And analyzing whether all the clouds to be measured can be jointly detected by all the measuring equipment. Comprehensive all measuring instrument lasers i (i=1, 2,3, …, m), judging whether each point to be measured has at least one measurable laser tracker or judging whether each point to be measured has at least two measurable IGPS, and analyzing that all measuring points are at the station position of the current measuring instrumentWhether the built measuring field is measurable or not. Fig. 6 shows a flow chart of measurement accessibility analysis for all measuring instruments, and if a certain measurement point is not measurable at the current station, station optimization of measuring equipment is performed.
In step S103, if the measurement points are not reachable, the laser tracker station positions enabling all the measurement points to be measurable are found by means of gridding search, so as to complete the arrangement of the measuring instrument, and further, the arrangement positions of the reachable reference points are analyzed and measured by gridding search, so as to complete the transfer of the measuring instrument.
It can be understood that if some measurement points are not reachable, the embodiment of the application can automatically optimize the measurement station position by a grid search method, and after the measurement station position is configured, the arrangement position of ERS points reachable by grid search measurement is set on the ground or a rigid body so as to complete the station turning of the laser tracker.
In this embodiment, the method for searching the combined station of the measuring instrument with measurable key measuring points by using a gridding search method, completing the arrangement of the measuring instrument, analyzing the arrangement positions of the reachable ERS points by using the gridding search, and completing the transfer station of the measuring instrument includes: dividing a plurality of grid points around an initial site of each measuring instrument; generating n-dimensional measurement vectors according to the accessibility analysis results of the key measurement points of each measuring instrument; combining n-dimensional measurement vectors of a plurality of measuring instruments to analyze whether the combined station of the measuring instruments is measurable for a full-field key measurement point; traversing all possible measurement combinations to obtain a combination station position with reachable measurement; and analyzing the arrangement positions of the ERS points which can be reached according to the combined station positions which can be reached by measurement, and completing the transfer of the measuring instrument.
The preset measurement initial station may be specifically set according to actual situations, which is not specifically limited.
Specifically, the embodiment of the application can optimize the station position of the measuring equipment by a grid searching method of the station position of the measuring instrument shown in fig. 7, and the specific implementation method of the reasonable station position of the grid searching measuring instrument can comprise the following three steps:
s301: manual feedingDefining a plurality of initial stations of the measuring equipment with relatively uniform distribution, and dividing a series of grid points near each initial station, wherein the grid points represent possible station positions of the measuring equipment, and the grid spacing can be set to be 0.2m,0.5m and 1m, and the angle spacing 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 inspected are formed for each measuring equipment z )，X,Y,Z,angle z Representing the position and angle, respectively, at which the measuring instrument can be adjusted.
S302: at each position to be inspected (X, Y, Z, angle) of each measuring device z ) Analyzing which measuring points the measuring device can measure, generating an n-dimensional measuring vector (n is the total number of points to be measured), and if the i-th dimension of the vector is 1, representing the measuring point P i Visible to the measuring device in this station; if the i-th dimension of the vector is 0, it represents the measurement point P i Not visible to the measuring device in this position. A record file is generated for each measuring device for recording the measuring vectors of the tracker at different stations, so that m record files (m represents the total number of measuring devices) are formed.
S303: the record file is processed. Taking out 1 measurement vector from each of the K CSV files to form a measurement combination, and directly adding the K n-dimensional vectors, wherein the i element of the newly generated vector represents the measurement point P under the measurement 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 greater than or equal to 1, which represents that the measurement of the measuring combination station is reachable; if the measurement equipment is IGPS, each element of the newly generated vector is ensured to be more than or equal to 2, which represents that the measurement of the measurement combination station is reachable. All the combined conditions are traversed in this way, and the combined station of the laser tracker (IGPS) with reachable measurement is found. This step only requires data processing calculations, which are fast.
S304: after all combined stations of the laser tracker (IGPS) with reachable measurement are obtained, further station screening can be performed according to actual requirements, such as stations with higher screening precision (the measurement distance is as short as possible) or stations which are easier to install. The step is flexible and can be combined with the use requirement of a user.
Furthermore, the embodiment of the application can search the position of the ERS point which can be obtained by measurement and manually observe each measurement point and the actual measurement condition of the ERS point, and is specifically as follows:
(1) After the station of the laser tracker which can reach all the measuring points is searched, ERS points are required to be arranged on the ground (or other tools with better rigidity) so as to finish the transfer of the laser tracker. And (3) gridding and setting a group of ERS points which are possibly arranged on the ground (or on a tool expected to set the ERS points), analyzing whether each two laser trackers can measure the ERS points, and finally selecting 4-5 measurable common points for each two laser trackers to serve as the ERS points which are finally and practically arranged.
(2) After the point cloud coordinates of the model to be measured are given, the station arrangement generation of the laser tracker and the IGPS and the arrangement of ERS points are realized through the steps of S1-S4. The laser is now visually hit on each measuring point or ERS point (by calculating the rotation angle a 1 、a 2 The measuring equipment emits laser to each measuring point and ERS point in turn, the measured condition of each measuring point can be observed visually, and the manual check and observation measurement accessibility margin and fine adjustment are facilitated.
In summary, the measurement accessibility analysis method and the measuring instrument station arrangement method described in the embodiment of the application have high universality: (1) The bracket 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 grid station searching method of the laser tracker can be further optimized according to requirements, such as measurement accessibility, measurement accuracy optimization and the like can be considered, and if measurement accessibility is considered, the shortest measurement distance is further considered, and planning for using the basis for measurement accessibility analysis is within the protection scope of the application; (3) When the actual environment is changed, the re-planning of the station of the measuring equipment can be completed quickly by only changing the environment model.
The method for simulating and arranging the space measurement accessibility of the laser tracker and the IGPS is explained below through a specific embodiment, in the embodiment, taking the whole aircraft measurement on the actual station of a certain model aircraft as an example, the measurement accessibility station of the laser tracker and the IGPS is designed, modeling software used in the embodiment is solidworks, a robot simulation engine used in the embodiment is Gazebo, a robot model format is urdf, and a control program is written by Python. The method comprises the following steps:
s1: construction of measurement simulation environment
The method comprises the steps of establishing an airplane model to be measured and a working ladder model in a solidworks modeling software, and guiding the airplane model and the working ladder model into a stl format, wherein the stl format can be directly guided into a Gazebo simulation platform, and an origin of the airplane model is arranged at the center of the bottom of an airplane and is set as an origin of a world coordinate system (world).
The required measuring instruments are modeled as shown in fig. 8, and when the model is modeled, they have a translational degree of freedom of X, Y, Z axis and a rotational degree of freedom along the vertical ground axis in addition to the two rotational degrees of freedom of the end lidar.
The established stl environment model is imported into a Gazebo simulation environment, the url model of the measuring instrument is modified into the sdf format of the Gazebo, the Gazebo simulation environment is imported, the laser radar plug-in is configured, and a driver and a PID controller are configured for multiple degrees of freedom of the measuring instrument model, so that the construction of the laser tracker and the IGPS measurement simulation environment is completed, as shown in FIG. 9. In the example, the four ground laser trackers (5 degrees of freedom) are provided, and besides the two end laser radar rotation degrees of freedom, the four ground laser trackers can translate along a X, Y axis and rotate along a Z axis; the laser tracker (7 degrees of freedom) in the air is arranged on the design support, besides the two end laser radar rotation degrees of freedom, the support can translate along the X, Y, Z axis and rotate along the Z axis, and the included angle between the laser tracker and the support can be adjusted (initially set to be 45 °); 6 IGPS were also mounted on the scaffold. The ends of these devices may emit a laser beam (visible in fig. 8) and receive the distance measured by the laser. The number of the measuring instruments is 10.
S2: measurement reachability analysis algorithm and visual implementation
The initial station combination of the measuring equipment is shown in fig. 9, the joint rotation angle is calculated according to a measurement accessibility analysis algorithm, so that lasers emitted by all the measuring equipment are simultaneously directed to a certain measuring point, and the measurement accessibility of the to-be-measured point is analyzed. And (3) finishing n times of the operations on all the points to be measured (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 grid search method
If the measurement station position is not reachable for all the measurement points, then 1m 10 DEG (x y z angle) is used near each measurement station position z ) At a grid spacing of 3m 30 ° (x y z angle) z ) 81 possible measurement stations are generated in the range of (1), and measurement vectors are recorded into 10 (the number of measurement instruments) CSV files according to a laser tracker (IGPS) station grid search method, wherein each row of the CSV files represents one measurement vector. And taking out one row from the K CSV files respectively each time by adopting a traversing method, directly adding the K n-dimensional vectors, and selecting all combined station conditions of the laser tracker (IGPS) with reachable measurement. In this embodiment, in order to facilitate installation of the aerial laser tracker, it is desirable that the aerial laser tracker is located as close to the work ladder as possible, and thus the situation where |y| is as small as possible is selected as the true station from all the above-selected combined stations.
S4: searching for the location of an ERS point where measurements are reachable
At different positions on the ground, 50 ERS points to be arranged are arranged in total, the measurement accessibility of the ERS points is analyzed, 5-6 ERS points are selected from two sides of an airplane respectively and used for transfer stations of an air tracker and a ground tracker; at different heights on the support columns, 5 groups (6 ERS points in each group are respectively arranged on 6 upright columns) of ERS points to be arranged are arranged, the measurement accessibility of the ERS points is analyzed, a group of feasible ERS points is selected, and the ERS points meet the conditions except: except for the ERS point, the measuring instrument on the column of the ERS point can not see the point, and other air measuring instruments can see the point for mutual station conversion of the air tracker. Thus, the whole measuring field is established and transferred.
S5: manually observing actual measurement conditions of each measuring point and ERS point
Finally, the laser measurement conditions of each measurement point can be observed manually, and examples of the observation conditions of some measurement devices on some to-be-measured point on the hub and some ERS point on the ground are respectively given in fig. 10 and 11.
According to the space measurement accessibility simulation analysis and arrangement method for the laser tracker and the IGPS, provided by the embodiment of the application, the measurement accessibility simulation analysis of the laser tracker and the IGPS and other measuring instruments is realized by using the robot simulation engine, the arrangement of the laser tracker and the IGPS station, of which the measurement accessibility of all points to be measured is the main principle, is simple and efficient, and can be rapidly re-planned when the environment is changed or the measuring points are changed, so that the practicability and the efficiency of the arrangement of the measuring instruments are effectively improved.
Next, a spatial measurement reachability simulation analysis and arrangement apparatus of a laser tracker and IGPS according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 12 is a block schematic diagram of a spatial measurement reachability simulation analysis and placement apparatus for a laser tracker and IGPS of an embodiment of the present application.
As shown in fig. 12, the spatial measurement reachability simulation analysis and placement apparatus 10 of the laser tracker and IGPS includes: modeling module 100, calculation module 200, and planning module 300.
The modeling module 100 is used for establishing a three-dimensional model 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 used for analyzing the light path accessibility of each key measurement point and further analyzing the measurement accessibility of the measurement instrument to all measurement points under a certain station combination; the planning module 300 is configured to plan a combined site of the measuring instrument in the whole field by using a gridding search method when the measurement accessibility is not ideal, and analyze an ERS point arrangement method under the planned combined site by using the gridding search method to complete the transfer of the measuring instrument.
In an 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 emission device with two rotation 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 a robot simulation platform.
In the embodiment of the present application, the calculation module 200 is specifically configured to: calculating two-degree-of-freedom rotation angles of the laser emission device according to the three-dimensional coordinates of the key measurement points; controlling the laser emitting device to rotate and calculating the actual measurement distance in simulation; analyzing the light path accessibility 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 results of all the measurement points.
In the embodiment of the present 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 position 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 transfer station of the measuring instrument according to the arrangement position.
It should be noted that the foregoing explanation of the embodiment of the spatial measurement reachability simulation analysis and arrangement method for the laser tracker and IGPS is also applicable to the spatial measurement reachability simulation analysis and arrangement device for the laser tracker and IGPS of this embodiment, and will not be repeated here.
According to the space measurement accessibility simulation analysis and arrangement device for the laser tracker and the IGPS, provided by the embodiment of the application, the measurement accessibility simulation analysis of the laser tracker and the IGPS and other measurement instruments is realized by using the robot simulation engine, the arrangement of the laser tracker and the IGPS station, of which the measurement accessibility of all points to be measured is the main principle, is simple and efficient, and can be rapidly re-planned when the environment is changed or the measurement points are changed, so that the practicability and the efficiency of the arrangement of the measurement 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:
memory 1301, processor 1302, and computer programs stored on memory 1301 and executable on processor 1302.
The processor 1302, when executing the programs, implements the spatial measurement reachability simulation analysis and placement methods for the laser tracker and 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.
Memory 1301 is used to store a computer program that can run on processor 1302.
Memory 1301 may include high speed RAM (Random Access Memory ) memory, and may also include 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, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 13, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 1301, the processor 1302 and the communication interface 1303 are integrated on a chip, the memory 1301, the processor 1302 and the communication interface 1303 may complete communication with each other through internal interfaces.
The processor 1302 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the spatial measurement reachability simulation analysis and arrangement method of the laser tracker and the IGPS as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined 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 specific logical functions or steps of the process, and further 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 is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described 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. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. The space measurement accessibility simulation analysis and arrangement method of the laser tracker and the IGPS is characterized by comprising the following steps of:
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 two laser radars with rotational degrees of freedom, and the robot simulation engine is provided with a laser radar sensor, allows the environment model and the multi-degree-of-freedom robot model generated by modeling software to be imported, and controls the movement of each joint of the robot;
Calculating two rotation angles of the laser radar according to the position coordinates of each key measurement point, enabling light rays emitted by the laser radar to sequentially point to each measurement point, obtaining actual measurement distances between each measurement point and a measurement instrument, and analyzing differences between the actual measurement distances and the theoretical distances to judge the accessibility of the measurement points;
if the measurement points are not reachable, the station positions of the laser tracker which can be used for measuring all the measurement points are searched in a gridding searching mode, so that the arrangement of the measuring instrument is completed, and the arrangement positions of the datum points which can be reached are further analyzed and measured in a gridding searching mode, so that the transfer of the measuring instrument is completed.
2. The method according to claim 1, wherein the constructing a robot simulation environment configures a three-dimensional model of each measuring instrument as a robot model, specifically comprising:
in 3D modeling software, a three-dimensional model of a measuring instrument and a measuring environment is established;
configuring a measuring instrument into a multi-degree-of-freedom robot model in a robot simulation engine;
a laser radar simulation laser emission device with two rotation 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 a robot simulation platform.
3. The method according to claim 1, wherein calculating two rotation angles of the lidar according to the position coordinates of the key measurement points, so that the light emitted by the lidar is directed to each measurement point in turn, and analyzing the accessibility of the measurement points comprises:
calculating two-degree-of-freedom rotation angles of the laser emission device according to the three-dimensional coordinates of the measurement point, and controlling the joint rotation of the laser emission device to point to the measurement point;
measuring the actual measured light path distance in simulation, and analyzing the accessibility of the measuring point by comparing the actual measured distance with the theoretical distance: if the difference between the actual measured distance and the theoretical distance is greater than the reachable threshold, determining that the measurement of the measuring point is not reachable;
and obtaining the measurement performance of the measuring instrument at the station according to the accessibility analysis results of all the measurement points.
4. The method according to claim 1, wherein the searching for the combined station of the measuring instrument for measuring all the key measuring points by the gridding searching method, completing the arrangement of the measuring instrument, and analyzing the arrangement positions of the reachable ERS points by the gridding searching method, completing the transfer station of the measuring instrument, includes:
dividing a plurality of grid points around an initial site of each measuring instrument;
Generating n-dimensional measurement vectors according to the accessibility analysis results of the key measurement points of each measuring instrument;
combining n-dimensional measurement vectors of a plurality of measuring instruments to analyze whether the combined station of the measuring instruments is measurable for a full-field key measurement point;
traversing all possible measurement combinations to obtain a combination station position with reachable measurement;
and analyzing the arrangement positions of the ERS points which can be reached according to the combined station positions which can be reached by measurement, and completing the transfer of the measuring instrument.
5. A spatial measurement reachability simulation analysis and placement device for a laser tracker and IGPS, comprising:
the modeling module is used for establishing a three-dimensional model 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, establishing a robot simulation environment, enabling the environment model and a multi-degree-of-freedom robot model generated by modeling software to be imported into the robot simulation engine, and controlling the movement of each joint of the robot;
the calculation module is used for analyzing the light path accessibility of each key measurement point and further analyzing the measurement accessibility of the measurement instrument to all the measurement points under certain station combination;
And the planning module is used for planning the combined station of the measuring instrument in the whole field in a gridding searching mode when the measurement accessibility is not ideal, and completing the transfer of the measuring instrument by analyzing the arrangement method of ERS points under the planned combined station in the gridding searching mode.
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 emission device with two rotation 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 a 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 emission device according to the three-dimensional coordinates of the key measurement points; controlling the laser emitting device to rotate and calculating the actual measurement distance in simulation; analyzing the light path accessibility 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 results of all the measurement points.
8. The apparatus of 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 position 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 transfer station 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 spatial measurement reachability simulation analysis and arrangement method of the laser tracker and 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 executed by a processor for implementing the spatial measurement reachability simulation analysis and arrangement method of the laser tracker and IGPS according to any of claims 1-4.
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